Automatic steering system and automatic steering control method

Abstract

The present invention provides an automatic steering system and an automatic steering control method that enable the proper initiation of automatic steering of field implements. [Solution] The automatic steering system comprises a field work machine including a field work unit supported by a travel unit, and a work clutch that switches the power of the field work unit between an engaged state and a disengaged state; an automatic steering control unit that performs automatic steering control to automatically steer the travel unit; and a determination unit that performs an automatic steering permission determination based on the travel of a predetermined distance or time after the work clutch has been switched from a disengaged state to an engaged state, wherein the automatic steering control unit performs the automatic steering control based on the automatic steering permission determination.

Description

Technical Field

[0001] This invention relates to an automatic steering system including a field working machine that transplant seedlings into a field while traveling, and an automatic steering control method implemented in the automatic steering system.

Background Art

[0002] A conventional transplanter that acquires position information and controls to automatically travel straight along a set target direction is described in Japanese Unexamined Patent Application Publication No. 2020-31558 (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

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

Means for Solving the Problems

[0006] The automatic steering system according to this invention comprises a field implement including a field work unit supported by a travel unit, a work clutch that switches the power of the field work unit between a connected state and a disconnected state, an automatic steering control unit that performs automatic steering control to automatically steer the travel unit, and a determination unit that performs an automatic steering permission determination based on the fact that the work clutch has traveled a predetermined distance or time after being switched from the disconnected state to the connected state, wherein the automatic steering control unit performs the automatic steering control based on the automatic steering permission determination.

[0007] This invention provides an automatic steering system that can appropriately initiate the automatic steering of a field work machine.

[0008] Preferably, the determination unit performs the automatic steering permission determination based on whether the speed of the field implement during travel of the predetermined distance or the predetermined time remains above a predetermined value.

[0009] Furthermore, the determination unit does not perform the automatic steering permission determination if a predetermined operation is performed while traveling the predetermined distance or time.

[0010] Furthermore, the automatic steering control method implemented in the automatic steering system also falls within the scope of the technical concept of the present invention. Specifically, the automatic steering control method implemented in an automatic steering system comprising: a field work machine including a field work unit supported by a travel unit; a work clutch that switches the power of the field work unit between a connected state and a disconnected state; an automatic steering control unit that performs automatic steering control to automatically steer the travel unit; and a determination unit that performs an automatic steering permission determination based on the fact that the work clutch has traveled a predetermined distance or a predetermined time after being switched from the disconnected state to the connected state, wherein the automatic steering control is performed based on the automatic steering permission determination. [Effects of the Invention]

[0011] According to this invention, automatic steering control is performed based on the automatic steering permission determination, making it possible to start automatic steering appropriately. [Brief explanation of the drawing]

[0012] [Figure 1] Side view of a field implement [Figure 2] Plan view of a field implement [Figure 3] One side view of the planting section (right side view of the machine) [Figure 4] Another side view of the planting section (left side view of the machine) [Figure 5] A diagram showing the dashboard. [Figure 6] Diagram showing a switch box [Figure 7] Control block diagram of the control unit [Figure 8] Diagram showing automatic rotation [Figure 9] Diagram showing a monitor with an icon for automatic mode of the work equipment during rotation. [Modes for carrying out the invention]

[0013] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

[0014] <Overall Structure> The overall configuration of the field implement 1 will be described with reference to Figures 1 and 2. The field implement 1 comprises a traveling body (traveling section) 2 and a field work section (planting section) 3 attached to the rear of the traveling body 2, and is configured to perform planting work with the field work section 3 while traveling on the traveling body 2. In this embodiment, the case where the field implement 1 has 6 planting rows is shown as an example, but of course, the number of planting rows of the field implement 1 can be any number.

[0015] The vehicle body 2 includes an engine 4, a transmission 5 that changes the speed of the power from the engine 4, a vehicle frame 6 that supports the engine 4 and the transmission 5, and front wheels 7 and rear wheels 8 that are driven by the power transmitted from the engine 4 and the transmission 5.

[0016] The power from the engine 4 and the transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported at the front part of the vehicle body frame 6, and the front wheels 7 are supported at both left and right ends thereof. Similarly, the rear axle case 10 is supported at the rear part of the vehicle body frame 6, and the rear wheels 8 are supported at both left and right ends thereof. The upper part of the vehicle body frame 6 is covered by a step 11, and an operator can move on the step 11.

