Work vehicle

Abstract

To provide a work vehicle capable of suppressing roughening of a field by performing teaching and work traveling multiple times.SOLUTION: A work vehicle according to one aspect of an embodiment includes a traveling vehicle body and a control device that causes the traveling vehicle body to automatically travel in a field. The control device includes a storage region that stores, as first work memories, a work memory obtained by manual traveling of the traveling vehicle body for teaching while leaving one side of the field untraveled, and a work memory obtained by automatic traveling of the traveling vehicle body using the teaching, stores, as a second work memory, a work memory obtained by manual traveling of the traveling vehicle body along a ridge edge on one side of the field, and stores, as a third work memory, a work memory obtained by manual traveling of the traveling vehicle body inside the ridge edge. The control device recognizes a region worked in the first work memories as a first work area, a region worked in the second work memory as a second work area, and a region worked in the third work memory as a third work area.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] Conventionally, a work vehicle calculates a travel route and automatically travels along the travel route based on its own position calculated using a Global Navigation Satellite System (GNSS), etc. The work vehicle performs work travel by such automatic travel (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-116608 Summary of the Invention [Problem to be solved by the invention]

[0004] When a work vehicle performs multiple teaching drives for automatic driving and work drives, the same location is driven multiple times, which can cause damage to the field.Therefore, there is a need for a work vehicle that can prevent damage to the field by performing teaching drives and work drives multiple times and driving the same location multiple times.

[0005] The present invention has been made in consideration of the above, and aims to provide a work vehicle that can perform teaching travel and work travel multiple times, thereby preventing field damage caused by traveling over the same area multiple times. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment is a work vehicle (1) comprising a traveling body (2) and a control device 100 that causes the traveling body (2) to automatically travel in a field, and the control device (100) has a memory area that stores, as a first working memory, a working memory in which the traveling body (2) has manually traveled for teaching except for one side of the field, and a working memory in which the traveling body (2) has automatically traveled using teaching, and stores, as a second working memory, a working memory in which the traveling body (2) has manually traveled along the edge of a ridge on one side of the field, and stores, as a third working memory, a working memory in which the traveling body (2) has manually traveled inside the ridge, and recognizes the area worked in the first working memory as a first working area (A1), the area worked in the second working memory as a second working area (A2), and the area worked in the third working memory as a third working area (A3). [Effects of the Invention]

[0007] According to one aspect of the embodiment, the work vehicle can prevent the field from being damaged by performing teaching travel and work travel multiple times. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Figure 2] FIG. 2 is a plan view showing the work vehicle. [Figure 3] FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Figure 4] FIG. 4 is an explanatory diagram of the travel route and working area of ​​the seedling transplanter in the field. [Figure 5] FIG. 5 is an explanatory diagram of the path correction function of the seedling transplanter. [Figure 6] FIG. 6 is an explanatory diagram of the path correction function of the seedling transplanter. [Figure 7] FIG. 7 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 8] FIG. 8 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 9] FIG. 9 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 10] FIG. 10 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 11] FIG. 11 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 12] FIG. 12 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 13] FIG. 13 is an explanatory diagram of the travel path of the seedling transplanter in the field. [Figure 14] FIG. 14 is an explanatory diagram of the lifting and lowering control of the seedling planting unit of the seedling transplanter. [Figure 15] FIG. 15 is a diagram showing the relationship between the travel distance of the seedling transplanter, the bending angle of the machine body, and the filter value. [Figure 16] FIG. 16 is a diagram showing the potentiometer of the seedling transplanter. DETAILED DESCRIPTION OF THE INVENTION

[0009] First, an overview of a work vehicle 1 according to a first embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the work vehicle 1. Figure 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the forward / rearward direction refers to the direction of travel of the work vehicle 1 when traveling straight, with the front side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the work vehicle 1 is the direction from the driver's seat 41 toward the steering wheel 35 when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when the operator (also referred to as an operator) is seated in the operator's seat 41 and facing forward, the left-hand side is the "left" and the right-hand side is the "right."

[0012] The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited to these directions.

[0013] In this embodiment, the work vehicle 1 will be described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a field work device and that receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with the seedling planting unit 4, which can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2, to plant seedlings in the field.

[0014] The main body of the fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. If the work vehicle 1 is not a seedling transplanter 1, it may be provided with a sowing device that supplies seeds as a work device.

[0015] The traveling body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are also driving wheels. On the front side of the main frame 15 that forms the body skeleton of the traveling body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4 and the like, and a hydraulic continuously variable transmission 14 that outputs driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0017] An auxiliary transmission mechanism 16 is provided within the transmission case 13 to switch the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings, etc. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0018] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is arranged laterally on the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b that protrude outward from the rear wheel gear cases 11a, respectively.

[0019] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0020] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front of the seedling planting section 4.

[0021] An engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into traveling power and externally extracted power.

[0022] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 3) of the steering 35, the lift cylinder 25, etc.

[0023] The externally extracted power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear of the running body 2, and is transmitted from the planting clutch case 27 to the seedling planting section 4 via the planting transmission shaft 67.

[0024] Meanwhile, left and right drive shafts 42 are provided at the rear of the transmission case 13. Rotational power from the engine 30 is transmitted via the transmission case 13 and the drive shafts 42 to the left and right rear wheel gear cases 11a.

