Work vehicle

Abstract

To properly start automatic travel along a set travel line after ending turning in an end part of a work site.SOLUTION: A work vehicle includes: a setting unit for setting a set travel line LB1; an automatic travel control unit for operating a travel device so that the travel device automatically travels along the set travel line LB1; an operation unit for operating the automatic travel control unit to be in an operation state and a stop state; and a turning end detection unit for detecting an end of turning LL1.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a work vehicle configured to automatically travel along a set travel line based on detection values ​​from a GPS, gyro sensor, etc. [Background technology]

[0002] As disclosed in Patent Document 1, a work vehicle such as a riding rice transplanter travels from one end of the work area to the other end, then turns at the other end of the work area, and then travels from the other end of the work area back to the one end, repeating the process of traveling from one (other) end of the work area to the other (one) end and turning at one (other) end of the work area.

[0003] In Patent Document 1, when a reference driving line is set (obtained from the outside), a number of set driving lines are set so as to be parallel to the reference driving line and spaced apart from the reference driving line at intervals corresponding to the width of the aircraft. As a result, in Patent Document 1, the front wheels are automatically steered so that the vehicle automatically travels along a first set travel line, and the first work run is carried out, and when the first work run is completed and the vehicle reaches one end of the work site, a turn is made at one end of the work site. Next, the front wheels are automatically steered so that the vehicle automatically travels along a second set driving line adjacent to the first set driving line, and a second work run is carried out.When the second work run is completed and the vehicle reaches the other end of the work area, a turn is made at the other end of the work area. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-92818 Summary of the Invention [Problem to be solved by the invention]

[0005] In automatic driving along a set driving line as in Patent Document 1, if automatic driving along the set driving line is to begin when the turning has not yet been completed, there is a possibility that a large difference will occur between the set driving line and the position of the aircraft. Therefore, when automatic driving along the set driving line begins when there is a large difference between the set driving line and the aircraft's position, the aircraft will automatically attempt to move to the position of the set driving line while making large changes to its orientation and position, leaving room for improvement in terms of the aircraft's stability. The present invention aims to ensure that automatic travel along a set travel line is properly initiated after turning at the edge of a work site is completed. [Means for solving the problem]

[0006] [I] (Configuration) The work vehicle of the present invention comprises a setting unit that sets a set driving line, an automatic driving control unit that operates the driving device so that the vehicle automatically drives along the set driving line, an operation unit that operates the automatic driving control unit between an operating state and a stopped state, and a turning end detection unit that detects the end of a turn, and if the turning end detection unit does not detect the end of a turn, prevents the operation unit from switching the automatic driving control unit to an operating state, and a restraining unit that prevents the operation unit from switching the automatic driving control unit to an operating state until the vehicle has driven a set distance or a set time after the turning end detection unit detects the end of the turn, and the set driving line is not set when turning between the set driving lines, and the set driving line after the turn is generated based on the position at the time the automatic driving control unit switches to an operating state after the end of the turn is detected. A first feature of the present invention is that the work vehicle is configured as follows. a setting unit for setting a set driving line; an automatic travel control unit that operates a travel device so that the vehicle automatically travels along the set travel line; An operation unit that operates the automatic driving control unit between an operating state and a stopped state, and a turning end detection unit that detects the end of turning, The device is equipped with a restraining section that prevents the operating section from operating the automatic driving control unit to an operating state when the end of the turn is not detected by the turn end detection section, and allows the operating section to operate the automatic driving control unit to an operating state when the end of the turn is detected by the turn end detection section. The vehicle may also include a blocking notification unit that notifies the driver that the restraining unit has blocked the operation unit from switching the automatic driving control unit to an operating state. In addition, a pre-set reference direction may be provided, and the setting unit may set the set driving line parallel to the reference direction based on the position of the aircraft at the time the automatic driving control unit is operated to an operating state by the operating unit.

[0007] (Action and Effect of the Invention) According to a first feature of the present invention, the vehicle is provided with an automatic driving control unit that operates the driving device so that the vehicle automatically drives along a set driving line, an operation unit that operates the automatic driving control unit between an operating state and a stopped state, and a turning end detection unit that detects the end of a turn.

[0008] According to a first feature of the present invention, when a turn is made at the edge of a work site and then the automatic driving control unit is operated to an operating state by the operating unit, if the turn has not ended (if the end of the turn is not detected by the turn end detection unit), the operating unit is prevented from operating the automatic driving control unit to an operating state. This prevents the automatic driving control unit from being operated when there is a large difference between the set driving line and the vehicle's position, thereby ensuring the stability of the vehicle.

[0009] [II] (Configuration) A second feature of the present invention is that the work vehicle according to the first feature of the present invention is configured as follows. With a preset reference direction, The setting unit sets the set driving line parallel to the reference direction from the position of the aircraft at the time when the automatic driving control unit is operated to an operating state by the operating unit.

[0010] (Action and Effect of the Invention) According to the second feature of the present invention, a set travel line is set parallel to the reference direction from the position of the vehicle at the time when the automatic travel control unit is operated to the operating state by the operation unit. This means that, for example, when automatic driving along the first set driving line ends and a work site is reached, the position of the vehicle at the time the automatic driving control unit is operated to an active state by the operating unit can be set at the driver's discretion by turning at the edge of the work site with a large turning radius or a small turning radius, making it possible to set the position of the set driving line at the driver's discretion.

[0011] [III] (Configuration) A third feature of the present invention is that the work vehicle according to the first or second feature of the present invention is configured as follows. The operating unit is manually operated to switch the automatic driving control unit between an operating state and a stopped state.

[0012] (Action and Effect of the Invention) According to a third feature of the present invention, after the end of a turn is detected by the turn end detection unit and operation of the automatic driving control unit into an operating state is permitted, the driver can operate the automatic driving control unit into an operating state. This allows the driver to decide whether or not to operate the automatic driving control unit to an active state based on his or her intention.

[0013] [IV] (Configuration) A fourth feature of the present invention is that the work vehicle according to the third feature of the present invention is configured as follows. The operating unit is provided in a gear change operating unit that is manually operated to operate a transmission for traveling.

[0014] (Action and Effect of the Invention) As described in the previous paragraph [III], when the driver operates the operation unit, according to the fourth feature of the present invention, the operation unit is provided in a gear change operation unit that operates a transmission for traveling. This allows the driver to operate the operating part while operating the gear shift operating part, improving operability.

[0015] [V] (Configuration) A fifth feature of the present invention is that any one of the work vehicles according to the first to fourth features of the present invention is configured as follows. The restraining unit allows the operating unit to operate the automatic driving control unit to an operating state after the aircraft has traveled a set distance or a set time after the end of the turn has been detected by the turn end detection unit.

[0016] (Action and Effect of the Invention) As described in the preceding paragraph [I], when the end of a turn is detected by the turn end detection unit and the operation unit is permitted to operate the automatic driving control unit to an operating state, according to the fifth feature of the present invention, after the end of the turn is detected by the turn end detection unit and the aircraft has traveled a set distance (set time), the operation unit is permitted to operate the automatic driving control unit to an operating state. This allows the aircraft's attitude to be stabilized by traveling a set distance (set time) from the end of the turn, and then by operating the automatic traveling control unit to an active state, the stability of the aircraft can be ensured.

[0017] [VI] (Configuration) A sixth feature of the present invention is that any one of the work vehicles according to the first to fifth features of the present invention is configured as follows. Equipped with a direction detection unit that detects the direction of the aircraft, In a state where the operation of the automatic traveling control unit to the operating state by the operation unit is permitted and the automatic traveling control unit is operated to the working state by the operation unit, The restraining unit prevents the operating unit from operating the automatic driving control unit to an operating state if the angular difference between the set driving line and the aircraft's orientation exceeds a set value, and allows the operating unit to operate the automatic driving control unit to an operating state if the angular difference between the set driving line and the aircraft's orientation does not exceed a set value.

[0018] (Action and Effect of the Invention) As described in the previous paragraphs [I] and [V], even if the operating unit is permitted to operate the automatic driving control unit to an operating state, when the operating unit operates the automatic driving control unit to an operating state, it is expected that there will actually be a large angular difference between the set driving line and the aircraft's orientation.