[0017] Also, the power from the engine 4 and the transmission 5 is transmitted to the field working unit 3 via the plant spacing setter 9a (see FIG. 7). The plant spacing setter 9a is configured to be able to continuously change the planting interval of the seedlings planted along the traveling direction of the traveling vehicle body 2. A control device 70 described later is connected to the plant spacing setter 9a and is configured to be able to acquire the planting interval of the seedlings.

[0018] Also, for the positioning of the traveling vehicle body 2 in the field and the calculation of the actual vehicle speed, a GNSS receiver (position information acquisition unit) 49 is provided on the traveling vehicle body 2 as a positioning device.

[0019] A driver's seat 12 is arranged at the middle part in the front and rear of the traveling vehicle body 2, and a steering handle 13, an operation pedal 14, a dashboard 15, etc. are provided in front of it. In addition to the steering handle 13, various operation tools and display devices for various operations are arranged on the dashboard 15.

[0020] Here, the GNSS receiver 49 will be described. In front of the traveling vehicle body 2, a spare seedling mounting table main body part 17a and a spare seedling mounting table frame 17b are provided, and the GNSS receiver 49 is placed on a GNSS receiver support frame 50 extending upward therefrom. The traveling vehicle body 2 can be positioned in the field and the actual vehicle speed can be calculated by the GNSS receiver 49.

[0021] The field work unit 3 is connected to the traveling machine body 2 via a lifting link mechanism 20. The lifting link mechanism 20 includes an upper link 21, a pair of left and right lower links 22, a lifting cylinder, etc. The lifting cylinder rotates the lower links 22 and the upper link 21 to raise and lower the field work unit 3.

[0022] The field work unit 3 includes a planting arm 31, planting claws 32, a seedling tray 33, a lateral feeding mechanism that reciprocates the seedling tray 33 laterally (in the machine width direction), a longitudinal feeding mechanism that transports the seedling mat placed on the seedling tray 33 towards the lower end in the longitudinal direction (in the machine front-rear direction), a float 34, etc. The planting claws 32 are attached to the planting arm 31. In this embodiment, since the field work machine 1 has 6 planting rows, it is equipped with 6 planting arms 31 and 12 planting claws 32. The field work unit 3 is driven by a PTO shaft 16 that extends rearward from the transmission 5.

[0023] More specifically, power is transmitted from the PTO shaft 16 to three planting transmission cases 36 located in the field work unit 3 via the planting center case 35, and power is distributed from each of the three planting transmission cases 36 to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each planting transmission case 36. The planting center case 35 is provided with a work clutch 18, which is configured to disconnect and reconnect the power transmission from the engine 4 to the field work unit 3.

[0024] The planting arm 31 rotates due to power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claws 32 from the seedling tray 33. As the planting arm 31 rotates, the planting claws 32 are inserted into the field, and seedlings are planted to a predetermined planting depth. In this embodiment, rotary-type planting claws are used, but crank-type claws may also be used.

[0025] The seedling tray 33 is made of plate-shaped members and is arranged to slope in a front-high, rear-low manner when viewed from the side of the machine. On the rear surface of the seedling tray 33, mounting surfaces for placing seedling mats M are arranged in the width direction of the machine according to the number of planting arms 31 (number of rows of the field implement 1). In this embodiment, the field implement 1 has 6 planting rows, so 6 mounting surfaces are formed. The seedling mats M are placed on the mounting surfaces in an inclined state.

[0026] The float 34 is attached to the planting frame 37 (see Figures 3 and 4). Specifically, the front end of the float 34 is supported so as to be able to swing vertically relative to the planting frame 37, and the rear end of the float 34 is attached to a pivot shaft 38 (see Figure 7) provided on the planting frame 37 so as to be able to move up and down via a lifting link mechanism 20.

[0027] In the float 34, a field surface detection sensor 40 (see Figure 7) for detecting the field surface (paddy field surface) is provided directly in front of the planting position of the planting claws 32. The sensor 40 extends from the front to the rear. The sensor 40 is supported on the planting frame 37 so as to be able to swing freely around an axis along the pitching direction (i.e., swing freely in the vertical direction), and hangs down due to gravity around its pivot point, so that the tip is always in contact with the field surface. In other words, the field implement 1 moves with the tip of the sensor 40 always following the field surface.

[0028] Using Figure 3, we will explain the lateral feeding mechanism that reciprocates the seedling tray 33 in the width direction of the machine.