[0025] A side clutch 44 (see FIG. 3) that turns on and off the power transmission to the left and right drive shafts 42 is disposed upstream of the left and right drive shafts 42 in the power transmission direction. As shown in FIG. 1, a side clutch pedal 43a that turns on and off the left and right side clutches 44 is provided on one of the left and right sides of the front lower part of the cockpit 41. Also disposed below the cockpit 41 are a brake pedal that operates the left and right brake mechanisms and an accelerator pedal 32 (see FIG. 3) that controls the engine speed.

[0026] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to turn off the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0027] A bonnet 39 with an operation panel 38 arranged on top for operating each part is provided on the upper front side of the traveling vehicle body 2. The operation panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

[0028] The bonnet 39 is also provided with a steering wheel 35 for steering the traveling vehicle body 2, an HST lever 36 for operating the HST 14 and the seedling planting section 4, an auxiliary transmission operating lever 37 for operating the auxiliary transmission mechanism 16, and the like.

[0029] An openable front cover 40 is provided in front of the hood 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to the steering of the steering wheel 35 are provided. The front wheels 10 are, for example, steered wheels that turn in response to the steering of the steering wheel 35.

[0030] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the hood 39 and above the engine 30, and a pilot's seat 41 where the pilot sits is provided above the engine cover 30a.

[0031] The fertilizer applicator 5 is provided behind the driver's seat 41, at the rear end of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism provided so as to face the fertilizer applicator 5 from one of the left and right rear wheel gear cases 11a.

[0032] Approximately horizontal floor steps 33 are formed on both the left and right sides of the lower part of the engine cover 30a and the hood 39. As shown in Fig. 2, the floor steps 33 are partially lattice-shaped, so that even if mud on the shoes of an operator walking on the floor steps 33 falls off, the fallen mud will fall into the field.

[0033] 2, a rear step 330 is connected to the rear of the floor step 33. The surface of the rear step 330 is preferably provided with an anti-slip finish, for example, with a pattern of multiple protrusions, to prevent feet from slipping during work.

[0034] In addition, on the front side of the traveling body 2 and on both the left and right sides, spare seedling frames 50 are provided, each with a seedling frame support 51 on which multiple spare seedling loading tables 52 are arranged at intervals in the vertical direction, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed.

[0035] A seedling tank 53 for carrying seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54, which are long in the vertical direction, are placed on the seedling tank 53 at predetermined intervals in the horizontal direction. Below the seedling tank 53 is a seedling planting device 55 that picks up the loaded seedlings and plants them in the field.

[0036] The seedling planting device 55 is capable of planting eight rows at the same time, the same number as the number of rows to be planted separated by the seedling partition fence 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0037] The seedling planting device 55 has multiple partial row clutches 28 (see Figure 3) that turn the device on and off for each work row, and is configured to stop the drive of some of the work rows of the seedling planting device 55 and allow planting to be performed using only the remaining work rows.

[0038] In the fertilizer applicator 5, the fertilizer hopper 70 that stores the fertilizer is divided into the same number of sections as the number of working rows in the seedling planting section 4 (eight rows in the example shown in FIG. 2). Note that the eight-row fertilizer hopper 70 is long in the left-right direction, which reduces the convenience of adding fertilizer and attaching and detaching it, so it may have a so-called side fertilizer application structure, in which sections divided into four rows are lined up on each side.

[0039] The fertilizer application device 5 has multiple partial fertilizer application clutches 29 (see Figure 3) that turn the device on and off for each working row, and is configured to stop the drive of some of the working rows of the fertilizer application device 5 and apply fertilizer using only the remaining working rows.

[0040] Below the fertilizer hopper 70, a dispensing device 71 that supplies a set amount of fertilizer is provided for each row. Below the dispensing device 71, a ventilation duct 72 is provided in the left-right direction, through which conveying air passes to move the fertilizer. Below the dispensing device 71, a fertilizer hose 73 is provided to guide the fertilizer near the seedling planting position in the seedling planting section 4. Also, at one end of the ventilation duct 72, a blower 74 that is operated by an electric blower motor 76 to generate conveying air is provided.

[0041] As shown in Figures 1 and 2, below the seedling planting section 4, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided that can rotate freely around their axes. The center float 62C and the two side floats 62L and 62R are sometimes collectively referred to as floats 62. The rear of the float 62 is supported by a support member, and the float 62 rotates around the connection point with the support member as an axis in response to unevenness in the field surface, thereby leveling the field surface. A link mechanism with a float angle sensor 94, described below, is provided at the tip of the center float 62C.

[0042] In addition, below the seedling planting section 4, and forward of the float 62, a ground leveling rotor 63 for leveling unevenness in the field surface is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0043] 1, line-drawing markers 65 are provided on both the left and right sides of the seedling planting section 4. One of the markers 65 touches the ground on the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the markers 65 touches the ground, the other moves upward, and when the seedling planting section 4 is raised during a turn, both the left and right sides move upward, and when the seedling planting section 4 is lowered after the turn, one of the markers 65 moves upward and the other moves downward.

[0044] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the center of the left and right of the traveling vehicle body 2, and in front of the hood 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0045] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, causing the guide for going straight to disappear. In such cases, it is advisable to use the left and right side markers 19, which are located forward of the left and right line-drawing markers 65. In other words, by moving the left and right side markers 19 outward and positioning them above the planted seedlings, planting work can be performed in accordance with the planting of the seedlings in the previous work row.

