Work vehicle

Abstract

To provide a work vehicle that enables proper wearing of a seat belt during automated travelling that uses straight travelling assistance.SOLUTION: A work vehicle includes: a GNSS; a seat belt; a detection device for detecting whether the seat belt is fastened; and a control unit having an automated travelling function of registering travel reference data for automated travelling, generating an automated travelling reference line on the basis of the travel reference data, and automatically travelling parallel to the automated travelling reference line. The work vehicle is enabled to register the travel reference data but disabled to use the automated travelling while the seat belt is not fastened.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

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

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-049097 Summary of the Invention [Problem to be solved by the invention]

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

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

[0006] The first aspect of the present invention is GNSS and Seat belts and a detection device for detecting whether the seat belt is fastened or unfastened; a control unit having an automatic driving function that registers driving reference data for automatic driving, generates an automatic driving reference line based on the driving reference data, and automatically drives parallel to the automatic driving reference line, This is a work vehicle characterized in that, when the seat belt is unfastened, the driving reference data can be registered, but the automatic driving cannot be used.

[0007] The second aspect of the present invention is If the seat belt is unbuckled during automatic driving, the automatic driving continues, but automatic driving in the next step is disabled, This is a first work vehicle of the present invention, in which if the seat belt is fastened before the start of automatic driving in the next process, automatic driving in the next process is permitted.

[0008] The third aspect of the present invention is If the automatic driving continues with the seat belt unfastened, a seat belt reminder is notified by text or an icon, This is a second work vehicle of the present invention that, if the seat belt is unfastened and the use of the automatic driving for the next journey is deemed impossible, notifies the driver that automatic driving is not possible unless the seat belt is fastened.

[0009] The fourth aspect of the present invention is This is a third work vehicle of the present invention in which, when the seat belt is unfastened, it is not possible to change the work setting values ​​for rice planting, at least the amount of fertilizer to be applied, the amount of seedlings to be harvested, and the planting depth, and seedlings can be planted using the default work setting values, but a seat belt reminder will be sounded. [Effects of the Invention]

[0010] The present invention provides a work vehicle that allows proper seat belt use during automatic driving using straight-line assist, thereby ensuring the safety of workers. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a side view of a work vehicle according to an embodiment of the present invention; [Figure 2] FIG. 10 is an explanatory diagram of automatic traveling in a field with straight-line assistance in the embodiment; [Figure 3] FIG. 10 is a partial perspective view including a lever used in the straight-line assist function. [Figure 4] Block diagram of the control system of the work vehicle [Figure 5] FIG. 10 is a schematic plan view illustrating a reference line for assisting straight driving at a headland in the embodiment; [Figure 6] A plan view explaining how to obtain the straight-line assist reference line at the same headland [Figure 7] (A) A simplified side view of the springs and roller clutches used to ensure the starting torque when starting the fertilizer applicator, and (B) a simplified front view of the same. [Figure 8] An explanatory diagram illustrating the operation of the spring and roller clutch in Figure 7. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0013] 1 is a side view of a rice transplanter as an example of a work vehicle according to an embodiment of the present invention. In the following, terms such as front, rear, left, right, and up and down are defined based on the traveling direction of the rice transplanter.

[0014] In Figure 1, the rice transplanter of this embodiment is a rice transplanter that travels on a traveling device 220 having a pair of front wheels 221 and rear wheels 222 in accordance with manual or automatic steering operation of a steering device 230 of the vehicle body 1, levels the field using a ground leveling device 260 having floats 261, plants seedlings in the field using a seedling planting section 240, and applies fertilizer to the field using a fertilizer applicator 250.

[0015] The traveling device 220, the seedling planting unit 240, the fertilizer applicator 250, and the soil leveling device 260 are driven by engine power transmitted via a main transmission and an auxiliary transmission, which are HSTs.

[0016] Also, 110 is a seat, in which a seat belt 2 is fastened, and a detection device 3 detects fastening and unfastening of the seat belt 2. 5 is a GNSS (Global Navigation Satellite System).

[0017] Figure 2 shows how the vehicle 1 is manually driven along the long side of a rectangular field for the first driving path L1, acquiring points A and B (driving reference data) for straight-line assistance to generate a straight-line assistance reference line, and then turning, followed by the next path L2 where the vehicle travels back and forth in a straight line using the straight-line assistance function.

