Work vehicle

Abstract

To solve the problem that the safety and operability of a conventional working vehicle such as a rice transplanter are not always sufficient in the execution of straight advance control.SOLUTION: A work vehicle configured to perform a ground work in a field, the work vehicle comprising: a vehicle body configured to travel by a travel device; a ground work apparatus attached to the vehicle body so as to be capable of being lifted and lowered; and a controller configured to perform a straight-ahead traveling control for causing the vehicle body to travel in a predetermined straight-ahead direction, the controller comprising a plurality of conditions as conditions for performing the straight-ahead traveling control, when a straight traveling control instruction is issued by a user, the straight traveling control is not executed if even one of the plurality of conditions is not satisfied, and the straight traveling control is executed without requiring a further user instruction if all of the plurality of conditions are satisfied.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] A rice transplanter is known that has a seedling planting device attached to the vehicle body that can be raised and lowered to plant the seedlings, and a controller that performs straight-line control to cause the vehicle body to travel in a predetermined straight-line direction, and that plants the seedlings while traveling on a traveling device attached to the vehicle body (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-024541 [Patent Document 2] Patent No. 5664634 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of work vehicles such as the conventional rice transplanters described above, the safety and operability regarding the start of straight-line control are not necessarily sufficient.

[0005] SUMMARY OF THE INVENTION In consideration of the above-mentioned conventional problems, the present invention has an object to provide a work vehicle that can improve safety and operability when starting straight ahead control. [Means for solving the problem]

[0006] The first aspect of the present invention is a work vehicle that performs ground work in a farm field, a vehicle body that can run using a running device; a ground work device attached to the vehicle body so as to be able to be raised and lowered; a controller that performs straight-line control to cause the vehicle body to travel in a predetermined straight-line direction, the controller has a plurality of conditions as conditions for performing straight-line control, When a straight-line control command is given by the user, if any one of the plurality of conditions is not met, the straight-line control is not executed, This work vehicle is characterized in that, when all of the above conditions are met, straight-line control is executed without requiring any further user instruction.

[0007] The second aspect of the present invention includes a vehicle body orientation condition that requires the orientation of the vehicle body to be within a predetermined range based on the straight-ahead orientation, among the plurality of conditions; When a straight-line control command is given by the user, if the orientation of the vehicle body is outside a predetermined range, the straight-line control is not executed, 2. The work vehicle according to claim 1, wherein when the vehicle body orientation condition and the plurality of conditions are all satisfied, straight-line control is executed without requiring any further user instruction.

[0008] A third aspect of the present invention includes a ground work implement lowering condition that requires the ground work implement to be lowered, among the plurality of conditions, The work vehicle according to claim 2, characterized in that when a straight-line control command is given by a user, even if it is determined that at least one of the vehicle body orientation condition and the ground work implement lowering condition is satisfied, the controller does not execute the straight-line control if it determines that the vehicle is traveling on a road. [Effects of the Invention]

[0009] According to the first aspect of the present invention, it is possible to improve the safety of the execution of straight ahead control with a simple configuration.

[0010] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve the safety of the execution of straight ahead control with a simple configuration.

[0011] According to the third aspect of the present invention, in addition to the effect of the second aspect of the present invention, it is possible to improve the operability and safety of the execution of straight-line control with a simple configuration. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a left side view of a rice transplanter according to an embodiment of the present invention; [Figure 2] Block diagram of a rice transplanter according to an embodiment of the present invention [Figure 3] Schematic front view of a rice transplanter according to a modified embodiment of the present invention. [Figure 4] 10 is a schematic partial left side view of the vicinity of a steering device of a rice transplanter according to a modified embodiment of the present invention; [Figure 5] (a) A schematic partial perspective view of the vicinity of a monitor and a meter panel of a rice transplanter according to a modified embodiment of the present invention, (b) A schematic partial front view of the vicinity of the monitor and the meter panel of a rice transplanter according to a modified embodiment of the present invention [Figure 6] FIG. 10 is a partial left side view of the vicinity of the monitor of a rice transplanter according to a modified embodiment of the present invention. [Figure 7] FIG. 10 is a partial front view of the rice transplanter according to a modified embodiment of the present invention, in the vicinity of the monitor; DETAILED DESCRIPTION OF THE INVENTION

[0013] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0014] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated form.

[0015] First, the configuration and operation of the rice transplanter of this embodiment will be specifically described with reference to FIGS.

[0016] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, and FIG. 2 is a block diagram of the rice transplanter according to an embodiment of the present invention.