[0046] As shown in FIG. 1, the seedling transplanter 1 is also equipped with a position acquisition device 150. The position acquisition device 150 acquires the current position and orientation of the seedling transplanter 1. The position acquisition device 150 includes, for example, an orientation sensor and positioning means such as a Global Positioning System (GPS) or a Global Navigation Satellite System (GNSS). The position acquisition device 150 may be composed of multiple devices. The position acquisition device 150 may include a camera or an ultrasonic sensor, and may acquire a turning position in the field and detect the distance to the turning position.

[0047] The seedling transplanter 1 also includes a pitching angle sensor. The pitching angle sensor detects the horizontal position of the traveling body 2 in the pitching direction and the pitching angle of the traveling body 2. The pitching angle sensor is, for example, a GNSS equipped with the function of detecting the horizontal position of the traveling body 2 in the pitching direction and the pitching angle of the traveling body 2, and also serves as the position acquisition device 150. The pitching angle sensor may be an inclination sensor 92, which will be described later.

[0048] The position acquisition device 150 receives positioning information from the positioning means, creates current position information and direction information of the traveling vehicle body 2 based on the received positioning information, and acquires the current position and direction. The position acquisition device 150 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2.

[0049] A straight-line control program and a turning control program, which are created based on position information from position acquisition device 150, are stored in different locations. The straight-line control program is stored, for example, in a straight-line control ECU (Electronic Control Unit) 100a in position acquisition device 150, and the turning control program is stored, for example, in a turning control ECU 100b housed in hood 39. Note that straight-line control ECU 100a and turning control ECU 100b are included in control device 100 (see FIG. 3), which will be described later. Straight-line control ECU 100a and turning control ECU 100b may be stored in the same ECU.

[0050] Next, the control system of the seedling transplanter 1 will be described with reference to Figures 3 and 4. Figure 3 is a block diagram showing the control system centered around the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part electronically and is equipped with the control device 100 that controls each part.

[0051] The control device 100 is provided with a processing unit having a CPU (Central Processing Unit) and other components, storage units such as ROM (Read Only Memory) and RAM (Random Access Memory), and input / output units, all of which are interconnected to allow signals to be exchanged between them. The storage unit stores computer programs and other components that control the seedling transplanter 1. The control device 100 performs each function by reading out the computer programs and other components stored in the storage unit.

[0052] The control device 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81, 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line drawing marker lifting motor 87, a steering motor 95, and a differential lock switching motor 96.

[0053] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of air intake into the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lift cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The planting clutch operating solenoid 83 operates the planting clutch 27a.

[0054] The side clutch actuation solenoid 84 actuates the side clutch 44, which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0055] The HST motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the tilt angle of the swash plate of the HST 14. The steering motor 95 is a motor that drives the steering 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see Figure 1) when automatic turning control is performed. The steering motor 95 rotates the steering 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65.

[0056] The differential lock switching motor 96 is a motor that switches between operating and deactivating a differential lock mechanism 97 (hereinafter referred to as a differential lock mechanism (same speed rotation mechanism)). The differential lock mechanism 97 locks a differential mechanism that rotates the left and right front wheels 10 at different rotation speeds when turning. In other words, when the differential lock mechanism 97 is engaged, the differential mechanism is locked and the left and right wheels rotate at the same rotation speed.

[0057] The control device 100 is connected to detection devices such as a rotation speed sensor 90, a steering amount sensor 91 (steering angle sensor), and an inclination sensor 92. Four rotation speed sensors 90 are provided corresponding to the left and right front wheels 10 and rear wheels 11, respectively, and detect the rotation speeds of the left and right front wheels 10 and rear wheels 11.

[0058] The steering amount sensor 91 detects the amount of operation of the steering wheel 35, which is a steering device, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 91 is provided, for example, on a shaft connected to a pitman arm. The steering amount is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being used as a reference value. The inclination sensor 92 detects the inclination angle, which is the inclination of the traveling vehicle body 2.

[0059] The inclination sensor 92 detects the inclination angle of the traveling vehicle body 2. The inclination sensor 92 detects the inclination angle in the front-rear direction of the traveling vehicle body 2. The inclination sensor 92 is, for example, a G sensor.

[0060] The link angle sensor 93 detects the link angle, which is the tilt angle of the lifting link mechanism 3. For example, the link angle sensor 93 is provided near the connection between the upper link arm 26 and the link support frame 23 in the lifting link mechanism 3, and is able to detect the link angle by detecting the relative angle of the upper link arm 26 with respect to the link support frame 23.

[0061] The float angle sensor 94 detects the float angle, which is the rotation angle of the float 62. For example, the float angle sensor 94 is provided on the link mechanism at the front end of the center float 62C, and is able to detect the float angle by detecting the tilt angle of the center float 62C.

[0062] In addition, signals are input to the control device 100 as operation signals from the accelerator pedal 32, HST lever 36, sub-transmission operation lever 37, autonomous driving switch 46, planting section lifting / lowering switch 47, automatic turning switch 48, line drawing marker automatic lifting / lowering switch 49, etc.

[0063] The HST lever 36 is a lever that is operated to change the forward / reverse movement and traveling speed of the traveling body 2. The auxiliary speed change operation lever 37 is a lever that is operated to change the traveling speed of the traveling body 2 to a speed that suits the traveling location (field or road).