[0019] According to the sixth feature of the present invention, in the above-mentioned state, after the operation of the automatic driving control unit to an operating state by the operating unit is permitted, when the automatic driving control unit is operated to an operating state by the operating unit, if the angular difference between the set driving line and the orientation of the aircraft exceeds a set value, the operation of the automatic driving control unit to an operating state by the operating unit is prevented. This prevents the automatic driving control unit from being operated when there is a large angular difference between the set driving line and the aircraft's orientation, thereby ensuring the stability of the aircraft.

[0020] [VII] (Configuration) A seventh feature of the present invention is that any one of the work vehicles according to the first to fifth features of the present invention is configured as follows. Equipped with a direction detection unit that detects the direction of the aircraft, When the operation unit is allowed to operate the automatic driving control unit into an operating state and the automatic driving control unit is operated into an operating state by the operation unit, the automatic driving control unit is provided with an automatic deceleration unit that decelerates the driving speed of the aircraft if the angular difference between the set driving line and the aircraft's orientation exceeds a set value.

[0021] (Action and Effect of the Invention) As described in the previous paragraphs [I] and [V], even if the operating unit is permitted to operate the automatic driving control unit to an operating state, when the operating unit operates the automatic driving control unit to an operating state, it is expected that there will actually be a large angular difference between the set driving line and the aircraft's orientation.

[0022] According to the seventh feature of the present invention, in the above-mentioned state, after the operating unit is permitted to operate the automatic driving control unit to an operating state, when the operating unit operates the automatic driving control unit to an operating state, if the angular difference between the set driving line and the aircraft's orientation exceeds a set value, the aircraft's driving speed is automatically slowed down and the automatic driving control unit is operated to an operating state, thereby ensuring the stability of the aircraft.

[0023] [VIII] (Configuration) An eighth feature of the present invention is that the work vehicle according to the seventh feature of the present invention is configured as follows. The vehicle is provided with a deceleration notification unit that notifies the user that the traveling speed of the vehicle has been decelerated by the automatic deceleration unit.

[0024] (Action and Effect of the Invention) As described in the preceding paragraph [VII], when the vehicle's traveling speed is automatically reduced and the automatic traveling control unit is operated to an operating state, according to the eighth feature of the present invention, the automatic deceleration unit notifies the driver that the vehicle's traveling speed has been reduced, so that the driver can understand that the vehicle's traveling speed has been reduced and there is no misunderstanding on the part of the driver.

[0025] [IX] (Configuration) A ninth feature of the present invention is that any one of the work vehicles according to the first to eighth features of the present invention is configured as follows. The restraining unit prevents the operating unit from operating the automatic driving control unit to an operating state when the vehicle is in a reverse state, and operates the automatic driving control unit to a stopped state when the vehicle is in a reverse state when the automatic driving control unit is in an operating state.

[0026] (Action and Effect of the Invention) According to the ninth feature of the present invention, it is possible to avoid a state in which the vehicle loses stability, such as when the automatic driving control unit is activated while the vehicle is in reverse, thereby ensuring the stability of the vehicle.

[0027] [X] (Configuration) A tenth feature of the present invention is that the work vehicle according to the ninth feature of the present invention is configured as follows. The vehicle is provided with a reverse stop notification unit that notifies the driver that the automatic driving control unit has been operated to a stopped state by the restraint unit when the vehicle enters a reverse state while the automatic driving control unit is in an operating state.

[0028] (Action and Effect of the Invention) As described in the preceding paragraph [IX], when the automatic driving control unit is operated to a stopped state because the vehicle is in reverse while the automatic driving control unit is in an operating state, according to the tenth feature of the present invention, the restraining unit notifies the driver that the automatic driving control unit has been operated to a stopped state, so that the driver can understand that the automatic driving control unit has been operated to a stopped state and the driver is not misled.

[0029] [XI] (Configuration) An eleventh feature of the present invention is that any one of the work vehicles according to the first to tenth features of the present invention is configured as follows. The vehicle is provided with a blocking notification unit that notifies the user that the restraining unit has blocked the automatic driving control unit from being operated.

[0030] (Action and Effect of the Invention) According to the 11th feature of the present invention, when the restraining unit prevents the automatic driving control unit from being operated to an operating state, the restraining unit notifies the driver that the operation of the automatic driving control unit to an operating state has been prevented, so that the driver can understand that the operation of the automatic driving control unit to an operating state has been prevented, and the driver is not misled.

[0031] [XII] (Configuration) A twelfth feature of the present invention is that any one of the work vehicles according to the first to eleventh features of the present invention is configured as follows. The device is provided with an allowance notification unit that notifies that the restraint unit has permitted the operation unit to set the automatic driving control unit to an operating state.

[0032] (Action and Effect of the Invention) According to the 12th feature of the present invention, when the restraining unit allows the operating unit to operate the automatic driving control unit to an operating state, the restraining unit notifies the driver that the operating unit is allowed to operate the automatic driving control unit to an operating state, so the driver can understand that the restraining unit allows the operating unit to operate the automatic driving control unit to an operating state, and the driver is not misled.

[0033] [XIII] (Composition) A thirteenth feature of the present invention resides in that any one of the work vehicles according to the first to twelfth features of the present invention is configured as follows. The vehicle further includes an operation notification unit that notifies the driver that the automatic driving control unit is in an operating state.

[0034] (Action and Effect of the Invention) According to the thirteenth feature of the present invention, the driver is notified that the automatic driving control unit is in an operating state, so that the driver is not misled.

[0035] [XIV] (Configuration) A fourteenth feature of the present invention resides in that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. The turning end detection unit detects that the working device, which is supported on the machine body so as to be able to rise and fall freely, has descended from a raised position to the ground as the end of turning.

[0036] (Action and effect of the invention) In a work vehicle in which a working device is supported on the body so that it can be raised and lowered freely, the working device may be raised from the ground when a turn begins and lowered to the ground when the turn ends. According to the fourteenth aspect of the present invention, the end of the swing can be clearly detected by detecting that the working implement has descended from the raised position to the ground as the end of the swing.

[0037] [XV] (Configuration) A fifteenth feature of the present invention resides in that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. The turning end detection unit detects that a working clutch that transmits power to a working device supported on the machine body has been operated into a transmission state as the end of turning.

[0038] (Action and Effect of the Invention) In a work vehicle equipped with a working implement, the working clutch may be operated to a disengaged state when turning begins to stop the working implement, and the working clutch may be operated to a transmission state when turning ends to operate the working implement. According to the fifteenth feature of the present invention, the end of turning can be clearly detected by detecting that the working clutch has been operated into a transmission state as the end of turning.

[0039] [XVI] (Configuration) A sixteenth feature of the present invention resides in that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. The turning end detection unit detects that the turning has ended when a steering operation unit, which is manually operated to change the direction of the aircraft, has been operated from a turning position to a straight-ahead position.

[0040] (Action and Effect of the Invention) Since work vehicles are equipped with a steering control unit (such as a steering handle or steering lever) that is manually operated to change the orientation of the vehicle, the end of a turn can be clearly detected by detecting that the steering control unit has been operated from a turning position to a straight-ahead position as the end of the turn.

[0041] [XVII] (Configuration) A seventeenth feature of the present invention resides in that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. right and left side clutches for transmitting power to the right and left traveling devices; A side clutch operating unit is provided which operates the side clutch on the turning center side to a disengaged state when turning starts, and operates the side clutch on the turning center side to a transmitted state when turning ends, The turning end detection unit detects that the side clutch on the turning center side has been operated into a transmission state as the end of the turning.

[0042] (Action and Effect of the Invention) Some work vehicles are equipped with right and left side clutches that transmit power to the right and left traveling devices, and are configured so that when a turn begins, the side clutch on the side of the turning center is operated to a disengaged state (free rotation state of the traveling device on the side of the turning center), and when the turn ends, the side clutch on the side of the turning center is operated to a transmission state (drive state of the traveling device on the side of the turning center). According to the seventeenth feature of the present invention, the end of turning can be clearly detected by detecting that the side clutch on the turning center side has been operated into a transmission state as the end of turning.

[0043] [XVIII] (Configuration) An eighteenth feature of the present invention is that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. The running device has front and rear wheels, a front wheel speed increasing device that can be freely operated between a standard state in which the front wheels and the rear wheels are driven at approximately the same speed and an increased speed state in which the front wheels are driven at a higher speed than the rear wheels; an operating device that operates the front wheel speed increasing device to an accelerating state when a turn starts and operates the front wheel speed increasing device to a standard state when a turn ends, The turning end detection unit detects that the front wheel speed increasing device has been operated to the standard state as the end of a turn.