[0029] As shown in Figure 3, a feed screw 41 extends from the planting center case 35 toward one side in the width direction of the machine (left side of the machine). Intersecting grooves are formed on the outer surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slider receiver 43 is formed in a substantially T shape. The feed screw 41 is driven through the slider receiver 43, and the slider 42 is housed there so as to be slidable along the groove of the feed screw 41.

[0030] A lower rail 44 is attached to the lower part of the front surface (back of the mounting surface) of the seedling tray 33. The lower rail 44 is positioned with the machine width direction as its longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

[0031] Below the lower rail 44, a guide rail 46 is provided to support the lower rail 44 so that it can slide in the machine width direction. The guide rail 46 is positioned with the machine width direction as its longitudinal direction. The guide rail 46 consists of an engaging portion 46a that engages with the lower rail 44 and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom of the seedling tray 33. By engaging the lower rail 44 with the engaging portion 46a of the guide rail 46, the lower rail 44 is configured to slide along the guide rail 46 in the machine width direction. A stopper 47 is detachably attached to the guide rail 46 by bolts to prevent the lower rail 44 from coming off the guide rail 46.

[0032] A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling tray 33 is provided on the side from which the feed screw 41 extends of the planting center case 35. The lateral feed switching lever 48 is equipped with a lateral feed count detection sensor 48a (see Figure 7) which detects the number of times the seedling tray 33 has been moved laterally by detecting the position of the lateral feed switching lever 48.

[0033] The control device 70 is connected to the lateral movement count detection sensor 48a and is configured to detect the number of lateral movements of the seedling tray 33, and to detect the amount of lateral movement described later from the number of lateral movements. In addition, the lateral movement switching lever 48 is provided with an actuator 48b (see Figure 7). The lateral movement switching lever 48 is configured to be operable when the actuator 48b is driven and controlled. Therefore, by operating the lateral movement switching lever 48 with the actuator 48b, the amount of lateral movement of the seedling tray 33 can be adjusted and the number of lateral movements of the seedling tray 33 can be changed.

[0034] By changing the number of lateral movements of the seedling platform 33, the amount of lateral movement (lateral movement speed) of the seedling platform 33 is changed, and the amount of seedlings picked from the seedling mat M by the planting claws 32 can be changed. Here, the amount of picking refers to the width of the seedling mat M scraped by the planting claws 32 in the direction of the width of the traveling machine body 2 when viewed from above. By adjusting the amount of picking, the amount of seedlings picked from the seedling mat M by the planting claws 32 can be changed.

[0035] Using Figure 4, we will explain the vertical feeding mechanism that moves the seedling mat M placed on the seedling tray 33 downwards.

[0036] As shown in Figure 4, a vertical feed cam shaft 52, to which the vertical feed cam 51 is fixed, extends from the planting center case 35 toward the other side in the width direction of the machine (right side of the machine). The vertical feed cam shaft 52 is connected to a feed screw 41 and, upon reaching the end of its stroke, comes into contact with a driven cam 53. The driven cam 53 is mounted on a conveyor belt drive shaft 55 that drives the conveyor belt 54 at the lower part of the seedling tray 33. As the vertical feed cam shaft 52 rotates, the vertical feed cam 51 and the driven cam 53 come into contact, causing the driven cam 53 to rotate. As the driven cam 53 rotates, the conveyor belt drive shaft 55 rotates, causing the conveyor belt 54 to circulate and transport the seedling mat M placed on the conveyor belt 54 by a predetermined distance.

[0037] A seedling tray rail support shaft 56 is supported at the front upper part of each planting transmission case 36 so as to be rotatable in the left-right direction. Multiple support frames 57 are projected from the seedling tray rail support shaft 56 at appropriate intervals to the rear upper part, and guide rails 46 are supported on these support frames 57 in the left-right horizontal direction. An arm 58 is attached to the front upper part of the seedling tray rail support shaft 56. A rotation angle detection sensor 59 (see Figure 7) for detecting the rotation angle of the seedling tray rail support shaft 56 is provided at the other end of the arm 58. The rotation angle detection sensor 59 is attached to the planting frame 37. An actuator 56a (see Figure 7) is provided on the seedling tray rail support shaft 56. The control device 70 is connected to the rotation angle detection sensor 59 and is configured to detect the amount of seedlings harvested vertically from the seedling mat M.