[0064] The autonomous driving changeover switch 46 is a switch that switches whether or not autonomous driving is performed. Specifically, the autonomous driving changeover switch 46 is a switch that switches the driving mode between the autonomous driving mode and the manual driving mode.

[0065] The planting section lifting / lowering switch 47 is a switch that switches whether to lift or lower the seedling planting section 4. The planting section lifting / lowering switch 47 can be changed to the "up" and "down" positions.

[0066] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 rises to a predetermined non-working position and the seedling planting device 55 stops, putting it into a non-working state. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position and the seedling planting device 55 operates, putting it into a working state. In other words, the planting unit lift switch 47 is a switch that detects the working state of the seedling planting unit 4. Note that a separate switch that detects the working state of the seedling planting unit 4 may also be provided.

[0067] The automatic line drawing marker lifting / lowering switch 49 is a switch that switches whether or not the line drawing marker 65 is automatically lifted / lowered in conjunction with the amount of steering 35 operation, i.e., the amount of steering of the front wheels 10. When the automatic line drawing marker lifting / lowering switch 49 is "ON," control is executed to automatically lift / lower the line drawing marker 65 in conjunction with the amount of steering. On the other hand, when the automatic line drawing marker lifting / lowering switch 49 is "OFF," control is not executed to automatically lift / lower the line drawing marker 65 in conjunction with the amount of steering.

[0068] The automatic turning selector switch 48 is a switch that switches whether or not automatic turning is enabled. When the automatic turning selector switch 48 is set to "ON," automatic turning is enabled. When the automatic turning selector switch 48 is set to "OFF," automatic turning is disabled. When the automatic turning selector switch 48 is set to "OFF," automatic turning is not performed even if the conditions for performing automatic turning are met.

[0069] The control device 100 switches the driving mode between a manual driving mode and an autonomous driving mode in response to the operation of the autonomous driving changeover switch 46, the automatic straight driving changeover switch 45, and the automatic turning changeover switch 48.

[0070] Furthermore, the control device 100 receives input of information such as the current position of the traveling vehicle body 2 from the position acquisition device 150. The control device 100 executes an autonomous traveling mode in which the traveling vehicle body 2 performs work while traveling automatically.

[0071] The control device 100 has an autonomous driving mode (automatic driving mode) in which the steering motor 95 is controlled to operate the steering wheel 35 while feeding back the steering amount of the front wheels 10 (see FIG. 1). The autonomous driving mode includes an automatic straight-ahead mode and an automatic turning mode.

[0072] In the automatic straight-line mode, the steering motor 95 is controlled so that the traveling vehicle body 2 moves straight along a preset straight-line path. In the automatic straight-line mode, the traveling vehicle body 2 moves straight without the driver's operation while the seedling planting unit 4 plants seedlings in the field. In other words, the traveling assist function for transplanting seedlings into the field is enabled and executed while the traveling vehicle body 2 moves automatically straight.

[0073] In the automatic turning mode, when the traveling vehicle body 2 reaches a predetermined planting end position, the seedling planting unit 4 stops planting seedlings, and the steering motor 95 is controlled to turn the traveling vehicle body 2 along a predetermined turning path. The predetermined planting end position is set, for example, based on the travel distance of the work process and position information related to the work process.

[0074] In the automatic turning mode, for example, the seedling planting unit 4 is raised and put into a non-working state, and the traveling body 2 turns automatically without the operator's operation. In other words, the turning assist function that turns the traveling body 2 without the seedling planting unit 4 planting seedlings is enabled, and the turning assist function is executed.

[0075] Moreover, various types of information are input to the control device 100 from a remote control device 170 (hereinafter referred to as "remote control"). For example, various types of information are input to the control device 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1), and is arranged above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2.

[0076] The remote control 170 can remotely control the seedling transplanter 1. The remote control 170 is a terminal device such as a smartphone. The remote control 170 transmits control signals in response to the operator's operation. The remote control 170 is communicably connected to the control device 100 via short-range wireless communication such as Wi-fi (registered trademark) or BLE (Bluetooth (registered trademark) Low Energy), but is not limited to this. In addition to or instead of short-range wireless communication, the remote control 170 may also be communicably connected via a communication network or the like.

[0077] A plurality of remote controls 170 may be provided. That is, the control device 100 may be able to acquire location information of each remote control 170 from a plurality of remote controls 170. The remote control 170 may be attachable to the seedling transplanter 1.

[0078] The control device 100 controls the speed of the engine 30 and the trunnion opening of the HST 14, thereby controlling the vehicle speed of the traveling vehicle body 2.

[0079] Next, the travel path and working area of ​​the seedling transplanter 1 in the field will be described with reference to Figures 4 to 6. Figure 4 is an explanatory diagram of the travel path and working area of ​​the seedling transplanter 1 in the field. Figures 5 and 6 are explanatory diagrams of the path correction function of the seedling transplanter 1. Figure 5(a) is an explanatory diagram of the travel path and working area before the path is corrected. Figure 5(b) is an explanatory diagram of the travel path and working area after the path is corrected. Note that the field is provided with one entrance / exit E that functions as an entry point (field entrance) and exit point for the seedling transplanter 1, but the field may also be provided with separate entrances and exits for the seedling transplanter 1.