[0044] (Action and Effect of the Invention) Some work vehicles are equipped with a front wheel speed increaser that can be freely operated between a standard state in which the front and rear wheels are driven at approximately the same speed, and an accelerated state in which the front wheels are driven at a higher speed than the rear wheels, and are configured so that the front wheel speed increaser is operated to the accelerated state when a turn begins and to the standard state when the turn ends. According to the eighteenth feature of the present invention, the end of a turn can be clearly detected by detecting that the front wheel speed increasing device has been operated to the standard state as the end of the turn.

[0045] [XIX] (Configuration) A nineteenth feature of the present invention resides in that any one of the work vehicles according to the first to thirteenth features of the present invention is configured as follows. Equipped with a direction detection unit that detects the direction of the aircraft, The turning end detection unit detects the end of turning based on the detection value of the direction detection unit.

[0046] (Action and Effect of the Invention) According to the nineteenth aspect of the present invention, the orientation detection unit is provided to detect the orientation of the aircraft, thereby making it possible to clearly detect the end of turning. [Brief explanation of the drawings]

[0047] [Figure 1] FIG. 1 is an overall side view of a riding rice transplanter. [Figure 2] FIG. 1 is an overall plan view of a riding rice transplanter. [Figure 3] FIG. 2 is a schematic plan view showing a steering system for the front wheels and a transmission system for the front and rear wheels. [Figure 4] FIG. 2 is a diagram showing the state of cooperation between the control device and each part. [Figure 5] FIG. 1 is a plan view showing an outline of the working form of a riding rice transplanter. [Figure 6] This is a plan view showing the state from the start position K1 to the end position K2 in the operating mode of the riding rice transplanter. [Figure 7] This is a plan view showing the state from the start position K1 to the position K3 in the operating mode of the riding rice transplanter. [Figure 8] This is a plan view showing the state from the start position K1 to the position K4 in the operating mode of the riding rice transplanter. [Figure 9] This is a plan view showing the state from the start position K1 to the position K5 in the operating mode of the riding rice transplanter. [Figure 10] This is a plan view showing the state from the start position K1 to the position K6 in the operating mode of the riding rice transplanter. [Figure 11] This is a plan view showing the state from the start position K1 to the position K7 in the operating mode of the riding rice transplanter. [Figure 12] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 13] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 14] FIG. 10 is a diagram showing the control flow in the operation mode of the riding rice transplanter. [Figure 15] FIG. 10 is a schematic plan view showing the state of the aircraft in a third alternative embodiment of the invention. [Figure 16] FIG. 10 is a diagram showing the state of cooperation between the control device and each unit in a fifth modified embodiment of the invention. [Figure 17] FIG. 13 is a schematic diagram showing a steering system for the front wheels and a transmission system for the front and rear wheels in an eighth alternative embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0048] Unless otherwise specified, the front-rear direction and the left-right direction in the embodiments of the present invention are described as follows: The direction of travel on the forward side when the machine is traveling for work is "forward," and the direction of travel on the reverse side is "rear." With the forward posture in the front-rear direction as the reference, the direction corresponding to the right side is "right," and the direction corresponding to the left side is "left."

[0049] [1] As shown in Figures 1 and 2, the rear of the machine body is equipped with right and left front wheels 1 (corresponding to the running gear) and right and left rear wheels 2 (corresponding to the running gear), and is equipped with a link mechanism 3 and a hydraulic cylinder 4 that drives the link mechanism 3 up and down.An eight-row seedling planting device 5 (corresponding to the working device) is supported at the rear of the link mechanism 3, thereby forming a riding rice transplanter, which is an example of a work vehicle.

[0050] As shown in Figures 1 and 2, the seedling planting device 5 is configured as an eight-row planting type, and includes four planting transmission cases 6 arranged at a predetermined interval in the left-right direction, a rotating case 7 supported for free rotation on the right and left rear parts of the planting transmission cases 6, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, and a seedling tray 10.

[0051] As shown in Figures 1 and 4, right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and are configured to be freely changeable between an operating position (see Figure 1) in which they are in contact with the rice field surface to form indicators for work steps L01 to L05 (see Figure 5), and a stored position (see Figure 4) above the rice field surface. The right and left markers 19 are configured with an arm portion 19a supported on the seedling planting device 5 so as to be able to swing up and down, and a rotor 19b supported at the tip of the arm portion 19a so as to be able to rotate freely. An electric motor 21 is provided to operate the right and left markers 19 between the operating position and the stored position, and the electric motor 21 is operated by a control device 23.

[0052] [2] The transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be explained. As shown in Figures 1 and 3, the power of an engine 31 provided at the front of the vehicle is transmitted via a transmission belt 32 to a hydrostatic continuously variable transmission 33 (corresponding to a transmission for driving) and a transmission case 34, and is then transmitted from an auxiliary transmission (not shown) inside the transmission case 34 to the right and left front wheels 1 via a front wheel differential mechanism (not shown) and a transmission shaft (not shown) inside a front axle case 35.

[0053] As shown in FIGS. 1 and 3, power from the auxiliary transmission is transmitted to the right and left rear wheels 2 via a transmission shaft 36, an input shaft 38 of a rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, the transmission shaft 39 to which the bevel gear 39a is fixed, and right and left side clutches 40.

[0054] 1, 2 and 4, a speed change lever 45 (corresponding to a speed change operation part) is provided on the left side of the control handle 20 (corresponding to a steering operation part), and the speed change lever 45 operates the hydrostatic continuously variable transmission 33. The speed change lever 45 allows the hydrostatic continuously variable transmission 33 to be continuously operated from a neutral position N to a forward side F and a reverse side R.

[0055] 3, a steering member 41 (corresponding to a side clutch operating part) is supported so as to be able to swing about a vertical axis P2 at the bottom of the transmission case 34, and is configured so that the steering member 41 can be operated to swing by the steering handle 20, and a tie rod 42 is connected between the steering member 41 and the right and left front wheels 1. By operating the steering handle 20, the right and left front wheels 1 can be steered from a straight ahead position A1 over a range of right and left steering limits A3.

[0056] As shown in Fig. 3, the right and left side clutches 40 are configured as a friction multi-plate type and are biased to a transmission state by a spring (not shown). Right and left operating shafts 43 that operate the right and left side clutches 40 to a disengaged state against the spring are supported downward on the rear axle case 37, and right and left operating rods 44 (corresponding to side clutch operating parts) are connected across the steering member 41 and the right and left operating shafts 43. The right and left operating rods 44 are provided with long holes 44a for flexibility at the connection portions with the right and left operating shafts 43.

[0057] 3, when the right and left front wheels 1 are steered within the range of a straight ahead position A1 and right and left set angles A2, the right and left side clutches 40 are operated in a transmission state by the accommodation of the long holes 44a of the right and left operating rods 44. As a result, the vehicle moves forward (reverse) with power transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (transmission state of the right and left side clutches 40).

[0058] 3, when the right and left front wheels 1 are steered beyond the right set angle A2 toward the right steering limit A3, the right (left) operating rod 44 is pulled beyond the range of the long hole 44a of the right operating rod 44, and the right side clutch 40 is operated into a disengaged state by the right operating shaft 43. As a result, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (outside of the turn) (transmission state of the left side clutch 40), and the right rear wheel 2 (toward the center of the turn) (disengaged state of the right side clutch 40) rotates freely, causing the vehicle to turn to the right.

[0059] 3, when the right and left front wheels 1 are steered beyond the left set angle A2 toward the left steering limit A3, the left operating rod 44 is pulled beyond the range of the long hole 44a of the left operating rod 44, and the left side clutch 40 is operated into the disengaged state by the left operating shaft 43. As a result, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (outside of the turn) (transmission state of the right side clutch 40), and the left rear wheel 2 (toward the center of the turn) (disengaged state of the left side clutch 40) is in a state where it rotates freely, and the vehicle turns to the left.

[0060] As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side beyond the right (left) set angle A2 toward the straight-ahead position A1, the right (left) side clutch 40, which had been operated in the disconnected state, is operated into the transmission state, and the right and left side clutches 40 return to the state in which they were operated into the transmission state.

[0061] [3] The transmission system to the seedling planting device 5 will be explained. As shown in Figures 1 and 4, in the transmission case 34, the power branched off just before the sub-transmission device is transmitted to the seedling planting device 5 via the planting clutch 26 (equivalent to the working clutch) and the PTO shaft 25, and an electric motor 28 is provided to operate the planting clutch 26 in the transmission and disconnection states.