[0018] That is, the operator manually drives the first driving distance L1 along the long side of the field while planting seedlings, but first, by lowering the straight-line assist lever 10, the control unit 4 acquires point A, the starting point, and registers it in the AB point registration unit 40. This lever 10 is an automatic return type. After that, as the operator drives, near the end of driving distance L1, the control unit 4 acquires point B, the ending point, and registers it in the AB point registration unit 40 by lowering the lever 10 again.

[0019] As shown in FIG. 4, the straight driving assistance reference line generating section 41 of the control section 4 generates the straight driving assistance reference line S by connecting point A and point B with a straight line.

[0020] Thereafter, as shown in FIG. 2, the operator turns the vehicle body 1 and heads toward the next step L2, aligning the direction of the vehicle body 1 substantially along the straight-ahead assist reference line S.

[0021] After that, by raising the lever 10, the straight driving assist control section 42 of the control section 4 begins to operate, and the vehicle body 1 automatically drives parallel to the straight driving assist reference line S using the driving control section 6. As the end of this path L2 approaches, the driver raises the lever 10 again to stop the straight driving assist. Thereafter, the vehicle continues to drive automatically with straight driving assist for the remaining path in the same manner.

[0022] Here, we will explain about fastening and unfastening the seat belt 2. When traveling the first process L1 for acquiring points A and B, even if the detection device 3 detects that the seat belt 2 is unfastened, the driver may be standing and working during the first process L1 for acquiring the traveling reference data (operation for acquiring points A and B).

[0023] However, with the seat belt 2 unfastened, the straight driving assist cannot be used in the next stroke L2 after the turn. That is, even if the lever 10 is raised, the straight driving assist control unit 42 disables the straight driving assist function.

[0024] Here, when entering the next step L2, the seat belt 2 is fastened and automatic driving with straight-line assist begins. If the seat belt 2 is unfastened during automatic driving on the next step L2, automatic driving continues on that step L2, but automatic driving with straight-line assist on the next step is disabled.

[0025] If the seatbelt 2 is unfastened and automatic driving continues during such a trip, the selection unit 45 may be set in advance to continue automatic driving with straight-line assistance on the next trip as well. Although special care must be taken because the seatbelt 2 is unfastened, such a selection may be possible.

[0026] On the other hand, as described above, if the seat belt 2 is unfastened during automatic driving with straight-line driving assistance in the next process L2, automatic driving continues in that process L2, and if the seat belt 2 is fastened before the start of automatic driving in the next process, automatic driving in that process will start. For example, this would be the case if the seat belt 2 is fastened again while turning.

[0027] Furthermore, if automatic driving continues with the seat belt 2 unfastened, a seat belt reminder urging the driver to fasten the seat belt 2 is displayed on the display unit 46 using text, an icon, or the like.

[0028] In addition, if the seat belt 2 is unfastened and the straight-line assist is not available for the next journey, the display unit 46 will notify the driver that automatic driving is not possible unless the seat belt 2 is fastened, and the driver will be alerted.

[0029] When the seat belt 2 is unfastened, the upper limit of the trunnion opening of the hydraulic variable speed transmission (HST7) is restricted, preventing excessive speeding to ensure safety.

[0030] On the other hand, when the seat belt 2 is unfastened, the work set values ​​for rice planting, at least the amount of fertilizer, the amount of seedlings to be planted, and the planting depth, cannot be changed by the work set value changing unit 8. In this case, seedlings are planted using the default work set values. In this case, the seat belt reminder is also displayed on the display unit 46.

[0031] 5 is a diagram for explaining the straight-line driving assistance in the headland area. That is, the field where rice planting takes place is rectangular, with the top and bottom sides of the drawing being the long sides HL and the left and right sides being the short sides HS.

[0032] Here, as described above, when rice planting work is carried out using linearly assisted automatic travel in a straight line along the long side HL, the control unit 4 measures the positions of the point where the float 261 of the planting unit 240 touches the ground (○) and the point where the float 261 moves away (●) at the start and end of each straight line travel.