[0017] The rice transplanter of this embodiment has a seedling planting device 230 that is attached to the vehicle body 100 so that it can be raised and lowered, and a controller 500 that performs straight-line control to make the vehicle body 100 travel in a predetermined straight-line direction.The rice transplanter plants seedlings while traveling on the traveling device 220 attached to the vehicle body 100, and is an example of a work vehicle of the present invention.

[0018] While explaining the operation of the rice transplanter, a work vehicle operation control method according to an invention related to the present invention will also be explained.

[0019] 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 240, levels the field using a ground leveling device 260 having a ground leveling float 261, plants seedlings in the field using a seedling planting device 230, and fertilizes the field using a fertilizer applicator 250.

[0020] The traveling device 220, seedling planting device 230, fertilizer applicator 250, and soil leveling device 260 are driven by the power of an engine 210 transmitted via a main transmission 300 and a sub-transmission 400, which are HST (Hydro Static Transmission).

[0021] Next, the configuration and operation of the rice transplanter of this embodiment will be described more specifically with reference mainly to FIG.

[0022] When a user gives an instruction to start straight-line control, if it determines that at least one of the following conditions is satisfied: a vehicle body orientation condition that requires the orientation of the vehicle body 100 to be within a predetermined range S1 based on the straight-line orientation, and a seedling planting device lowering condition that requires the seedling planting device 230 to be lowered, the controller 500 starts straight-line control.

[0023] To make it difficult for straight-line control to be prohibited, it is possible to consider a specification in which, for example, even if it is determined that the seedling planting device lowering condition is not satisfied, the controller 500 starts straight-line control regardless of whether the vehicle body orientation condition is satisfied.

[0024] However, with this type of specification, even if the planting section of the seedling planting device 230 is raised, the controller 500 will start straight-line control regardless of the orientation of the vehicle body 100, which can lead to inconvenient situations.

[0025] In this embodiment, when it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the controller 500 starts straight-line control.

[0026] For example, if the planting unit of the seedling planting device 230 is lowered to a position where the soil leveling rotor of the soil leveling device 260 is driven, the start of straight-line control is permitted in all directions, regardless of the orientation of the vehicle body 100. Even if the orientation of the vehicle body 100 is not within the predetermined range S1 based on the straight-line orientation, as long as the seedling planting device 230 is lowered, straight-line control with straight-line assist on is realized, thereby improving operability.

[0027] Of course, even if the planting section of the seedling planting device 230 is raised, if the orientation of the vehicle body 100 is within a predetermined range S1 based on the straight-ahead direction, straight-ahead control with straight-ahead assist on is similarly realized.

[0028] The timing at which it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied is substantially the same as the timing at which the user gives an instruction to start straight-line control, but it may also be a little later.

[0029] When a user gives an instruction to start straight-line control, even if it is determined that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the controller 500 will not start straight-line control if it determines that the vehicle is traveling on a road.

[0030] Whether or not the vehicle is traveling on a road is determined by using a rotation sensor that counts the number of rotations of the rear wheels 222, a position sensor that detects the operating position of the auxiliary transmission lever of the auxiliary transmission device 400, or a GNSS (Global Navigation Satellite System) device that detects the position of the vehicle body 100.

[0031] For example, if turning control is being performed with rear wheel rotation counting during a so-called Z-turn, in which the seedling planting device 230 is automatically raised as the vehicle body 100 turns at the end of the planting row, then road travel is not occurring. Therefore, even if at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, it goes without saying that straight-line control may be initiated only when such turning control is being performed. Since turning control is not being performed when traveling on roads outside a field where the planting unit of the seedling planting device 230 is elevated, even if an erroneous user command is given to start straight-line control, straight-line control with improper straight-line assist on is not permitted and is prohibited, thereby improving convenience.

[0032] When a user instructs the controller 500 to start straight-line control, if it determines that the vehicle body orientation condition is not satisfied but the seedling planting device lowering condition is satisfied, the controller 500 starts straight-line control, but if it determines that the orientation of the vehicle body 100 is not within a predetermined range S2 based on the straight-line orientation, the controller 500 stops the straight-line control that was started after a predetermined time t0 has elapsed.

[0033] For example, if the planting section of the seedling planting device 230 is lowered to a position where the leveling rotor of the leveling device 260 is driven, straight-line control is permitted to begin in all directions regardless of the orientation of the vehicle body 100, but if the orientation of the vehicle body 100 is significantly different from the straight-line direction, straight-line control due to straight-line assist on is stopped by cancellation processing, etc., thereby improving not only operability but also safety.