[0062] As shown in Figures 1 and 2, when the planting clutch 26 is operated to the transmission state, the seedling tray 10 is driven to move back and forth sideways, while the rotating case 7 is driven to rotate counterclockwise in Figure 1, and the planting arms 8 alternately pick up seedlings from the bottom of the seedling tray 10 and plant them in the rice field. When the planting clutch 26 is operated to the disengaged state, the reciprocating sideways movement of the seedling tray 10 and the rotation of the rotating case 7 stop.

[0063] [4] The automatic lifting control unit 59 of the seedling planting device 5 will be described. As shown in Figure 4, the rear of the central float 9 is supported around the horizontal axis P1 of the seedling planting device 5 so that it can swing up and down freely, and a potentiometer-type height sensor 22 is provided to detect the height of the central float 9 relative to the seedling planting device 5, and the detection value of the height sensor 22 is input to the control device 23. As the machine moves forward, the central float 9 makes contact with the paddy field surface and follows it, and the height from the paddy field surface (central float 9) to the seedling planting device 5 can be detected from the detection value of the height sensor 22.

[0064] As shown in Figure 4, the automatic lifting control section 59 is provided as software in the control device 23, and the control valve 24 that supplies and discharges hydraulic oil to the hydraulic cylinder 4 is operated by the automatic lifting control section 59. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 contracts and the seedling planting device 5 rises, and when hydraulic oil is discharged from the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 extends and the seedling planting device 5 descends.

[0065] As shown in Figure 4, the automatic lifting control unit 59 operates the control valve 24, causing the hydraulic cylinder 4 to extend and retract, and the seedling planting device 5 to automatically lift and lower so that the seedling planting device 5 is maintained at a set height from the rice field surface based on the height from the rice field surface (central float 9) to the seedling planting device 5 (so that the detection value of the height sensor 22 (the vertical distance between the height sensor 22 and the central float 9) is maintained at the set value).

[0066] [5] The lift lever 11 will now be described. 1, 2, and 4, a lift lever 11 is provided on the right side of the driver's seat 13, and the lift lever 11 is configured to be freely operable to automatic position, raised position, neutral position, lowered position, and planting position, and the operating position of the lift lever 11 is input to the control device 23. A potentiometer 29 is provided to detect the vertical angle of the link mechanism 3 relative to the machine body, and the detection value of the potentiometer 29 is input to the control device 23.

[0067] As shown in Figure 4, when the lifting lever 11 is operated to the raised position, neutral position, lowered position, or planting position (when the lifting lever 11 is not operated to the automatic position), the functions of the first and second raised positions U1, U2 and the first and second lowered positions D1, D2 of the operating lever 12 described in [6] below do not operate, and only the functions of the right and left marker positions R, L of the operating lever 12 operate.

[0068] As shown in Figure 4, when the lift lever 11 is operated to the raised position, the automatic lift control unit 59 is stopped, the planting clutch 26 is disengaged by the electric motor 28, the right and left markers 19 are operated to the stored position by the electric motor 21, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position and the hydraulic cylinder 4 is automatically stopped.

[0069] As shown in Figure 4, when the lifting lever 11 is operated to the lowered position, the automatic lifting control unit 59 is stopped, the planting clutch 26 is operated to the disconnected state by the electric motor 28, the right and left markers 19 are operated to the storage position by the electric motor 21, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

[0070] As shown in Figure 4, when the lifting lever 11 is operated to the lowered position and the central float 9 touches the rice field surface, the central float 9 rises slightly. When the height sensor 22 detects that the central float 9 has touched the rice field surface (the central float 9 has risen slightly), the automatic lifting control unit 59 becomes active, and the seedling planting device 5 touches the rice field surface and stops.

[0071] As shown in Figure 4, when the lift lever 11 is operated to the neutral position, the automatic lift control unit 59 is stopped, the planting clutch 26 is operated to the disengaged state by the electric motor 28, the right and left markers 19 are operated to the stored position by the electric motor 21, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is stopped. In this way, by operating the lift lever 11 to the raised position, neutral position, and lowered position, the seedling planting device 5 can be raised and lowered to any height and stopped.

[0072] As shown in Figure 4, when the lift lever 11 is operated to the planting position, the electric motor 21 operates the right and left markers 19 to the stored position, the automatic lift control unit 59 is activated, and the electric motor 28 operates the planting clutch 26 to the transmission state. As a result, the seedling tray 10 is driven to move back and forth horizontally to the left and right, which rotates the rotating case 7, and the planting arms 8 alternately pick up seedlings from the bottom of the seedling tray 10 and plant them in the rice paddy field.

[0073] [6] The operating lever 12 will now be described. 1, 2, and 4, an operating lever 12 is provided on the right side below the steering handle 20, and extends outward to the right side. The operating lever 12 is configured to be operable in a cross direction from a neutral position N to a first raised position U1, a second raised position U2 on the upper side, a first lowered position D1, a second lowered position D2 on the lower side, a rear right marker position R, and a front left marker position L. The operating lever 12 is biased to the neutral position N, and the operating position of the operating lever 12 is input to a control device 23.

[0074] As shown in FIG. 4, when the lift lever 11 is set to the automatic position, the operation lever 12 functions as follows. As shown in Figure 4, when the operating lever 12 is operated to the second raised position U2, the planting clutch 26 is disengaged by the electric motor 28, the automatic lift control unit 59 is stopped, the right and left markers 19 are operated by the electric motor 21 to the stored position, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 is automatically stopped.

[0075] As shown in Figure 4, when the operating lever 12 is operated to the second lowered position D2, the planting clutch 26 is disengaged by the electric motor 28, the automatic lifting control unit 59 is stopped, and with the right and left markers 19 operated by the electric motor 21 to the stored position, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center float 9 touches the paddy field surface, the automatic lifting control unit 59 is activated, and the seedling planting device 5 touches the paddy field surface and comes to a stop (see the state when the lifting lever 11 is operated to the lowered position described in the previous paragraph [5]). After operating the operating lever 12 to the second lowered position D2 and then to the neutral position N, when the operating lever 12 is again operated to the second lowered position D2, the planting clutch 26 is operated to a transmission state by the electric motor 28 while the automatic lifting control unit 59 is in an operating state.

[0076] With the automatic lift control unit 59 stopped, the planting clutch 26 disengaged by the electric motor 28, and the right and left markers 19 in the stored position by the electric motor 21, when the operating lever 12 is operated to the first raised position U1 as shown in Figure 4, the control valve 24 is operated to the supply position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised only while the operating lever 12 is operated to the first raised position U1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

[0077] With the automatic lift control unit 59 stopped, the planting clutch 26 disengaged by the electric motor 28, and the right and left markers 19 in the stored position by the electric motor 21, when the operating lever 12 is operated to the first lowered position D1 as shown in Figure 4, the control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered only while the operating lever 12 is operated to the first lowered position D1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the descent of the seedling planting device 5 is stopped.

[0078] As described above, the seedling planting device 5 can be raised and lowered only while the operating lever 12 is operated to the first raised and lowered positions U1 and D1, and the seedling planting device 5 can be raised and lowered to any height and stopped.

[0079] As shown in Figure 4, when the operating lever 12 is operated to the right marker position R, the right marker 19 is operated to the operating position by the electric motor 21. When the operating lever 12 is operated to the left marker position L, the left marker 19 is operated to the operating position by the electric motor 21.

[0080] As described above, the lifting lever 11 described in the previous paragraph [5] and the operating lever 12 described in this paragraph [6] are used to lift and lower the seedling planting device 5, operate the planting clutch 26, and operate the right and left markers 19.The lifting and lowering of the seedling planting device 5 (activating and stopping the automatic lifting control unit 59), operating the planting clutch 26, and operating the right and left markers 19 in [9] to

[13] described below are performed by the lifting lever 11 or the operating lever 12.

[0081] [7] The configuration for detecting the position and direction of the aircraft will be described. As shown in Figures 1 and 2, right and left support frames 16 are provided on the right and left front parts of the machine body, and spare seedling trays 15 are supported on the support frames 16. A support frame 17 is connected across the top of the right and left support frames 16.