[0038] The actuator 56a is driven and controlled, so that the seedling tray rail support shaft 56 is rotatable. As a result of the rotation of the seedling tray rail support shaft 56, the support frame 57 rotates, causing the guide rail 46 (seedling tray 33) to move up and down (so that it can be raised and lowered), and the distance between the planting transmission case 36 that supports the planting claws 32 and the seedling tray 33 can be changed.

[0039] Therefore, the amount of seedlings picked vertically from the seedling mat M by the planting claws 32 can be changed. Here, the vertical picking amount refers to the width of the seedling mat M scraped in the direction of travel of the traveling machine 2 when viewed from above. By adjusting the vertical picking amount, the amount of seedlings picked from the seedling mat M by the planting claws 32 can be changed.

[0040] Furthermore, the seedling tray rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60. As the seedling tray rail support shaft 56 rotates, the tension applied to the interlocking wire 60 rotates the driven cam 53 by a predetermined angle, thereby adjusting the amount of seedlings fed by the conveyor belt 54 according to the amount of seedlings taken vertically from the seedling mat M.

[0041] In the above configuration, power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, causing the slider 42 to slide in the groove of the feed screw 41, and together with this, the slider receiver 43 slides in the width direction of the machine body. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and together with this, the seedling tray 33 slides in the width direction of the machine body. When the seedling tray 33 reaches the end of its stroke in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53, causing the conveyor belt drive shaft 55 to rotate, and the conveyor belt 54 is circulated.

[0042] As the slider 42 reciprocates along the groove of the feed screw 41, the seedling tray 33 reciprocates along the guide rail 46. The lateral feeding mechanism allows the seedling tray 33 to reciprocate along the guide rail 46, enabling the planting claws 32 to pick up seedlings from one side (left side of the machine) in the width direction of the seedling mat M placed on the seedling tray 33 to the other side (right side of the machine) or from the other side (right side of the machine) to one side (left side of the machine), and transplant them. When the planting claws 32 pick up seedlings on one side (right side of the machine) or the other side (left side of the machine) in the width direction of the seedling mat M, the vertical feeding mechanism activates the conveyor belt 54, enabling the seedling mat M to be conveyed toward the lower end (rear end) of the mounting surface. As described above, the seedling mat M is moved back and forth in the width direction of the machine body and transported downward as appropriate, making it possible to pick up seedlings from the seedling mat M placed on the seedling tray 33.

[0043] Next, the dashboard 15 will be described with reference to Figure 5. A steering wheel 13 is located in the left-right center of the dashboard 15. A main gear lever 61 is provided to the left of the steering wheel 13, and a planting lift lever 62 is provided to the right of the steering wheel 13. Below the steering wheel 13 are a row stop switch 63 for stopping the drive of the planting claws 32 for predetermined rows, a speed setting volume 64 for setting the maximum speed, a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34, and a select dial 66 for setting various items such as planting depth and the amount of seedlings to be taken from the seedling mat M (vertical amount and horizontal amount (number of horizontal passes)). In front of the steering wheel 13 is a monitor 67 that displays the settings of the select dial 66, the speed of the traveling machine 2, etc.

[0044] The select dial 66 is a dial that allows setting various work conditions related to the work content, such as planting depth, seedling harvesting amount (vertical harvesting amount, horizontal harvesting amount (number of horizontal passes)), and work speed, as well as the notification criteria value for seedling replanting alarms. The operator rotates the select dial 66 left or right to select the item to be set from the various items, and confirms the setting by pressing the select dial 66. For example, if the operator wants to set the vertical harvesting amount as the seedling harvesting amount, they rotate the select dial 66 left or right to select the vertical harvesting amount item, press the select dial 66 to confirm the item, rotate the select dial 66 left or right to select the adjustment amount for the vertical harvesting amount, and press the select dial 66 to set the vertical harvesting amount to the adjustment amount. The select dial 66 is connected to the control device 70 (see Figure 7).

[0045] In other words, based on the input of the field area and the number of seedling mats to be used, the field implement 1 automatically controls the lengthwise and lateral feeding amounts to plant seedlings in the field. Specifically, the field implement 1 includes a planting unit (field work unit 3) that picks up seedlings from the seedling mats M on the seedling platform 33 and transplants them into the field, a lengthwise picking amount setting unit for setting the lengthwise picking amount of seedlings, a lateral picking amount setting unit (select dial 66) for setting the lateral picking amount of seedlings, and a display device (monitor 67) that displays the lengthwise and lateral picking amounts of seedlings set by the lengthwise picking amount setting unit and the lateral picking amount setting unit.