[0034] The predetermined time t0 is, for example, about one second, and the straight ahead control may be immediately stopped and not be substantially performed.

[0035] The predetermined range S2 may be a range that coincides with the predetermined range S1 described above, or may be, for example, a larger range.

[0036] The timing at which it is determined that the orientation of the vehicle body 100 is not within a predetermined range S2 based on the straight-ahead orientation may be the timing at which it is determined that the vehicle body orientation condition is not satisfied but the seedling planting device lowering condition is satisfied, or it may be the timing a little after the predetermined time t0 has elapsed.

[0037] The stopped straight-line control may be discontinued or may be suspended. If the vehicle body orientation condition is subsequently satisfied, the suspended straight-line control may be restarted without further user instruction or may be prompted for further user instruction.

[0038] When a user gives an instruction to start straight-line control, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 does not start straight-line control.

[0039] If the direction of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead direction and the planting part of the seedling planting device 230 is raised, straight-ahead control with straight-ahead assist on is not permitted but prohibited, thereby improving safety.

[0040] In addition, when a user instructs the controller 500 to start straight-line control, if it determines that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 may suspend the straight-line control, and if it subsequently determines that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, the suspended straight-line control may be started without further user instruction.

[0041] Even if the orientation of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead orientation and the planting section of the seedling planting device 230 is raised, operability and safety may be improved by notifying the user of the exact situation, such as the suspension of straight-ahead control, using a lamp or buzzer, for example, before approximately one second has elapsed, so as to avoid causing confusion to the user.

[0042] Furthermore, when a user gives an instruction to start straight-line control, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 may suspend straight-line control, and if it subsequently determines that at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied, it may prompt the user for further instructions.

[0043] Even if the orientation of the vehicle body 100 is not within a predetermined range S1 based on the straight-ahead orientation and the planting section of the seedling planting device 230 is raised, if the vehicle body orientation condition is subsequently satisfied, for example, the exact situation is reported using a lamp or buzzer, etc., and the user is prompted to give instructions to start straight-ahead control at that time, thereby improving operability and safety.

[0044] For example, if the vehicle body orientation condition is not satisfied despite the detection of a predetermined travel distance or elapsed time measured based on the user's instruction to start the straight-line control, it is desirable to cancel the suspension of the straight-line control. The suspension of the straight-line control may also be canceled when the vehicle body 100 stops traveling or moves in reverse.

[0045] The suspension of straight-line control continues for approximately one second, for example, even if the vehicle body orientation condition is not satisfied, and straight-line control with straight-line assist on is permitted when the monitor is displayed and the straight-line control start user indicator is operated, but steering control for automatic steering itself is not performed, thereby improving operability and safety.

[0046] Furthermore, when a user gives an instruction to start straight-line control, if it is determined that both the vehicle body orientation condition and the seedling planting device lowering condition are not satisfied, the controller 500 may again determine whether at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied after a predetermined time τ0 has elapsed.

[0047] The user's command to start straight-line control may be hasty, and whether at least one of the vehicle body orientation condition and the seedling planting device lowering condition is satisfied changes from moment to moment, so convenience is improved by making such a judgment again.

[0048] Next, the configuration and operation of the rice transplanter of this embodiment will be described more specifically with reference mainly to FIG.

[0049] The monitor display unit for the straight-line assist may be provided by utilizing an existing LCD monitor display unit that displays the seedling planting status of the seedling planting device 230. This reduces the number of parts, thereby realizing cost reduction.

[0050] Ultrasonic sensors for measuring field depth and the like may be attached to both the left and right sides of the vehicle body 100, or may be attached only to the center of the vehicle body 100. This reduces the number of parts, thereby realizing cost reduction.

[0051] The ultrasonic sensor described above may be omitted by measuring the planting height using the link sensor of the seedling planting device 230. This reduces the number of parts, thereby realizing cost reduction.

[0052] The monitor display unit for the straight driving assistance described above may be provided by utilizing a so-called center mascot unit for driving straight along the straight line formed by the line markers in response to manual steering operation of the steering device 240. This reduces line-of-sight movement, resulting in a user-friendly configuration.