[0080] As shown in FIG. 4, teaching is performed, for example, by having the traveling vehicle body 2 manually travel along three sides La to Lc of the field by operation of the operator. The control device 100 stores, as a first working memory, a working memory for a manual travel route taught except for one side of the field, and a working memory for an automatic travel route using teaching. For example, by having the traveling vehicle body 2 manually travel along the three sides La to Lc of the field in order by operation of the operator, the working memory for the three sides La to Lc of the field is stored as the first working memory. Furthermore, by having the traveling vehicle body 2 automatically travel along travel routes R1 to R8 in the order of an automatic travel area A11 of the field, the working memory for the automatic travel area A11 is stored as the first working memory. Note that the number of sides taught is not limited to three. For example, if the field has five or more sides, the number of sides taught may be four or more, leaving one side of the field.

[0081] After performing automatic traveling, the control device 100 stores, as a second working memory, a working memory of the ridge where automatic traveling was not possible and manual traveling was performed. For example, when the traveling vehicle body 2 is manually driven along the edge Ld of the field by the operation of the operator, the working memory of the edge Ld of the field is stored as the second working memory.

[0082] The control device 100 stores, as a third working memory, a working memory of manual travel on the inside of the ridge (side Ld of the field) after manual travel on the side Ld of the field. For example, when the traveling vehicle body 2 is manually traveled on a travel route R9 on the inside of the ridge by the operation of the operator, the working memory of the travel route R9 is stored as the third working memory.

[0083] The control device 100 has a memory area 100c (see FIG. 3) that stores a first work memory, a second work memory, and a third work memory. This allows the control device 100 to memorize the travel route of the traveling body 2. The control device 100 can automatically drive the traveling body 2 along the memorized travel route from the next work onwards. When the seedling transplanter 1 travels back and forth in the automatic travel area A11, there is a two-stroke gap as a safety margin when turning, so it is possible to automatically travel one after another without stopping when turning. The memory area 100c is provided in the memory unit of the control device 100 described above.

[0084] The working memory may consist only of the travel routes taught except for one side, the manually operated travel routes, and the operation details for each travel route. For example, the working memory may consist only of sides La to Lc that are the travel routes taught, side Ld and travel route R9 that are the manually operated travel routes, and the operation details (e.g., steering wheel operation) for each travel route (sides La to Ld and travel route R9). The control device 100 can perform travel on the automatic travel route by only storing the teachings, thereby reducing the memory requirement. The travel routes are stored based on the vehicle's position calculated using the position acquisition device 150. The information stored as the working memory is not particularly limited, and may include travel routes R1 to R8.

[0085] The control device 100 has a recognition function that recognizes the area worked in the first working memory as the first working area A1, the area worked in the second working memory as the second working area A2, and the area worked in the third working memory as the third working area A3. By having the traveling vehicle body 2 travel through the above-mentioned working areas A1, A2, and A3, it is possible to prevent the same location from being traveled over multiple times and causing damage to the field. Furthermore, by recognizing the travel route as an area, the control device 100 can control the relationship between areas.

[0086] As shown in FIG. 5(a), for example, when there is an area where the first working area A1 and the third working area A3 overlap, the control device 100 has a path correction function that lowers the turning position of the traveling vehicle body 2 in the first working area A1 to a position where it does not overlap with the third working area A3, as shown in FIG. 5(b). This allows the control device 100 to correct the traveling path in a portion of the stored existing traveling path where there is unnecessary overlapping or where the area has expanded. In addition, the control device 100 can secure a safety margin of two strokes (twice the vehicle width) for the traveling vehicle body 2 to turn. Note that "lowering the turning position to a position where it does not overlap with the third working area A3" means moving the turning position backward in the traveling direction before turning.

[0087] The control device 100 also has a path correction function that advances the turning position when a gap of a certain distance or more is formed between the first working area A1 and the third working area A3. This allows the control device 100 to correct the travel path in a location where areas unnecessarily overlap or where the area has expanded in an existing travel path that has been stored. Note that "advancing the turning position" means moving the turning position forward in the direction of travel before turning.

[0088] As shown in Figure 6, when the second working area A2 and the third working area A3 overlap, the control device 100 has a path correction function that controls the partial row clutch 28 to stop operation of the seedling planting device 55 of the planting row (planting row) in the second working area A2 that overlaps with the third working area A3. For example, when the seedling planting device 55 located on the left side of the machine body overlaps with the third working area A3 in the second working area A2, the control device 100 controls the partial row clutch 28 to stop operation of the seedling planting device 55. This allows the control device 100 to avoid planting seedlings overlapping in the same area.

[0089] The control device 100 has a path correction function that stops the operation of the overlapping fertilizer application row in the second working area A2 when the second working area A2 and the third working area A3 overlap. For example, the control device 100 controls the partial fertilization clutch 29 to stop the operation of the fertilizer application device 5 in the second working area A2 that overlaps with the third working area A3. This allows the control device 100 to avoid overlapping fertilization.

[0090] The control device 100 has a path correction function that, when the second work area A2 and the third work area A3 are separated by a certain distance, moves the travel path so that the position of the planting rows in the second work area A2 approaches the third work area A3. This allows the control device 100 to prevent the gaps between the planted seedlings from becoming too large.

[0091] The control device 100 stores the operations manually performed in the previous (past) work as points having the position of the traveling vehicle body 2, the operation content, and the direction of the vehicle body. This allows the control device 100 to reduce the memory.

[0092] The control device 100 is configured to be able to select the use of past work data based on map information, or the use of the field shape of the same field recognized by another model, etc. For example, the control device 100 can select information (work data, field shape) obtained by an application via the Internet.