[0033] The linear approximation unit 47 of the control unit 4 obtains straight-line assist reference lines for automatic driving in the headland HD on both short sides HS and HS sides by linearly approximating the points (circles, black dots) on the corresponding sides of both short sides HS and HS. The determination unit 43 recognizes the direction of rotation based on a signal from the steering sensor 12 to determine whether the both ends HS and HS are on the right or left side, and based on this, determines whether the float 261 is being raised or lowered on the right side or the left side. In the case of a right turn, it is determined that the positioning point is on the right ridge, and in the case of a left turn, it is determined that the positioning point is on the left ridge.

[0034] In other words, the linear approximation on the corresponding side means performing a linear approximation for each point O and ● on the right side of the drawing, and separately performing a linear approximation for each point O and ● on the left side.

[0035] These left and right approximated straight lines respectively become the straight-line assist reference lines for automatic driving on the left and right short sides HS and the headland HD on the HS side.

[0036] In this case, σ (sigma) indicates a certain range of standard deviation, as shown in Figure 6. Isolated points 11 that do not fall within this certain range are ignored. It is not good to make this certain range too wide or too narrow, so an appropriate certain range should be determined based on past performance and experience.

[0037] Furthermore, it is desirable to more accurately measure the positions of the points where the float 261 of the planting section 240 touches the ground (○) and the points where the float 261 leaves the ground (●). That is, accuracy can be improved by regarding the point where the float 261 touches the ground as the point where the float 261 touches the ground and planting begins, and the point where the float 261 leaves the ground as the point where the float 261 leaves the ground and planting ends. For example, seedling planting may begin after the float has moved a little after touching the ground, or may end after the float has moved a little after leaving the ground. This is because, when obtaining a reference line by linear approximation, the points where the seedlings were actually planted are important.

[0038] In addition, even in the case of straight-line assisted automatic driving in headland HD, it is desirable to disable the straight-line assistance if the seat belt 2 is not fastened.

[0039] Figures 7(A) and (B) show another embodiment, in which (1) in a rice transplanter that rotates the fertilizer drive shaft 51 using the driving force of a single motor 50 to apply fertilizer, the motor 50 is rotated in the opposite direction to the normal operating direction, thereby ensuring starting torque during normal operation.

[0040] Conventionally, in addition to the motor that normally operates the fertilizer applicator, a motor is provided to ensure starting torque, which increases costs. However, with the above-described configuration, in the case of motor 50, which has a holding force when energized, starting torque can be easily ensured with just one motor 50.

[0041] (2) In the configuration of (1) above, a first roller clutch 52 is provided that rotates only in the forward direction so that torque is not transmitted to the fertilizer drive shaft 51 when the motor 50 is rotated in the reverse direction.

[0042] (3) In the configuration of (2) above, a second roller clutch 53 having a spring 54 and its stay 55 are arranged between the first roller clutch 52 and the motor 50. Here, 56 is the spring fulcrum, which is fixed to the fertilizer application base of the machine body.

[0043] (4) In the configuration of (3), when the motor 50 rotates in the reverse direction, torque is transmitted to the stay 55 and the spring 54 of the second roller clutch 53, causing them to rotate together, but when the motor 50 rotates in the forward direction, no torque is transmitted.

[0044] (5) As shown in Figure 8, in the configurations (1) to (4) described above, when the planting drive is turned "off," the fertilizer applicator motor 50 is rotated in the reverse direction by a certain angle A, and force is stored in the spring 54 when the planting drive is turned "off."

[0045] (6) In the configuration of (5), when the rotation angle of the motor 50 reaches A or more, or when the current value B of the motor 50 reaches a threshold value or more, the reverse rotation of the motor 50 is stopped. It is determined that the spring force of the spring 54 has reached a certain level or more, and the motor 50 is stopped.

[0046] (7) Alternatively, in the configurations (1) to (4) above, when the planting section is raised, the fertilizer applicator motor is rotated in the reverse direction by a certain angle A.

[0047] (8) Alternatively, in the configurations (1) to (4) above, when the main speed change lever is in the neutral position, the fertilizer applicator motor is rotated in the reverse direction by a certain angle A. When the operation is stopped temporarily, the operation of storing the spring force is initiated.

[0048] (9) In the configurations (1) to (8) above, the angle A at which the fertilizer applicator motor rotates in the reverse direction can be changed to A' depending on the set amount of fertilizer to be applied. The larger the amount of fertilizer to be applied, the larger the spring force that is stored (center diagram in Figure 8).