[0053] As shown in Fig. 3, which is a schematic front view of a rice transplanter according to a modified embodiment of the present invention, a ground roller 1110 used in a vegetable transplanter or the like may be attached to the bumper portion 1120, and an electrode portion of a fertility sensor for a fertilizer application device 250 may be attached to the ground roller 1110. By utilizing the traction of a cable attached to the ground roller 1110, the ground roller 1110 may be raised and lowered in accordance with the raising and lowering of the seedling planting device 230.

[0054] In the center mascot section described above, the existing LCD monitor display regarding the position of the seedling planting device 230 that is mounted so as to be able to rise and fall may not be displayed, and only the straight-line assist display may be displayed.

[0055] In the center mascot section described above, not only can the existing LCD monitor display be performed regarding the position of the seedling planting device 230 that is mounted so as to be able to rise and fall, but also a straight-line driving assistance display can be performed.

[0056] The monitor display unit for the straight driving assistance described above may be provided by utilizing an L-shaped mounting stay erected on the top of the hood.

[0057] The fertilizer applicator 250 may be an assembly in which fertilizer applicator rolls are independently driven by electric motors for each planting row. Variation between the fertilizer applicator rolls for each planting row can be reduced by correcting the rotation speed of the fertilizer applicator roll, improving fertilization accuracy. Because fertilizer may flow into the wheel tracks, fertilizer adjustments may be made only for the planting rows on both sides of the front and rear wheels 221 and 222.

[0058] In driving the fertilizer applicator 250 described above, for example, a device capable of detailed analysis of the fertility between the front wheels 221 may be combined. To achieve highly accurate variable fertilization for each planting row, fertilizer reduction correction may be performed only in the planting rows on both sides of the front wheels 221 and rear wheels 222 where additional tillage depth is likely to be added.

[0059] In a configuration in which the seedling planting device 230 can change the seedling harvesting amount using an electric motor or the like, the seedling harvesting amount can be changed at any time when the seedling harvesting amount is increased, so that the load on the power can be reduced. However, it is possible to consider operating conditions for the electric seedling harvesting amount change that adapts the seedling feeding timing to the seedling harvesting amount only when the seedling harvesting amount is decreased.

[0060] In a configuration in which the seedling planting depth of the seedling planting device 230 can be changed using an electric motor or the like, it is possible to consider operating conditions for the electric seedling planting depth change such that when changing movement to the shallower side, a hydraulic pressure increase signal is output at the appropriate time, and when changing movement to the deeper side, a hydraulic pressure decrease signal is output as needed, so that a reduction in the load on the power can be expected taking into account the response.

[0061] A simple variable fertilization mechanism can be envisaged that adjusts the amount of fertilizer applied by the fertilizer application device 250 according to the field depth by detecting the extension and contraction of the lifting cylinder of the seedling planting device 230 without using a so-called depth sensor such as the ultrasonic sensor described above.

[0062] The monitor display unit for the straight driving assistance described above may be provided by using a mounting stay erected near the manufacturer's logo mark at the front center of the bonnet hood.

[0063] As shown in Fig. 4, which is a schematic partial left side view of the vicinity of a steering device 240 of a rice transplanter according to a modified embodiment of the present invention, a monitor 1210 having the monitor display unit for the straight driving assist described above may be provided by utilizing an extended mounting portion 1240 of a meter panel 1230 of a handle column 1220. The number of parts is reduced by using the mounting stay for both purposes, thereby realizing cost reduction.

[0064] The monitor 1210 may be attached to the center mascot portion described above.

[0065] The monitor 1210 may be mounted on top of a monitor panel, such as an instrument panel 1230 .

[0066] By measuring the plowed soil depth, a variable fertilizer rice transplanter configuration can be considered that reduces fertilizer in several stages depending on the plowed soil depth. Since rice lodging is likely to occur due to the plowed soil depth, reducing fertilizer at deeper locations can prevent rice lodging. By omitting the fertility and temperature measurement mechanisms in existing variable fertilizer rice transplanter configurations, cost reductions can be achieved.

[0067] As shown in Figure 5(a), which is a schematic partial oblique view of the vicinity of the monitor 1210 and meter panel 1230 of a rice transplanter according to a modified embodiment of the present invention, and Figure 5(b), which is a schematic partial front view of the vicinity of the monitor 1210 and meter panel 1230 of a rice transplanter according to a modified embodiment of the present invention, the monitor 1210 as an assist monitor unit may be attached to an L-shaped plate 1320 to which one side of the mounting portion of the meter panel 1230 is fastened together with a bolt 1310 or the like.

[0068] The monitor 1210 as an assist monitor unit may be integrated into a plate at the center of the steering wheel of the steering wheel.