[0093] The control device 100 has a recognition function that compares and recognizes whether an area is the same as an area where work has been done in the past, and overwrites the working memory if manual teaching is performed when automatically driving the traveling vehicle body 2 along a memorized driving route. The control device 100 can correct the start position of automatic driving if the current start position of automatic driving has changed significantly compared to the past due to crustal movement, etc.

[0094] When the traveling vehicle body 2 is installed at the entrance / exit E of the field, the control device 100 automatically corrects the position only in the left-right direction of the vehicle body by comparing it with the previous position. For example, when the traveling vehicle body 2 starts to travel automatically along a stored travel route, the control device 100 can use a sensor to detect the distance between the traveling vehicle body 2 and the ridge, and correct the starting position of the automatic travel based on the detected distance.

[0095] Next, a seedling transplanter 1 according to a second embodiment will be described with reference to FIGS. 7 to 13. FIGS. 7 to 13 are explanatory diagrams of the travel path of the seedling transplanter 1 in the field. Below, the description will focus on processes that differ from those in the first embodiment, and descriptions of processes that are similar to those in the first embodiment will be omitted. The mode in which teaching is performed is referred to as the "teaching mode." In the teaching mode, the process of idling along the material supply path (side La) from the entrance / exit E side of the field is referred to as the "idling travel process." In the teaching mode, the process of traveling while planting seedlings is referred to as the "planting process." The process in which the traveling vehicle body 2 automatically travels back and forth after the teaching mode is referred to as the "reciprocating process" or "inner circumference process." In addition, the process of traveling outside the travel path of the inner circumference process after the inner circumference process is referred to as the "outer circumference process." In addition, the process of manually traveling toward the entrance / exit E after the outer circumference process is referred to as the "manual planting process."

[0096] FIG. 7(a) is an explanatory diagram of the travel path during teaching. FIG. 7(b) and FIG. 8(a) are explanatory diagrams of the travel path during the first stroke of a round trip. FIG. 8(b) is an explanatory diagram of the travel path when skipping is specified during the first stroke of a round trip. FIG. 9(a) is an explanatory diagram of the travel path when ridge-pushing is specified during the first stroke of a round trip. FIG. 9(b) is an explanatory diagram of the travel path during the third stroke of a round trip. FIG. 10(a) is an explanatory diagram of the travel path at the end of a round trip. FIG. 10(b) is an explanatory diagram of the travel path at the start of the outer periphery stroke. FIGS. 11(a), (b) and 12(a), (b) are explanatory diagrams of the travel path during the outer periphery stroke.

[0097] As shown in Figure 7(a), in teaching mode, in which the traveling vehicle body 2 manually travels along the three sides La to Lc of the field, the control device 100 memorizes the travel route while idling from the entrance / exit E side of the field along the material supply path (side La, the first side of teaching).For the remaining steps of the teaching mode (sides Lb and Lc, the second and third sides of teaching), the seedling planting device 55 plants seedlings, while the control device 100 memorizes the travel route.

[0098] As shown in FIG. 7(b), the control device 100 determines the travel route R10 of the round trip based on the teaching route that travels along the three sides La to Lc of the field, using as reference a line connecting the teaching start point and teaching end point and the line of the first side of the teaching planting work. Specifically, the control device 100 determines the orientation of the round trip (the orientation in which the traveling vehicle body 2 travels) so that it is parallel to the line of the first side of the teaching planting work (side Lb). The control device 100 also uses the line Le connecting the teaching start point and teaching end point to determine the travel route R10 so that the first step of the round trip is one step away from the ridge. As a result, after the teaching is completed, the control device 100 makes a U-turn of the traveling vehicle body 2 one step away from the ridge and starts the round trip.

[0099] 8(a) and 8(b), if the operator remotely commands skip while the machine is traveling (automatically traveling) toward the material supply path during a round trip, the control device 100 causes the machine to end work at a distance twice the width of the machine from the material supply path (see position P1) and begin a U-turn. This causes the seedling transplanter 1 to finish planting two strokes before the ridge.

[0100] As shown in Figure 8(b), the U-turn travel route R11 includes the area of ​​the free running distance in the teaching mode. This allows the traveling vehicle body 2 to turn by partially entering the free running area, and allows for a sufficient distance to turn, making it possible to turn quickly.

[0101] If the worker does not specify skip by remote control operation while traveling toward the material supply road during round trip work, the control device 100 ends the work at a distance twice the width of the work machine from the material supply road and stops the traveling vehicle body 2. As a result, the control device 100 transitions to "ridge-pushing standby mode" if there is no remote control operation.

[0102] As shown in Figure 9(a), when an operator remotely controls the machine to move closer to the ridge while the machine is stopped, the control device 100 automatically moves the machine forward to the edge of the area where it is free to travel in teaching mode, and stops the machine when it reaches the edge. Conventionally, when moving closer to the ridge, the operator had to issue commands to move forward or stop using the remote control 170. However, the seedling transplanter 1 of the present application can automatically move forward to the ridge with a single remote control operation.

[0103] When the worker remotely controls the control device 100 to specify that work should be resumed after the material supply is complete, the control device 100 causes the traveling vehicle body 2 to make a back turn to move to the next round trip. As shown in Fig. 9(b), the control device 100 automatically causes the traveling vehicle body 2 to make a U-turn at the ridge on the opposite side of the entrance / exit E.