[0082] 1 and 2, a measurement device 30 is attached to the support frame 17 at a portion located at the lateral center CL of the aircraft in a plan view. The measurement device 30 is equipped with a receiving device (not shown) that acquires position information using a satellite positioning system, and an inertial measurement unit (not shown) that detects the inclination (pitch angle, roll angle) of the aircraft.

[0083] As shown in Figures 1 and 2, an inertial measurement unit 48 that measures inertial information is attached to the rear axle case 37 in a portion located at the center CL of the left and right sides of the vehicle when viewed from above, and the inertial measurement of the inertial measurement unit 48 and the measurement unit 30 is performed by an IMU (Inertial Measurement Unit).

[0084] A representative example of the aforementioned satellite positioning system (GNSS: Global Navigation Satellite System) is the Global Positioning System (GPS). The GPS measures the position of the receiving device of the measuring device 30 using multiple GPS satellites orbiting the Earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in the target (aircraft) to be positioned.

[0085] The inertial measurement unit 48 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle (turning angle of the aircraft) of the aircraft, and an acceleration sensor (not shown) that detects acceleration in three mutually orthogonal axis directions. The inertial information measured by the inertial measurement unit 48 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[0086] [8] The configuration related to automatic driving will be described. 1, 2, and 4, the operating position of the gearshift lever 45 is input to the control device 23. A center mascot 14 is provided at the front of the vehicle body at the center CL of the vehicle body in a plan view. A steering motor 51 is provided to steer the steering member 41.

[0087] As shown in Figures 3 and 4, a ring member 49 having many small irregularities formed on its outer periphery is fitted onto the clutch cases of the right and left side clutches 40, and right and left rotation speed sensors 50 of the proximity sensor type are fixed to the top of the rear axle case 37 so as to face the ring member 49, and the detection values ​​of the right and left rotation speed sensors 50 are input to the control device 23. Pulses are emitted from the right and left rotation speed sensors 50 in accordance with the unevenness of the ring member 49, and the rotation speeds of the right and left rear wheels 2 can be detected by the pulses from the right and left rotation speed sensors 50.

[0088] As shown in Figure 4, the control device 23 is provided with a reference orientation setting unit 60, a setting unit 61, an automatic driving control unit 62, a turning end detection unit 63, a restraint unit 64, a reverse stop notification unit 65, an obstruction notification unit 66, an allowance notification unit 67, an operation notification unit 68, and a travel distance detection unit 69 as software.

[0089] As shown in Figures 2 and 4, an operation button 18 (corresponding to the operation unit) for manually operating the automatic driving control unit 62 to an operating state or a stopped state is provided on the grip portion of the shift lever 45, and an operation signal of the operation button 18 is input to the control device 23.

[0090] As shown in Figures 2 and 4, a display panel 27 is provided in front of the steering handle 20, a start point setting switch 46 is provided on the right side of the display panel 27, and an end point setting switch 47 is provided on the left side of the display panel 27, and operation signals from the start point and end point setting switches 46, 47 are input to the control device 23.

[0091] [9] The operating mode of the riding rice transplanter will be explained. For example, in a paddy field that is square in plan view as shown in Figure 5, a riding rice transplanter may employ the following working style.

[0092] First, the machine is positioned at the position shown in Figure 5 (starting position K1), the seedling planting device 5 is lowered to the rice field surface, and the left marker 19 is operated to the working position (the right marker 19 is operated to the stored position). In this state, the planting clutch 26 is operated to the disengaged state, and the machine travels along the ridge B (the automatic lift control unit 59 is in the operating state), and the left marker 19 forms an index for the next work stroke L01 on the rice field surface (standard work stroke LA1).

[0093] As mentioned above, in the standard work process LA1, the planting clutch 26 is not operated to the transmission state, but the seedling planting device 5 is lowered to the rice field surface and driven so that the float 9 of the seedling planting device 5 can erase the marks left by the front wheels 1 and rear wheels 2.

[0094] As shown in Figure 5, when the machine reaches the edge of the paddy field from the standard work stroke LA1, the seedling planting device 5 is raised from the paddy field surface (the automatic lifting control unit 59 is stopped), a rotation LL1 (to the left) is performed, the seedling planting device 5 is lowered to the paddy field surface (the automatic lifting control unit 59 is operating), the planting clutch 26 is operated to the transmission state, and work stroke L01 is entered.

[0095] In work step L01, the left marker 19 is operated to the storage position and the right marker 19 is operated to the working position, and the machine is made to travel along the marker formed on the rice field surface in the standard work step LA1, thereby planting seedlings while forming an marker for the next work step L02 on the rice field surface with the right marker 19.

[0096] As shown in Figure 5, when the machine reaches the edge of the paddy field from work step L01, the planting clutch 26 is operated to the disconnected state, the seedling planting device 5 is raised from the paddy field surface (automatic lifting control unit 59 is stopped), a rotation LL2 (to the right) is performed, the seedling planting device 5 is lowered to the paddy field surface (automatic lifting control unit 59 is operating), the planting clutch 26 is operated to the transmission state, and work step L02 is entered.

[0097] In work step L02, the right marker 19 is operated to the storage position and the left marker 19 is operated to the working position, and the machine is made to travel along the marker formed on the rice field surface in work step L01, thereby planting seedlings while forming an marker for the next work step L03 on the rice field surface with the left marker 19.

[0098] As shown in Figure 5, by performing multiple work strokes L01, L02, L03, L04, and L05 and turning LL1 (leftward), LL2 (rightward), LL3 (leftward), LL4 (rightward), and LL5 (leftward), an area where seedlings have not been planted is formed along ridge B. In this state, when the machine reaches the edge of the ridge from work stroke L05, the planting clutch 26 is disengaged, the seedling planting device 5 is raised from the rice field surface (automatic lift control unit 59 is stopped), and a turn LL6 (rightward) is performed to position the machine at position K10.

[0099] As shown in Figure 5, at position K10, the seedling planting device 5 is lowered to the rice field surface (automatic lift control unit 59 is in operation), the planting clutch 26 is operated to the transmission state, and with the right and left markers 19 operated to the storage position, it travels along the ridge B (circling work process). As a result, seedlings are planted in the areas where seedlings have not been planted in work processes L01 to L05.

[0100]

[10] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 1). As shown in Figures 6 and 12, when the driver operates the start point setting switch 46 while the vehicle is positioned at the start point position K1 (step S1), the position of the vehicle at the time the start point setting switch 46 is operated is set as the start point position K1 based on the detection value of the measuring device 30 (step S2).

[0101] Next, as shown in Figures 6 and 12, the operator lowers the seedling planting device 5 to the rice field surface (automatic lift control unit 59 is in operation), operates the left marker 19 to the operating position (right marker 19 to the stored position), and maintains the planting clutch 26 in the disengaged state. The operator operates the control handle 20 and the speed change lever 45 to travel the machine along ridge B, and uses the left marker 19 to form an indicator for the next work stroke L01 on the rice field surface (standard work stroke LA1).

[0102] 6 and 12, when the machine reaches the edge of the field from the standard work path LA1 and the driver operates the end point setting switch 47 (step S3), the position of the machine at the time the end point setting switch 47 is operated is set as the end point position K2 (step S4) based on the detection value of the measuring device 30. Once the end point position K2 is set, the reference orientation setting unit 60 sets the straight line (orientation) connecting the start point position K1 and the end point position K2 as the reference orientation E (step S5).

[0103] Next, as shown in Figures 7 and 12, the operator raises the seedling planting device 5 (automatic lifting control unit 59 stopped, planting clutch 26 disengaged, right and left markers 19 stored position) and operates the operating handle 20 and shift lever 45 to perform rotation LL1. During the standard work process LA1, the left marker 19 forms an indicator for the next work process L01 on the rice field surface, so the driver seated in the driver's seat 13, while visually checking the center mascot 14 and the aforementioned indicator during the turn LL1, operates the control handle 20, aiming at the indicator on the rice field surface, and positions the machine at position K3.

[0104] In this case, since the seedling planting device 5 is raised during rotation LL1, the end of rotation is not detected by the rotation end detection unit 63 (step S6), and therefore the restraint unit 64 prevents the automatic driving control unit 62 from being operated.

[0105] Therefore, even if the driver operates the operation button 18 in the above-mentioned state (step S7), the restraining unit 64 prevents the automatic driving control unit 62 from being operated (step S8), and the prevention notification unit 66 is activated to notify the driver that operation of the automatic driving control unit 62 has been prevented (by display on the display panel 27 and by audio notification) (step S9).