[0046] Next, the switch box will be described. Figure 6 shows the switch box. The field implement 1 is equipped with a switch box (operating member) 80 for performing operations related to automatic steering, and a support arm 24 that supports the switch box 80. The switch box 80 is fixed to the spare seedling tray frame 17b of the spare seedling tray body 17a via the support arm 24. This allows the switch box 80 to be firmly supported. The switch box 80 is positioned outside the width direction of the machine body compared to the dashboard 15 which serves as the control panel. The switch box 80 is positioned to the right of the driver's seat 12, but it may also be positioned to the left. However, by positioning the switch box 80 on the same side (generally the right side) as the operating pedal 14, it becomes easier to press the AUTO button 81 of the switch box 80, which will be described later, at the same time as accelerating when starting straight-line work, thereby improving operability.

[0047] The switch box 80 also functions as a target travel path setting unit for setting the target travel path of the travel unit 2.

[0048] The support arm 24 comprises a stay-shaped upper arm portion 25a fixed to the spare seedling frame 17b, a forearm portion 25c that rotates horizontally relative to the upper arm portion 25a with a hinge 25b as the pivot point, and a holder 25e that rotates horizontally relative to the forearm portion 25c with a hinge 25d as the pivot point. The switch box 80 is attached to the holder 25e.

[0049] In this embodiment, as shown in Figure 6, the switch box 80 has an AUTO button 81, which is an indicator for instructing the start of automatic steering, and an indicator lamp 82, which is a display device that constitutes a notification unit (notification means) 68, which will be described later. Furthermore, the switch box 80 includes an A button 83, which is an indicator for registering the position information of point A, and a B button 84, which is an indicator for registering the position information of point B, in order to set a reference line when the field implement 1 moves between two points A and B. The AUTO button 81 is located in the center of the operating surface 80f of the switch box 80, and the indicator lamp 82 is located to its upper left. The A button 83 and the B button 84 are located side by side below the AUTO button 81.

[0050] The AUTO button 81 is operated when starting and stopping automatic steering. Because the AUTO button 81 is operated more frequently than the A button 83 and B button 84, it is made larger in a front view than the A button 83 and B button 84 to facilitate pressing. The AUTO button 81 also protrudes more than the A button 83 and B button 84. The A button 83 and B button 84 are identical in shape and are arranged symmetrically. A ring-shaped light-emitting part 85 is provided around the AUTO button 81. The light-emitting part 85 has the function of informing the operator of various states related to automatic steering through its light color and lighting pattern.

[0051] The switch box 80 essentially has the function of creating a target direction for automatic straight-line movement. Therefore, the A button and B buttons 83 and 84 described above are used to perform operations such as acquiring the starting and ending positions, and starting / stopping the automatic straight-line movement of the field implement along the created target direction. These operations are performed manually by the operator.

[0052] Figure 7 shows the control block of the control device 70 that controls the entire field work machine 1 according to this embodiment.

[0053] Next, the operation of the field implement 1 in this embodiment will be described. In this embodiment, when the straight-line assist mode and the turning implement automatic mode of the field implement 1 are linked, the turning implement automatic mode has an automatic steering mode in which, after turning, when the work clutch is "engaged" and "automatic steering preparation complete", automatic steering is "engaged" without having to press the AUTO button 81 on the operating member 80. Therefore, first, the straight-line assist mode and the turning implement automatic mode, which are prerequisites for this embodiment, will be described.

[0054] The straight-line assist mode is a mode that assists the straight-line movement of the field implement 1. Specifically, the starting point A of the field implement 1's movement and the ending point B of the field implement 1's movement are set using the A button 83 and B button 84 of the operating member 80 described above, and a movement reference line is registered. Then, when the AUTO button 81 is pressed, the field implement 1 starts steering parallel to the registered movement reference line.

[0055] The automatic turning mode for the work implement is a mode in which the field implement 1 automates a series of operations when turning at the edge of the field. In automatic turning mode, when the operator turns the handle, planting stops (work clutch "disengaged"), the planting unit 3 rises, and the marker is retracted. Next, when the operator returns the handle to its original position, the planting unit 3 lowers, the marker extends, and planting begins (work clutch "engaged").

[0056] Next, we will explain the automatic steering approach (automatic turning process) mode when the straight-line assist mode and the automatic turning work equipment mode are linked.