[0104] As shown in Figure 10(a), after completing the round trip, the control device 100 automatically causes the traveling vehicle body 2 to travel in an incomplete planting area at idle running speed to the outer periphery process start point P3. The control device 100 determines that the outer periphery process start point P3 is the point where a line twice the machine body working width from the travel path of the idle running process in teaching mode overlaps with a line twice the machine body working width from the first side of the planting work in teaching mode.

[0105] As shown in Figure 10(b), the control device 100 automatically performs planting up to just before the first stroke of the inner peripheral stroke. The control device 100 controls the subsequent stroke of the stroke in which planting work is performed toward the material supply path on the travel route of the outer peripheral stroke, as shown in Figure 11(a), to begin after the operator boards the traveling vehicle body 2 after planting a continuation of the first stroke of the inner peripheral stroke on travel route R12. In this way, the operator boards the traveling vehicle body 2 halfway through the outer peripheral stroke.

[0106] As shown in FIG. 11(b), the control device 100 automatically controls the travel route R13 of the dry planting process to automatically plant up to the edge of the first side of the planting work in teaching mode. As shown in FIG. 12(a), the control device 100 automatically controls the planting in the teaching mode, within the working width of the first side of the planting work. As shown in FIG. 12(b), the control device 100 controls the planting in the teaching mode, within the working width of the second side of the planting work. As shown in FIG. 13, the seedling transplanter 1 is configured to manually plant the remaining area after completing the outer perimeter process. The seedling transplanter 1 is configured to manually plant on the edge of the ridge that is different from the material supply path and exit the field directly. As described above, because the travel route R10 (see FIG. 7(b)) is clear for one path from the ridge, the seedling transplanter 1 can prevent the field from being damaged by traveling the same area multiple times.

[0107] As described above, the control device 100 creates an automatic travel route by traveling along the three sides La to Lc of the field, including when the material supply path is idle. Conventionally, an automatic travel route was created by traveling along the three sides excluding the material supply path, and the vehicle had to stop at each ridge. The seedling transplanter 1 of the present application makes it possible to skip replenishment at the ridge and automatically move forward to the material supply position. Furthermore, the seedling transplanter 1 of the present application makes it possible to replenish work materials at any location and improves the ease of determining the travel route.

[0108] Next, a seedling transplanter 1 according to a modified example will be described with reference to Figures 14 and 15. Figure 14 is an explanatory diagram of the lifting and lowering control of the seedling planting unit 4 of the seedling transplanter 1. Figure 15 is a diagram showing the relationship between the travel distance of the seedling transplanter 1, the machine body bending angle, and the filter value. Figure 14(a) is an explanatory diagram of when the traveling body 2 approaches an uphill slope. Figure 14(b) is an explanatory diagram of the control of the float angle according to the machine body bending angle. Figure 14(c) is an explanatory diagram of the control of the link angle when the machine body bending angle exceeds a certain level. Figure 14(d) is an explanatory diagram of the control of the link angle according to the machine body bending angle. Figure 14(e) is an explanatory diagram of the control of the float angle according to the machine body bending angle.

[0109] The control device 100 calculates the angle difference between the machine and the ground contact surface of the seedling planting unit 4 from the machine travel distance based on the number of rotations of the rear wheels 11 detected by the rotation speed sensor 90 and the machine pitching angle deviation for each fixed travel distance, and uses this to control the elevation of the seedling planting unit 4. Conventionally, planting at entrances / exits E or uphill on ridges was performed by an operator manually raising and lowering the seedling planting unit 4. In the case of a seedling transplanter 1 equipped with a GNSS antenna, the pitching angle is obtained from the GNSS antenna, and the elevation of the seedling planting unit 4 on uphill slopes is automatically controlled.

[0110] Here, the difference in angle between the contact surface of the machine and the seedling planting unit 4 is called the "machine body bending angle." The seedling transplanter 1 corrects the float angle to the drooping side according to the machine body bending angle.

[0111] For example, as shown in Figure 14(a), when planting is performed with the traveling vehicle body 2 in two forward stages or less and the traveling vehicle body 2 approaches an uphill slope, the control device 100 automatically switches to a mode that allows uphill planting. As the vehicle body bending angle increases, the control device 100 corrects the float angle toward the downward side, and controls the seedling planting unit 4 to rise (see Figure 14(b)).

[0112] When the bending angle of the machine body reaches a certain level or more, the control device 100 switches from lifting / lowering control based on the float angle to lifting / lowering control based on the link angle (see Figure 14(c)). Conventionally, during normal planting work, only the float angle was used for lifting / lowering control, but when the bending angle of the machine body reaches a certain level or more, planting becomes impossible unless the float 62 is in a completely drooping position. The seedling transplanter 1 of the present application controls lifting / lowering not only based on the float angle but also based on the link angle. When lifting / lowering control is performed based on the link angle, the float 62 is in a nearly drooping position (see Figure 14(d)).

[0113] When controlling lifting and lowering at a link angle, the control device 100 records the link angle when switching to the control, and determines the target value of the link angle based on the recorded link angle and the bending angle. As a result, the control device 100 is configured to correct the target value of the link angle in the direction of raising the seedling planting unit 4 as the bending angle increases after switching to lifting and lowering control at a link angle.