[0106]

[11] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 2). As shown in Figures 7 and 12, when the swing LL1 is completed and the machine body is positioned at position K3, the operator lowers the seedling planting device 5 to the rice field surface (the automatic lift control unit 59 is in operation) (step S10), operates the planting clutch 26 to the transmission state, and operates the right marker 19 to the operating position (the left marker 19 is in the stored position). As a result, the operator operates the control handle 20 and the speed change lever 45 to enter the next work process L01.

[0107] As described above, when the height sensor 22 detects that the central float 9 has touched the paddy field surface (the central float 9 has risen slightly) due to the descent of the seedling planting device 5 (see the previous section [5]) (step S10), the end of turning is detected by the turning end detection unit 63 (step S11). In this case, the restraint unit 64 maintains the state in which the automatic travel control unit 62 is prevented from being operated.

[0108] As shown in FIGS. 7 and 13, when the work process L01 begins, the travel distance detection unit 69 starts detecting the travel distance D of the machine based on the detection value of the rotation speed sensor 50 (step S12).

[0109] As shown in Figures 8 and 13, even if the driver operates the operation button 18 (step S13) before the vehicle's traveling distance D reaches the set distance D1, the restraining unit 64 prevents the automatic driving control unit 62 from being operated (step S14), and the prevention notification unit 66 is activated to notify the driver that operation of the automatic driving control unit 62 has been prevented (by display on the display panel 27 and by audio notification) (step S15).

[0110] As shown in Figures 8 and 13, when the travel distance detection unit 69 detects that the travel distance D of the aircraft has reached the set distance D1 (position K4) (step S16), the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state (step S17), and the permission notification unit 67 is activated to notify that the automatic driving control unit 62 is allowed to be operated into an operating state (by display on the display panel 27 and by audio notification) (step S18).

[0111]

[12] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 3). As shown in Figures 8 and 13, when the driver operates the operation button 18 (step S19) while the restraint unit 64 allows the automatic driving control unit 62 to be operated (position K4), the automatic driving control unit 62 enters an operating state (step S20), and the operation notification unit 68 is activated to notify the driver that the automatic driving control unit 62 is in an operating state (by display on the display panel 27 and by audio notification) (step S21).

[0112] As shown in Figures 8 and 13, at the same time that the automatic driving control unit 62 enters an operating state, the setting unit 61 sets a set driving line LB1 parallel to the reference direction E from the position of the aircraft (position K4) at the time the automatic driving control unit 62 enters an operating state based on the detection value of the measuring device 30 (step S22). In this case, if the position of the machine (position K4) at the time the automatic driving control unit 62 enters an operating state is outside the indicator of the work process L01 formed on the rice field surface by the left marker 19 in the standard work process LA1, the aforementioned indicator will not coincide with the set driving line LB1.

[0113] As a result, as shown in Figures 9 and 13, when the automatic driving control unit 62 is in an operating state, the steering motor 51 is operated by the automatic driving control unit 62 (the front wheel 1 is automatically steered) so that the vehicle automatically drives along the set driving line LB1 based on the detection values ​​of the measuring device 30 and the inertial measurement device 48. In this case, the driver can operate the hydrostatic continuously variable transmission 33 by operating the speed change lever 45, thereby changing the traveling speed of the machine.

[0114]

[13] The following describes a state in which the present invention is applied to the working mode of the riding rice transplanter described in the previous section [9] and FIG. 5 (part 4). As shown in FIGS. 9 and 13, when the work process L01 is completed and the machine reaches the ridge B (position K5), the driver operates the operation button 18 to stop the automatic travel control unit 62 (step S23).

[0115] Next, similar to the rotation LL1 described in the previous section

[10] , as shown in Figures 10 and 14, the driver raises the seedling planting device 5 (automatic lifting control unit 59 is stopped, planting clutch 26 is disengaged, and right and left markers 19 are in the stored position), and operates the operating handle 20 and the speed change lever 45 to perform rotation LL2. In this case, as with turn LL1, the driver seated in the driver's seat 13 visually checks the center mascot 14 and the indicator for the next work step L02 formed on the rice field surface by the right marker 19 during work step L01, and operates the control handle 20 to aim at the indicator on the rice field surface, positions the machine at position K6, and enters work step L02.

[0116] As shown in Figure 11, at the turn LL2 and from position K6 to position K7, the same operations as steps S6 to S22 in Figures 12 and 13 are performed to set the set driving line LB2, and when the automatic driving control unit 62 is in an operating state (work process L02), the steering motor 51 is operated by the automatic driving control unit 62 (the front wheel 1 is automatically steered) based on the detection values ​​of the measuring device 30 and the inertial measurement device 48 so that the vehicle automatically drives along the set driving line LB2. Thereafter, in the work steps L02 to L05 and the turns LL3 to LL5 shown in FIG. 5, the same operations as steps S6 to S22 in FIGS. 12 and 13 are performed.

[0117] When the driver operates the gearshift lever 45 to the reverse side R while the automatic driving control unit 62 is in operation during the above-described work steps L01 to L05, the automatic driving control unit 62 is operated to a stop state by the restraint unit 64, and the currently set driving line LB1 (LB2) is erased. At the same time, the reverse stop notification unit 65 is activated, and it is notified that the automatic driving control unit 62 has been operated to a stop state (by display on the display panel 27 and by audio notification). In this case, when the automatic driving control unit 62 is operated to a stopped state based on the shift lever 45 being operated to the reverse side R, even if the driver operates the operation button 18, the restraint unit 64 prevents the automatic driving control unit 62 from being operated to an operating state.

[0118] As described above, when the automatic driving control unit 62 is operated to a stopped state based on the shift lever 45 being operated to the reverse side R, if the driver operates the shift lever 45 to the neutral position N or the forward side F, as in steps S12 to S19 of Figure 13, after the driver operates the shift lever 45 to the neutral position N or the forward side F and the vehicle has traveled a set distance D1, the restraint unit 64 will allow the automatic driving control unit 62 to be operated to an operating state.

[0119] After this, when the driver operates the operation button 18 while the restraint unit 64 allows the automatic driving control unit 62 to be operated into the operating state, the automatic driving control unit 62 enters the operating state, and a new set driving line LB1 (LB2) is set parallel to the reference direction E from the position of the aircraft at the time the automatic driving control unit 62 enters the operating state.

[0120] [First Alternative Embodiment of the Invention] In the above-mentioned [Form for implementing the invention], instead of setting the reference direction E and setting the set driving lines LB1, LB2 each time the operation button 18 is operated, it is also possible to prepare position information of the paddy field (farm field) in advance as map data and set the set driving lines LB1, LB2 in advance in the map data of the paddy field (farm field). In this case, instead of setting the multiple set travel lines LB1, LB2 parallel to each other, the multiple set travel lines LB1, LB2 may be set so as to be inclined relative to each other, or the multiple set travel lines LB1, LB2 may be set so as to be perpendicular to each other.

[0121] As mentioned above, if map data of the rice paddy (field) is provided, the positional relationship between the aircraft's position and ridge B can be recognized. In this case, when the automatic driving control unit 62 is in an operating state, it can be configured to issue an alert when the vehicle approaches ridge B, and when the automatic driving control unit 62 is in a stopped state, it can be configured not to issue an alert when the vehicle approaches ridge B.

[0122] [Second Alternative Embodiment of the Invention] In the above-mentioned [Form for implementing the invention] and [First alternative form for implementing the invention], instead of the set distance D1 (see steps S12 to S16 in Figures 8, 11, and 13), the configuration may be such that when the vehicle has traveled for a set time, the restraint unit 64 allows the automatic driving control unit 62 to be operated to an operating state.

[0123] In the above-mentioned [Form for implementing the invention] [First alternative form for implementing the invention], the set distance D1 (see steps S12 to S16 in Figures 8, 11, and 13) may be eliminated, and when turns LL1 to LL5 are completed (when the end of the turn is detected by the turn end detection unit 63), the restraint unit 64 may immediately allow the automatic driving control unit 62 to be operated to an operating state. Similarly, in

[13] of the above-mentioned [Form for implementing the invention], when the shift lever 45 that has been operated to the reverse side R is operated to the neutral position N or the forward side F, the restraining unit 64 may be configured to immediately allow the automatic driving control unit 62 to be operated to an operating state.