[0049] (10) In the configuration of (9) above, it is also desirable to increase the angle A' when the motor is reversely rotated as the amount of fertilizer application increases.

[0050] (11) In the configuration of (9) above, the threshold value of the motor current value B, which is the condition for stopping the reverse rotation of the motor, may be increased as the amount of fertilizer application increases. Since the starting torque must be increased as the amount of fertilizer application increases, the spring force is increased.

[0051] (12) In the configurations (1) to (11) above, as an initialization operation, the motor 50 is rotated in the reverse direction by a certain angle A″. The motor 50 is rotated in the reverse direction by an angle A″>180°, and the second roller clutch 53 is rotated half a turn (the rightmost diagram in FIG. 8).

[0052] (13) As the configuration of (12) above, monitor the current value B and the motor rotation speed during reverse rotation of the motor. When the current value B drops below a specified value within a certain period of time and the motor rotation speed accelerates to a certain level or more, stop the reverse rotation of the motor. When the second roller clutch 53 reaches the maximum spring force, torque is applied in the reverse rotation direction from before, and the second roller clutch 53 is rotated until the spring 54 is fully compressed.

[0053] (14) As the configuration of (12) above, perform an initialization operation when the rice transplanter is turned on. To set the motor phase and the roller clutch phase to fixed positions, perform an initialization operation for reverse rotation of the motor.

[0054] (15) As the configuration of (12) above, perform an initialization operation when the fertilizer application amount is changed. When the angle A' < A, if the motor is rotated forward, fertilizer will come out, so a change during operation is not possible. When changing the fertilizer application amount, perform an initialization operation once to change to the angle A' for reverse rotation of the motor.

[0055] Next, another embodiment will be described. It has an adjustment mode when the fertilization position is not in the expected place. The adjustment can be made both forward and backward by volume or panel setting. It can be adjusted when the fertilization position is not correct.

[0056] The control is such that the feeding of fertilizer is driven intermittently in accordance with the fertilization position. The fertilizer reduction effect is increased.

[0057] Next, another embodiment will be described. Conventionally, fertility, cultivated soil depth, and map-linked fertilizer application amounts are unlinked data and are handled independently. However, cultivated soil depth and fertility at the time of work do not appear in map data, and there is a demand for the ability to set fertilizer amounts based on not only soil fertility data acquired over time but also data at the time of work. Furthermore, in the case of map linkage, it is possible to balance the fertilizer amounts within a field based on soil fertility and growth maps, but the basic fertilizer amount to be set is left to the user. Furthermore, since maps are used for evaluation within a single field and cannot be used to evaluate multiple fields at once, it was not possible to set a uniform basic fertilizer amount for all fields. However, this embodiment has the following configuration and effects.

[0058] (1) In other words, in a transplanter that can vary the amount of fertilizer applied based on a set amount of fertilizer linked to map data, the transplanter is given the function of adjusting the amount of fertilizer applied per unit, which is the base of the set amount of fertilizer applied, based on the measurement results of a sensor that measures fertility and a sensor that measures the depth of cultivated soil, which are equipped on the transplanter.

[0059] By doing this, the amount of fertilizer applied within the field can be balanced using a map, and the basic amount of fertilizer applied can be automatically adjusted based on sensing data from real-time variable fertilization during work, thereby reducing variation both within and between fields and contributing to stable growth.

[0060] (2) The display connected to the transplanter reads the map data of the work field and the set fertilizer amount linked to the map data, and obtains the fertilizer amount per unit area corresponding to the read map data.

[0061] Currently, with map-linked variable fertilization, the amount of fertilizer per unit area and the amount of fertilizer planned to be used are not calculated before work begins, making it difficult to know how much is needed. However, by obtaining and displaying the amount of fertilizer per unit area as described above, it is possible to know how much is needed before work begins.

[0062] (3) In (1) above, when work is performed based on the loaded map data and the set fertilizer amount linked to the map data, the amount of fertilizer per unit area in the target field is calculated from the fertility and cultivated soil depth obtained after a certain distance traveled before the start of work or a certain distance traveled after the start of work.