[0114] When the control device 100 switches to the lift control using the link angle, if the bending angle becomes equal to or smaller than a certain value after switching to the lift control using the link angle, the control device 100 switches to the lift control using the float angle (see FIG. 14(e)). As a result, the control device 100 is configured to return to the lift control using the float angle when the bending angle is eliminated (before the seedling planting section 4 reaches the uphill slope).

[0115] The control device 100 corrects the float angle relative to the bending angle of the machine body only in the hanging direction of the float 62. Specifically, the control device 100 corrects the float angle only when the seedling planting section 4 is higher than normal, that is, when the machine is on an uphill slope, and does not correct the float angle when the machine is on a downhill slope.

[0116] The control device 100 records Δθ, which is the difference between the aircraft pitching angle and the previous aircraft pitching angle (the same interval before) at regular intervals A [m] of the aircraft's travel distance, and stores up to n logs of Δθ. By taking the difference, the control device 100 can ignore the original pitching angle when approaching an uphill slope and any deviation in the antenna mounting position in the pitch direction.

[0117] The control device 100 calculates the product of the log of n Δθ values ​​and data in n rows and 1 column as the turning angle of the aircraft.

[0118] The fixed interval A is the quotient of the value obtained by dividing the distance in the longitudinal direction from the installation position of the front wheels 10 to the seedling planting section 4 by n. For example, if the distance from the front wheels 10 to the seedling planting section 4 is 2.3 m, the number of filter stages will be n=23.

[0119] Furthermore, when the aircraft wheelbase distance is B [m] (A*n>B>A) and the quotient of B / A is C, the data from row 1 to row C of the n-row, 1-column data is positive, and the sum of the data from row C+1 to row n is -1 (see Figure 15). This makes it possible to create a filter that, when climbing a slope with a gradient of x [deg], the bending angle is x when the Bth piece of data is acquired, and the bending angle is 0 [deg] when the nth piece of data is acquired.

[0120] Correction for the machine's turning angle is performed when the main gearshift lever is at or below a certain forward position, the sub-gearshift lever is in "planting" position, the antenna position information acquisition status is normal, and the float 62 is in the grounded position. This allows the lift control to operate only when traveling at low speeds. Furthermore, when the speed is reduced to leave the field, the lift correction can be automatically applied.

[0121] Correction of the machine body bending angle is canceled when the main speed change lever (HST lever 36) is at or above a certain forward speed, when the antenna position information is abnormal, or when the seedling planting unit 4 is manually raised or lowered. As a result, when the machine accelerates or when the operator raises or lowers the seedling planting unit 4, the control device 100 ends the lifting control and returns to normal lifting control.

[0122] Finally, with reference to Figure 16, a seedling transplanter 1 according to another modification will be described. Figure 16 shows the potentiometers 34a and 34b of the seedling transplanter 1. Figure 16(a) is a right side view showing the potentiometers 34a and 34b of the seedling transplanter 1. Figure 16(b) is a front view showing the potentiometers 34a and 34b of the seedling transplanter 1. Figure 16(c) is a left side view showing the potentiometers 34a and 34b of the seedling transplanter 1.

[0123] As shown in Figure 16, the seedling transplanter 1 may be a small electric rice transplanter having a potentiometer 34a that detects the amount of operation of the main shift lever and a potentiometer 34b that detects the amount of operation of the slow speed travel lever provided on the steering 35.

[0124] Further advantages and modifications will readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0125] 1. Seedling transplanter (work vehicle) 2 Running vehicle 27a Planting clutch 55 Seedling planting device 100 control device 100c storage space A1 First work area A2 Second work area A3 Third work area Entrance E (field entrance) La side Lb side Lc side Ld side Le Line R10 driving route

Claims

1. A running vehicle body, A work vehicle comprising: a control device that automatically drives the traveling vehicle body in a field; The control device storing, as a first working memory, a working memory in which the traveling vehicle body manually travels for teaching, leaving one side of the field, and a working memory in which the traveling vehicle body automatically travels using the teaching; storing a working memory in which the traveling vehicle body manually travels along a ridge on one side of the field as a second working memory; a memory area for storing, as a third working memory, a working memory in which the traveling vehicle body manually travels inside the ridge; The area worked on in the first working memory is referred to as a first working area. The area worked on in the second working memory is referred to as a second working area, A work vehicle that recognizes the area worked on in the third working memory as a third work area.

2. The control device 2. The work vehicle according to claim 1, further comprising a path correction function that, when the first work area and the third work area overlap, moves a turning position in the first work area to a position that does not overlap with the third work area.

3. a seedling planting device attached to the traveling vehicle body and configured to plant seedlings in the field; A plurality of planting clutches that turn on and off the transmission of driving force of the seedling planting device corresponding to a specific planting row; The control device A work vehicle as described in claim 1 or claim 2, which has a path correction function that controls the planting clutch to stop operation of the seedling planting device of the planting row in the second work area that overlaps with the third work area when the second work area and the third work area overlap.

4. A running vehicle body, A work vehicle comprising: a control device that automatically drives the traveling vehicle body in a field; The control device Teaching is performed to create an automatic driving route by manually driving the traveling vehicle along three sides of the field, including idle driving on the material supply route; In the first side of the teaching, the travel route is memorized while running idle from the field entrance side of the material supply path, and in the second and third sides of the teaching, the travel route is memorized while performing planting work, The work vehicle determines an automatic travel route for the round trip based on a line connecting the teaching start point and the teaching end point and the line of the first side of the planting work.

Images