[0124] [Third Alternative Embodiment of the Invention] In the above-described [Mode for Carrying Out the Invention], [First Alternative Embodiment of the Invention], and [Second Alternative Embodiment of the Invention], the check unit 64 may be provided with the following functions. As shown in Figure 15, when the driver operates the operation button 18 while the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, the measurement device 30 (corresponding to the direction detection unit) and the inertial measurement unit 48 (corresponding to the direction detection unit) detect the direction E1 of the aircraft at the time the driver operates the operation button 18.

[0125] At the same time as detecting the aforementioned aircraft orientation E1, the set driving lines LB1, LB2 (reference orientation E) are compared with the aircraft orientation E1, and if the angular difference θ1 between the set driving lines LB1, LB2 (reference orientation E) and the aircraft orientation E1 does not exceed the set value, the automatic driving control unit 62 is maintained in an operating state (operation of the automatic driving control unit 62 to an operating state is allowed).

[0126] At the same time as detecting the aforementioned aircraft orientation E1, the set driving lines LB1, LB2 (reference orientation E) are compared with the aircraft orientation E1, and if the angular difference θ1 between the set driving lines LB1, LB2 (reference orientation E) and the aircraft orientation E1 exceeds a set value, the automatic driving control unit 62 is operated to a stopped state (the automatic driving control unit 62 is prevented from being operated).

[0127] In this case, the driver is notified that the angular difference θ1 exceeds the set value (by display on the display panel 27 and by voice notification), so he operates the steering wheel 20 to align the aircraft's orientation E1 with the set driving lines LB1, LB2 (reference orientation E) (so that the angular difference θ1 becomes smaller than the set value).

[0128] After this, when the angle difference θ1 becomes smaller than the set value, the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, and the permission notification unit 67 is activated to notify that the automatic driving control unit 62 is allowed to be operated into an operating state (by display on the display panel 27 and by audio notification). As a result, when the driver operates the operation button 18, the automatic driving control unit 62 is operated to an active state.

[0129] [Fourth Alternative Embodiment of the Invention] In the above-mentioned [third alternative embodiment of the invention], when the vehicle's orientation E1 at the time the driver operates the operation button 18 is detected, instead of comparing the set driving lines LB1, LB2 (reference orientation E) with the vehicle's orientation E1, the vehicle may be configured as described below.

[0130] The direction of a straight line connecting the aircraft's position at the time the driver operated the operation button 18 and the aircraft's position a predetermined distance behind (past) this position is detected, and this direction is compared with the aircraft's direction E1 to determine the angular difference θ1. Based on the result of this comparison (angular difference θ1), the operation described in the above-mentioned "Third Alternative Embodiment of the Invention" is performed.

[0131] [Fifth Alternative Embodiment of the Invention] In the above-mentioned [Form for implementing the invention], [First alternative embodiment of the invention] to [Fourth alternative embodiment of the invention], as shown in FIG. 16, the automatic deceleration unit 70 and the deceleration notification unit 71 may be provided as software in the control device 23.

[0132] As shown in Figure 15, when the driver operates the operation button 18 while the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, the measurement device 30 (corresponding to the direction detection unit) and the inertial measurement unit 48 (corresponding to the direction detection unit) detect the direction E1 of the aircraft at the time the driver operates the operation button 18.

[0133] At the same time as detecting the aforementioned vehicle orientation E1, the set driving lines LB1, LB2 (reference orientation E) are compared with the vehicle orientation E1, and if the angular difference θ1 between the set driving lines LB1, LB2 (reference orientation E) and the vehicle orientation E1 exceeds a set value, the automatic deceleration unit 70 activates the actuator 52, and the speed change lever 45 (hydrostatic continuously variable transmission 33) is operated to the low speed side (or the accelerator lever (not shown) of the engine 31 is operated to the low speed side). At the same time, the deceleration notification unit 71 is activated to notify the user that the traveling speed of the machine has been decelerated by the automatic deceleration unit 70 (by display on the display panel 27 and by voice notification).

[0134] In the above-mentioned [Form for implementing the invention], [First alternative form for implementing the invention], and [Second alternative form for implementing the invention], when the automatic driving control unit 62 is operated to an operating state, the automatic deceleration unit 70 decelerates the vehicle's running speed.

[0135] After this, when the angle difference θ1 becomes smaller than the set value by the automatic driving control unit 62 (or the driver operates the steering handle 20 against the steering motor 51), the automatic deceleration unit 70 stops and this state is notified (by display on the display panel 27 and by voice), so that the driver can operate the gear shift lever 45 (or accelerator lever) to the high-speed side (original operating position).

[0136] In the above-mentioned [Third Alternative Embodiment of the Invention] and [Fourth Alternative Embodiment of the Invention], when the automatic driving control unit 62 is operated to a stopped state (when the automatic driving control unit 62 is prevented from being operated to an operating state), the automatic deceleration unit 70 decelerates the vehicle's running speed. After this, when the driver operates the steering wheel 20 and the angle difference θ1 becomes smaller than the set value, the automatic deceleration unit 70 stops and this state is notified (by display on the display panel 27 and by voice), so the driver can operate the gear shift lever 45 (or accelerator lever) to the high-speed side (original operating position) and operate the operation button 18 to operate the automatic driving control unit 62 to the operating state.

[0137] In this section [fourth alternative embodiment of the invention], when the angular difference θ1 becomes smaller than a set value, the automatic deceleration unit 70 may be stopped and the actuator 52 may automatically operate the shift lever 45 (or accelerator lever) to its original operating position.

[0138] [Sixth Alternative Embodiment of the Invention] In the above-described fifth alternative embodiment of the invention, if the angular difference θ1 exceeds a set value, the speed change lever 45 (hydrostatic continuously variable transmission 33) may be configured to be unable to be operated to a higher speed (the accelerator lever may be configured to be unable to be operated to a higher speed), and an alert may be given that the vehicle's traveling speed cannot be increased (an alert may be given by display on the display panel 27 and by voice).

[0139] After this, when the driver operates the steering wheel 20 and the angle difference θ1 becomes smaller than the set value, the automatic deceleration unit 70 stops and this state is notified (by display on the display panel 27 and by voice), so the driver can operate the gear shift lever 45 (or accelerator lever) to the high-speed side and operate the operation button 18 to operate the automatic driving control unit 62 to the operating state.

[0140] [Seventh Alternative Embodiment of the Invention] In the above-mentioned [Form for implementing the invention], [First alternative embodiment of the invention] to [Sixth alternative embodiment of the invention], instead of the configuration in which the end of rotation is detected by the rotation end detection unit 63 when the height sensor 22 detects that the central float 9 has landed on the rice field surface (the central float 9 has risen slightly) due to the descent of the seedling planting device 5, the configuration described in (1) to (6) below may be used to detect the end of rotation by the rotation end detection unit 63.

[0141] (1) The planting clutch 26 (working clutch that transmits power to the work device) (see FIG. 4) is operated to the transmission state.

[0142] (2) The right (left) marker 19 (see Figure 4) is operated to the working position.

[0143] (3) A state in which the steering member 41 (steering handle 20) (right and left front wheels 1) (see Figure 3) is operated from the right (left) steering limit A3 side beyond the right (left) set angle A2 toward the straight-ahead position A1 (equivalent to a state in which it is operated from a turning position to a straight-ahead position).

[0144] (4) The right (left) side clutch 40 (see Figure 3), which was operated to the disengaged state, is operated to the transmission state, and the right and left side clutches 40 are restored to the state in which they are operated to the transmission state.

[0145] (5) The aircraft's orientation E1 is detected by the measuring device 30 (corresponding to the orientation detection unit) and the inertial measurement unit 48 (corresponding to the orientation detection unit), and the driver operates the operation button 18 to operate the automatic driving control unit 62 to a stopped state, after which the aircraft's orientation E1 has changed by a set angle (for example, approximately 180°).

[0146] (6) A state in which a turning end switch (not shown) provided separately from the operation button 18 is manually operated by the driver.

[0147] In this case, two or more states may be selected from the seven states of the state where the central float 9 touches the rice field surface due to the descent of the seedling planting device 5 described above, and the states (1) to (6) described above, and when the two or more selected states are established, the rotation end detection unit 63 may detect the end of rotation.

[0148] [Eighth Alternative Embodiment of the Invention] The above-described [Mode for Carrying Out the Invention] and [First Alternative Embodiment of the Invention] to [Seventh Alternative Embodiment of the Invention] may also have the following configurations.