[0063] (4) The amount of fertilizer applied per unit area calculated in (3) above is determined from the measured values ​​of fertility and plowed soil depth in the target field, based on the relationship between the amount of fertilizer applied per unit area in a certain reference field and fertility and plowed soil depth. Conventionally, real-time variable fertilization was limited to variations within the target field, and was not effective in addressing variations between fields. However, by setting a reference field as described above, it is possible to evaluate the performance of the working field against the reference field, and variation between fields can be reduced. Greater stability can be expected by setting the reference field to a field with little variation in growth.

[0064] (5) In (4) above, for example, the value calculated by weighting the average fertility and average plowed soil depth in a certain reference field and the amount of fertilizer applied per unit area are used as a reference, and the amount of fertilizer applied per unit area in the target field is calculated from the ratio of the value calculated by weighting the average fertility and average plowed soil depth in the target field and the value in the reference field. In this way, since using instantaneous values ​​is susceptible to the influence of sensor variation and noise, using the average value between measurements can reduce variation.

[0065] (6) In (4) above, the amount of fertilizer per unit area in the standard field is set by inputting it into a display connected to the transplanter. Conventionally, the amount of fertilizer applied varies depending on the crop, as well as fertility and soil depth, so it has been difficult to uniquely determine the amount of fertilizer applied from fertility and soil depth. However, by doing as described above, the user can create a standard based on the crop and previous year's results, which can be expected to stabilize growth.

[0066] (7) In (1) above, the set amount of fertilizer obtained in (2) is adjusted based on the ratio between the amount of fertilizer per unit area obtained in (2) above and the amount of fertilizer per unit area calculated in (3) above.

[0067] Currently, fertility, cultivated soil depth, and map-linked fertilizer amounts are not linked data and are treated separately, but cultivated soil depth and fertility at the time of work do not appear in the map data, so there was a need to be able to set fertilizer amounts based not only on soil fertility data obtained over time but also on data at the time of work.However, with the above-mentioned configuration, by setting a reference field, it is possible to evaluate the performance of the working field against the reference field, reducing variation between fields, and also making it possible to make appropriate corrections based on map data for areas where soil fertility is thought to be weak through long-term observation, which is expected to result in more stable growth. [Industrial Applicability]

[0068] The present invention can provide a work vehicle that allows proper seat belt use during automatic driving using straight-line assist, making it ideal for rice transplanters and the like. [Explanation of symbols]

[0069] 1. Body 2 Seatbelts 3. Detection Device 4. Control section 40 AB Point Registration Section 41 Straight-line assist reference line generation unit 42 Linear assist control section 43 Judgment Department 44 Swing control section 45 Selection section 46 Display section 47 Linear approximation part 5. GNSS 6. Travel control unit 7 HST 8 Operation setting value change section 9 Planting section control section 10 Lever 11 Isolated Spot 12 Steering sensor 50 motor 51 Fertilizer drive shaft 52 First roller clutch 53 Second roller clutch 54 Spring 55 Stay 56 Spring fulcrum 110 seats 220 Running gear 221 Front wheel 222 rear wheel 240 Seedling Planting Department 250 Fertilizer equipment 260 Ground leveling equipment 261 Float L1 First leg L2 Next step S Straight-line assist reference line H field HS short side HL long side σ (Sigma) Standard Deviation HD headland

Claims

1. GNSS and Seat belts and a detection device for detecting whether the seat belt is fastened or unfastened; a control unit having an automatic driving function that registers driving reference data for automatic driving, generates an automatic driving reference line based on the driving reference data, and automatically drives parallel to the automatic driving reference line, A work vehicle characterized in that, when the seat belt is unfastened, the driving reference data can be registered, but the automatic driving cannot be used.

2. If the seat belt is unbuckled during automatic driving, the automatic driving continues, but automatic driving in the next step is disabled, The work vehicle according to claim 1 , wherein if the seat belt is fastened before the start of automatic driving in the next process, automatic driving in the next process is permitted.

3. If the automatic driving continues with the seat belt unfastened, a seat belt reminder is notified by text or an icon, 3. The work vehicle according to claim 2, wherein, if the seat belt is unfastened and the use of the automatic driving in the next journey is disabled, a notice is issued that automatic driving is not possible unless the seat belt is fastened.

4. A work vehicle as described in claim 3, wherein when the seat belt is unfastened, the work setting values ​​for at least the amount of fertilizer, the amount of seedlings to be harvested, and the planting depth for rice planting cannot be changed, and seedlings can be planted using the default work setting values, but a seat belt reminder is sounded.

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