[0057] Here, after the automatic mode for the work implement ends during turning, the field implement 1 turns on the "interlocking permission distance" flag for 0 to 10m from the time the work clutch is "on". If the operation pedal 14 is pressed down beyond a certain point while the automatic steering preparation is complete, the interlocking timing will be activated after traveling 0 to 6m, followed by a 1.0s switching announcement, and then the automatic steering will be turned on.

[0058] Figure 8 illustrates the automatic turning mode. Referring to the upward-pointing arrow on the left side of Figure 8, the field implement 1 moves straight along the reference line in the field with automatic steering "on". When approaching the end of the field (planting end / planting start position), the operator presses down the AUTO button 81 (position (A) in the figure). Accordingly, the field implement 1 turns 180 degrees (from position A to position B in the figure).

[0059] In this invention, since turning is assumed to be manual, the operator starts turning by operating the steering wheel from position A. Also, in this embodiment, the automatic steering is automatically terminated when the steering wheel operation from position A is detected, so the AUTO button is not pressed.

[0060] When turning begins, the work clutch 18 is turned "off" to stop the work of the planting unit 3, and then the work clutch 18 is turned "on" to allow the work of the planting unit 3 to resume.

[0061] The turning of the field implement 1 is detected by the turning detection unit 29 (see Figure 7).

[0062] Subsequently, the field implement 1 first moves the permitted interlocking distance (approximately 0-10m), and during this time (during the period indicated by (C) in the diagram), the determination unit 71 (see Figure 7), which determines whether or not the turning movement of the travel unit 2 and the automatic steering control can be interlocked, determines whether or not the automatic steering of the travel unit 2 can be permitted. After that, it moves the interlocking timing distance (approximately 0-6m) (during the period indicated by (D) in the diagram), and an interlocking announcement (1.0 second) is made (indicated by (E) in the diagram).

[0063] Here, the preparation for automatic steering is completed between position (B) and position (C) in the diagram (the period indicated by F in the diagram, the automatic steering preparation completion period).

[0064] In other words, after the drive unit 2 starts turning, the work clutch 18 is switched from the disengaged state to the engaged state, and then the automatic steering control unit 28 (see Figure 7) performs automatic steering control based on the automatic steering permission determination of the determination unit 71.

[0065] Here, the determination unit 71 determines the conditions for automatic steering while the machine travels a distance of 0 to 10 meters, which is the permitted distance for linked movement. The determination unit 71 determines whether the field implement 1 is in a state where it can enter automatic steering mode after turning (for example, whether the field implement 1 is facing a predetermined direction (such as the orientation of the machine, whether it is following the target travel path)).

[0066] When the work clutch 18 is "engaged" at the initial position shown in (C) in Figure 8, and the amount of depression of the operating pedal 14 continues to exceed a certain level, the linked timing shown in (D) in the figure is entered.

[0067] This interlocking timing is set by a predetermined distance (0-6m) that can be arbitrarily set by the operator using the predetermined distance setting unit 30 (see Figure 7). This interlocking timing is provided so that the operator can judge whether the field implement 1 is facing the predetermined direction but is too close to or too far from a neighboring seedling that was planted earlier, or if it is facing the same direction but is about to step on it.

[0068] The predetermined distance set arbitrarily by the predetermined distance setting unit 30 is a distance at which the operator can either switch to automatic steering or stop the machine's movement altogether. The unit detects various conditions of the machine and determines whether the operator intends to switch to automatic steering. For example, conditions such as the work clutch 18 being "on" and the machine's speed during the predetermined distance traveled being above a predetermined value can be appropriately adopted.

[0069] Furthermore, the condition of pressing the operating pedal 14 beyond a certain point may be defined as the amount of pressure applied to the operating pedal being above a certain value, for example, 15% or more, and this condition is maintained for an extended period.

[0070] Here, we have described a case in which automatic steering control is performed based on two conditions: the interlocking permission distance determined by the determination unit 71 and the interlocking timing set by the operator. However, the case is not limited to this, and the determination unit 71 may determine the conditions for automatic steering based solely on the interlocking permission distance.

[0071] Furthermore, the determination unit 71 may make a determination based on the travel time of a predetermined period of time arbitrarily set by the operator using the predetermined time setting unit 72 (see Figure 7), instead of a predetermined distance.

[0072] The system may also include a notification means (notification unit) 68 for notifying that the automatic steering control unit 28 is performing automatic steering control.