[0149] 17, the power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33, and then transmitted to the right and left rear wheels 2 via a gear-type auxiliary transmission (not shown) and a rear wheel differential mechanism (not shown) of the transmission case 53. The power branched between the auxiliary transmission and the rear wheel differential mechanism is transmitted to the right and left front wheels 1 via a front wheel speed increasing device 54, a transmission shaft 55, and a front wheel differential mechanism 56.

[0150] As shown in Figure 17, the front wheel speed increasing device 54 is configured to be freely operable between a standard state in which the front wheels 1 and rear wheels 2 are driven at approximately the same speed, and an accelerated state in which the front wheels 1 are driven at a higher speed than the rear wheels 2. The steering operation system of the front wheels 1 and the front wheel speed increasing device 54 are linked by an operation device 57 (a linking rod, a linking link, etc.), and the front wheel speed increasing device 54 is operated as follows.

[0151] As shown in FIG. 17, when the right and left front wheels 1 are steered within the range of a straight ahead position A1 and right and left set angles A2, the front wheel speed increasing device 54 is operated to the standard state. When the right and left front wheels 1 exceed the right set angle A2 and are steered toward the right (left) steering limit A3, the front wheel speed increase device 54 is operated to an accelerating state. As a result, the front wheels 1 are driven at a higher speed than the rear wheels 2, and the vehicle turns to the right (left). When the right and left front wheels 1 exceed the left set angle A2 and are steered toward the straight ahead position A1, the front wheel speed increase device 54 is operated to the standard state. In the above configuration, when the front wheel speed increasing device 54 is operated to the standard state, the turning end detecting unit 63 is configured to detect the end of the turn.

[0152] In this case, a right side brake (not shown) may be provided between the rear wheel differential mechanism and the right rear wheel 2, and a left side brake (not shown) may be provided between the rear wheel differential mechanism and the left rear wheel 2. When the right and left front wheels 1 exceed the right set angle A2 and are steered toward the right (left) steering limit A3, the front wheel speed increase device 54 is operated to an accelerating state, and the right (left) side brake is operated to a braking state (the left (right) side brake is released), so that the front wheels 1 are driven at a higher speed than the rear wheels 2 and the rear wheel 2 on the turning center side is braked, and the aircraft turns to the right (left). When the right and left front wheels 1 exceed the left set angle A2 and are steered toward the straight ahead position A1, the front wheel speed increase device 54 is operated to a standard state, and the right (left) side brake is released.

[0153] [Ninth Alternative Embodiment of the Invention] The above-described [Mode for Carrying Out the Invention] and [First Alternative Embodiment of the Invention] to [Seventh Alternative Embodiment of the Invention] may also have the following configurations.

[0154] The vehicle is provided with right and left crawler traveling devices (corresponding to traveling devices) (not shown) instead of the right and left front wheels 1 and the right and left rear wheels 2. Based on the detection values ​​of the measurement device 30 and the inertial measurement unit 48, the automatic traveling control unit 62 generates a difference in the driving speed of the right and left crawler traveling devices, thereby steering the vehicle so that the vehicle automatically travels along the set traveling line LB1.

[0155] When the right and left crawler traveling devices are driven at the same driving speed (when the difference in driving speed between the right and left crawler traveling devices is less than a set value), it is determined that the vehicle is not in a turning state. When the difference in driving speed between the right and left crawler traveling devices exceeds a set value, it is determined that the vehicle is in a turning state.

[0156] In the above configuration, when the difference in drive speed between the right and left crawler traveling devices exceeds a set value and then falls to a state where the difference in drive speed between the right and left crawler traveling devices is equal to or less than the set value, the turning end detection unit 63 detects that the turning has ended.

[0157] [Tenth Alternative Embodiment of the Invention] In a tractor, which is an example of a work vehicle, a rotary tilling implement (corresponding to a working implement) (not shown) is supported at the rear of the vehicle body so that it can be raised and lowered. In a combine, which is also an example of a work vehicle, a reaping implement (corresponding to a working implement) (not shown) is supported at the front of the vehicle body so that it can be raised and lowered. When lowering a rotary tillage implement (cutting implement) to the ground, the rotary tillage implement (cutting implement) is often lowered from a raised position to the ground while the rotary tillage implement (cutting implement) is operating (with the work clutch in a transmission state).

[0158] As a result, when the rotary tillage device is lowered to the ground, it is detected that the rotary tillage device has been lowered to the ground (that the tillage tines have touched the ground) based on the detection value of a height sensor (not shown) that detects the height of the rotary tillage device relative to the machine body, or based on the movement of the cover sensor (not shown) at the rear of the rotary tillage device to the rear (upward) side. When the harvesting device is lowered to the ground, it is detected that the harvesting device has lowered to the ground based on the detection value of a height sensor (not shown) that detects the height of the harvesting device relative to the machine body, or based on the detection of grain stalks in the field by a stalk base sensor (not shown) provided on the harvesting device.

[0159] [Eleventh Alternative Embodiment of the Invention] In the above-described [Mode for Carrying Out the Invention], [First Alternative Embodiment of the Invention] to [Tenth Alternative Embodiment of the Invention], the operation button 18 may be eliminated, and the control device 23 may be provided with an operation unit as software. As a result, when the end of the turn is detected by the turn end detection unit 63 and the restraint unit 64 allows the automatic driving control unit 62 to be operated into an operating state, the automatic driving control unit 62 is automatically operated into an operating state by the operation unit of the control device 23.

[0160] [Twelfth Alternative Embodiment of the Invention] The above-described [Mode for Carrying Out the Invention] and [First Alternative Embodiment of the Invention] to [Eleventh Alternative Embodiment of the Invention] may be configured as shown below.

[0161] In step S21 of Figure 13, when the operation notification unit 68 is activated to notify that the automatic driving control unit 62 is in an operating state (notification by display on the display panel 27 and by voice), the lamps (not shown) built into the start point and end point setting switches 46, 47 are configured to flash to notify that the automatic driving control unit 62 is in an operating state.

[0162] 12 and 13, when the prevention notification unit 66 is activated to notify that the operation of the automatic driving control unit 62 to the operating state has been prevented by the restraint unit 64, for example, a display is made on the display panel 27 but no audio notification is made. No display is made on the display panel 27 and no audio notification is made. No display is made on the display panel 27 and no audio notification is made.

[0163] The automatic driving control unit 62 issues a notice that it is in a stopped state (such as a display on the display panel 27 or a voice notice), or does not issue any notice when the automatic driving control unit 62 is in a stopped state.

[0164] An operation switch (not shown) is provided that can be manually switched between a state in which the various notifications (such as display on the display panel 27 and notification by voice) are made and a state in which they are not made. [Industrial Applicability]

[0165] The present invention can be applied not only to riding rice transplanters, but also to riding direct seeding machines, work vehicles such as combines and tractors, and work vehicles for civil engineering construction. [Explanation of symbols]

[0166] 1 Running gear, front wheels 2 Running gear, rear wheels 5. Work equipment 18 Control section 20 Steering operation section 26 Working clutch 30,48 Direction detection unit 33 Driving gearbox 40 Side clutch 41,44 Side clutch operating part 45 Gear shifting operation unit 54 Front wheel speed increaser 57 Operating device 61 Setting section 62 Automatic driving control unit 63 Turn end detection unit 64 Checking Department 65 Reverse stop warning unit 66 Interdiction Notification Department 67 Tolerance notification unit 68 Operation notification unit 70 Automatic reduction section 71 Deceleration notification unit D1 Set distance E Reference direction E1 Aircraft heading LB1,LB2 setting running line LL1,LL2 turning θ1 Angle difference

Claims

[Claim 1] a setting unit for setting a set driving line; an automatic travel control unit that operates a travel device so that the vehicle automatically travels along the set travel line; An operation unit that operates the automatic driving control unit between an operating state and a stopped state, and a turning end detection unit that detects the end of turning, a restraining unit that prevents the operation unit from operating the automatic traveling control unit to an active state when the end of the turn is not detected by the turn end detection unit, and that prevents the operation unit from operating the automatic traveling control unit to an active state until the aircraft has traveled a set distance or a set time after the end of the turn is detected by the turn end detection unit, When turning between the set driving lines, the set driving line is not set, and the set driving line after the turn is generated based on the position of the work vehicle at the time when the automatic driving control unit is activated after the end of the turn is detected.

Images