[0069] The monitor 1210 serving as the assist monitor unit may be integrated into the display unit of the center marker.

[0070] As shown in Fig. 6, which is a partial left side view of the vicinity of monitor 1210 of a rice transplanter according to a modified embodiment of the present invention, in order to unitize the automatic steering system, all of the components of the automatic steering system except for the processor may be supported by a single support frame 1420, which is, for example, a support frame for a GNSS antenna device 1410 such as a GPS (Global Positioning System) antenna device. The support frame for monitor 1210, which is the display device of the automatic steering system, is not independent from the support frame for GNSS antenna device 1410, but rather monitor 1210 is axially mounted on support frame 1420. Because monitor 1210 is rotatable about the axis of support frame 1420, the monitor angle can be adjusted to match the line of sight by rotating monitor 1210 in the direction indicated by arrow A, thereby achieving a user-friendly configuration.

[0071] The monitor 1210, which is a display device for the straight driving assistance, may be directly connected to the meter panel 1230.

[0072] Although the monitor 1210, which is a display device for the straight driving assist, and the meter panel 1230 are directly connected to each other, their mechanical driving ranges may be independent so that the display angle and the like can be changed individually.

[0073] The monitor 1210, which is a display device for the straight driving assistance, and the display device of the center mascot portion described above may be integrated.

[0074] 7, which is a partial front view of the vicinity of the monitor 1210 of a rice transplanter according to a modified embodiment of the present invention, the support frame shape of the frame 1510 that supports an automatic driving mode display unit such as the monitor 1210 is an inverted Y shape, and wiring may be routed from the hood. By using the frame 1510, which is an inverted Y-shaped frame, instead of an inverted U-shaped frame, it is possible to eliminate wasted space below the display device.

[0075] The support frame shape of the frame 1510 that supports the automatic driving mode display unit such as the monitor 1210 is I-shaped, and wiring may be routed from the hood. By using this type of I-shaped frame 1510, which is a single I-shaped support pillar, instead of an inverted U-shaped frame, it is possible to eliminate wasted space below the display device.

[0076] The monitor 1210, which is a display device for straight driving assistance, may be integrally attached to an existing monitor panel such as the meter panel 1230 as a GNSS display device.

[0077] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0078] Furthermore, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0079] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0080] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0081] Furthermore, one form of use of the inventive program related to the present invention may be a form in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0082] The recording medium also includes a ROM (Read Only Memory).

[0083] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0084] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0085] The work vehicle of the present invention can improve the operability of starting straight-line control, and is useful for use in work vehicles such as rice transplanters. [Explanation of symbols]

[0086] 100 body 210 engine 220 Running gear 221 Front wheel 222 rear wheel 230 Seedling planting device 240 Controls 250 Fertilizer equipment 260 Ground leveling equipment 261 Leveling Float 300 Main Transmission 400 sub-transmission 500 Controller 1110 Ground Roller 1120 Bumper part 1210 monitor 1220 steering column 1230 meter panel 1240 Mounting part 1310 volts 1320 Plate 1410 GNSS antenna equipment 1420 Support Frame 1510 frames A arrow

Claims

1. A work vehicle that performs ground work in a field, a vehicle body that can run using a running device; a ground work device attached to the vehicle body so as to be able to be raised and lowered; a controller that performs straight-line control to cause the vehicle body to travel in a predetermined straight-line direction, the controller has a plurality of conditions as conditions for performing straight-line control, When a straight-line control command is given by the user, if any one of the plurality of conditions is not satisfied, the straight-line control is not executed, A work vehicle characterized in that, when all of the plurality of conditions are satisfied, straight-line control is executed without requiring any further user instruction.

2. Among the plurality of conditions, a vehicle body orientation condition is provided that requires that the orientation of the vehicle body is within a predetermined range based on the straight-ahead orientation, When a straight-line control command is given by the user, if the orientation of the vehicle body is outside a predetermined range, the straight-line control is not executed, 2. The work vehicle according to claim 1, wherein, when the vehicle body orientation condition and the plurality of conditions are all satisfied, straight-line control is executed without requiring any further user instruction.

3. Among the plurality of conditions, a ground work implement lowering condition is provided which requires that the ground work implement is lowered, 3. The work vehicle according to claim 2, wherein when a straight-line control command is given by a user, even if it is determined that at least one of the vehicle body orientation condition and the ground work implement lowering condition is satisfied, the controller does not execute the straight-line control if it determines that the vehicle is traveling on a road.

Images