[0073] The machine may also have an automatic "engage" function for the work clutch 18 that activates automatic straight-line movement in conjunction with the automatic mode of the work machine during rotation. This simplifies the operator's operation that would normally be required to initiate automatic straight-line movement, thereby reducing the burden on the operator.

[0074] This interlocking function (auto-turn function) can be switched on or off, and when it is set to "interlocking," an icon may be lit on monitor 67 to notify the worker.

[0075] Furthermore, the so-called auto-turn function, which is a linkage function between the work clutch "on" and automatic straight-line "on" after a turning operation, may be configured to allow selection of "linked" or "not linked" via a switch, although this is not shown in the diagram. When "linked" is selected, a linkage icon 67a indicating that "linked" is enabled may be illuminated on the monitor 67, as shown in Figure 9.

[0076] In the above embodiment, specific numerical values ​​were given for the timing of turning on automatic steering after the automatic mode for the work implement during rotation ends. However, these values ​​are examples only and are not limiting.

[0077] In the above embodiment, only the case where the field implement moves forward has been described. However, the invention is not limited to this, and in the case of an automatic turn involving reverse movement (sudden backing) during automatic steering, the automatic straight-line movement may be started at the same time that the PTO switches from off to on after the turn.

[0078] Furthermore, while conventional methods for interrupting the automatic steering state at the operator's discretion have been limited, the automatic steering state may also be released by engaging or disengaging the work clutch 18 or by raising or lowering the work implement.

[0079] Similarly, the timing of the automatic steering start can be adjusted. By adjusting the timing of the automatic steering start, operators can interrupt the automatic steering with ample time even if they make a mistake.

[0080] Furthermore, even if the linked function is turned ON due to a misoperation, the automatic steering standby state may be canceled after traveling a certain distance.

[0081] Furthermore, in the function that automatically enters a straight-line standby state in conjunction with switching the PTO off and on, the standby state may be released after traveling a certain distance (time) by turning off the automatic turning function (automatic work implement mode during turning) and the interlocking function switch.

[0082] Furthermore, the system may be designed to allow for safe operation by switching the linked and automatic rotation functions on and off.

[0083] Furthermore, in the linked function that starts automatic steering in conjunction with PTO off → on (automatic steering mode for work implements during slewing), even if the conditions for entering automatic straight-line driving (approach angle, error conditions, etc.) are met, if the vehicle travels a certain distance (time) without a start command, the linked automatic steering may be interrupted.

[0084] Furthermore, in addition to the conditions for interrupting automatic steering (such as setting a fixed speed), additional interruption operations that can be performed by the operator may be added. Automatic steering may be interrupted by performing operations such as engaging and disengaging the work clutch, raising and lowering the work implement, or engaging and disengaging the interlocking and automatic slewing functions before automatic steering by the interlocking function begins. [Explanation of symbols]

[0085] 1. Field implement 2. Running body (running section) 3. Field work section (planting section) 18 Working clutch 28 Automatic steering control section 71 Judgment section

Claims

1. A field implement comprising a field work unit supported by a travel unit, and a work clutch that switches the power of the field work unit between an engaged state and a disconnected state, An automatic steering control unit that performs automatic steering control to automatically steer the aforementioned travel unit, The system includes a determination unit that performs an automatic steering permission determination based on the fact that the work clutch has been switched from the disengaged state to the engaged state and the vehicle has traveled a predetermined distance or time, The automatic steering control unit performs the automatic steering control based on the automatic steering permission determination, and is an automatic steering system.

2. The determination unit performs the automatic steering permission determination based on whether the speed of the field implement during travel of the predetermined distance or the predetermined time remains above a predetermined value. The automatic steering system according to claim 1.

3. The determination unit will not perform the automatic steering permission determination if a predetermined operation is performed during travel for a predetermined distance or predetermined time. The automatic steering system according to claim 1 or 2.

4. A field implement comprising a field work unit supported by a travel unit, and a work clutch that switches the power of the field work unit between an engaged state and a disconnected state, An automatic steering control unit that performs automatic steering control to automatically steer the aforementioned travel unit, An automatic steering control method implemented in an automatic steering system comprising: a determination unit that performs an automatic steering permission determination based on the fact that the work clutch has been switched from the disengaged state to the engaged state and has traveled a predetermined distance or time; An automatic steering control method that executes the automatic steering control based on the automatic steering permission determination.

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