Work vehicles

Abstract

To provide a work vehicle that does not experience any disruption at the start of planting, even immediately after the start of straight-line driving control, and does not risk a decrease in planting accuracy. [Solution] This work vehicle has a ground work unit that can be attached to the vehicle body, and uses a position information acquisition device and a steering device to support automatic straight-line driving. Reference start and end points are registered to provide straight-line support, and a posture detection unit determines whether the direction of travel matches the reference direction. Straight-line support becomes available when the ground work unit is lowered for work, and a notification device alerts the user when the posture is correct or when the reference points have been acquired. Furthermore, the steering state is detected, and if the vehicle is not moving straight, a notification is issued indicating that straight-line support is unavailable. A display that shows the original direction of travel also functions as a notification device.

Description

Technical Field

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

Background Art

[0002] Conventionally, some work vehicles such as a seedling transplanter used when performing operations such as seedling planting are provided with an automatic steering device that supports straight-ahead travel. For example, there is known one that performs automatic straight-ahead travel by controlling the steering wheel of the steering device to hold it in a straight-ahead position (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, for example, in the conventional work vehicle disclosed in Patent Document 1, when starting the control of straight-ahead travel by the automatic steering device, it is not considered that it is difficult for an operator to recognize whether or not the steering angle by the steering device is within a predetermined range commensurate with the straight-ahead state. Also, in order to identify whether or not the traveling vehicle body itself is in a straight posture with respect to the traveling direction, the operator requires skilled techniques and many years of experience.

[0005] Therefore, in the conventional work vehicle, there is a risk that the start of planting immediately after starting the control of straight-ahead travel by the automatic steering device is disrupted and the planting accuracy is reduced.

[0006] The present invention has been made in view of the above, and an object thereof is to provide a work vehicle in which there is no disruption in the start of planting even immediately after starting the control of straight-ahead travel and there is no risk of a decrease in planting accuracy.

Means for Solving the Problems

[0007] To solve the above-mentioned problems and achieve the objective, the work vehicle (1) described in claim 1 comprises a vehicle body (2) to which a ground work unit (50) can be attached to the rear and which is equipped with steering wheels (4) that are steered by a steering device (110); a position information acquisition device (120) that acquires position information of the vehicle body (2); a control unit (150) that performs straight-line support by controlling the steering device (110) based on the position information acquired by the position information acquisition device (120) to support the automatic straight-line driving of the vehicle body (2); a configuration that registers a reference starting point (P1) and a reference ending point (P2) for performing the straight-line support, and an attitude detection unit (170) that detects whether the direction of travel of the vehicle body (2) deviates from the original direction of travel which is the reference direction for the straight-line driving of the vehicle body (2) in the straight-line support, and the control unit (150) performs the ground work The vehicle is equipped with a notification device (200) that notifies that the straight-line support is available when the vehicle is in a ground-workable state where work is performed with the section (50) lowered, and that the straight-line support is available when the attitude of the vehicle body (2) detected by the attitude detection unit (170) is traveling in an attitude along the original direction of travel, and a detection unit that detects the steering state of the vehicle body (2) is provided, and if the steering state detected by the detection unit is not in a state that causes the vehicle body (2) to travel straight, the notification device (200) notifies that the straight-line support is unavailable, and the notification device (200) notifies that either or both of the reference starting point (P1) and the reference ending point (P2) have been acquired, and the vehicle body (2) is equipped with a display that indicates the original direction of travel, and the display functions as a notification device.

[0008] The work vehicle (1) according to claim 2 is characterized in that, in claim 1, the position information acquisition device (120) is equipped with an inertial navigation device that detects the tilt of the traveling body (2), the position information acquisition device (120) is supported by the traveling body (2) via a frame (124), wiring extending from the position information acquisition device (120) is routed along the frame (124), and the position information acquisition device (120) can be moved downward by rotating the frame (124). [Effects of the Invention]

[0009] According to the work vehicle described in claim 1, when the attitude detection unit detects that the vehicle is moving in a straight position after the vehicle has turned, the notification device notifies that it is available for use, thereby preventing the vehicle from moving diagonally to the intended direction of travel. Therefore, if the work vehicle is, for example, a seedling planting machine, the effect of preventing disruptions to the start of seedling planting immediately after the start of work can be further enhanced.

[0010] According to the work vehicle described in claim 2, in addition to the effects of the invention described in claim 1, when transporting or storing the vehicle in a barn or the like, if the thickness of the location information acquisition device becomes a height-related obstacle, the overall vehicle height can be reduced without removing the location information acquisition device. [Brief explanation of the drawing]

[0011] [Figure 1A] Figure 1A is an explanatory diagram showing an overview of the straight-line support of a seedling transplanter according to an embodiment. [Figure 1B] Figure 1B is an explanatory diagram showing an overview of the notification function in the straight-line support of a seedling transplanter according to the embodiment. [Figure 2] Figure 2 is a side view of a seedling transplanter according to an embodiment of this model. [Figure 3] Figure 3 is an explanatory diagram of the control unit. [Figure 4A] Figure 4A is an overall side view of the center mascot. [Figure 4B] Figure 4B is a partial front view of the center mascot. [Figure 5A] Figure 5A is an explanatory diagram showing a front view of the antenna frame of the seedling transplanter according to the embodiment. [Figure 5B] Figure 5B is an explanatory diagram showing a side view of the antenna frame shown above. [Figure 6] Figure 6 is a perspective view of the antenna frame shown above. [Figure 7]FIG. 7 is a functional block diagram centered on the controller. [Figure 8] FIG. 8 is a flowchart showing an example of straight-ahead support. [Figure 9] FIG. 9 is an explanatory diagram showing the registration procedure of the reference travel line in straight-ahead support.

MODE FOR CARRYING OUT THE INVENTION

[0012] Hereinafter, the work vehicle according to the embodiment of the present invention will be described in detail as a ride-on type seedling transplanter with reference to the drawings. Note that the constituent elements in the following embodiments include those that can be replaced and are easy for those skilled in the art, or those that are substantially the same, that is, those within the so-called equivalent range. Furthermore, the present invention is not limited to the above embodiments, and can be variously modified and implemented without departing from the gist of the present invention. In the following, the entire seedling transplanter may be referred to as the machine body in some cases.

[0013] FIG. 1A is an explanatory diagram showing an overview of the straight-ahead support of the seedling transplanter 1 according to the embodiment, and FIG. 1B is an explanatory diagram showing an overview of the notification function in the straight-ahead support of the seedling transplanter according to the embodiment. In FIGS. 1A and 1B, the seedling transplanter 1 is shown in a state immediately after turning, for example, on a headland. The seedling transplanter 1 according to the present embodiment includes a traveling vehicle body 2 having front wheels 4 and rear wheels 5, and a seedling planting unit 50 is connected to the rear part thereof.

[0014] The straight-ahead support refers to a function of assisting the automatic straight-ahead travel of the seedling transplanter 1 in the field by the controller 150 (see FIG. 7), which is a control unit, controlling the operation of the steering wheel 32 based on the steering angle θ of the front wheels 4 of the traveling vehicle body 2 and the position information of the traveling vehicle body 2. Here, the steering angle θ is taken as the cut angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 may be detected. The position information of the seedling transplanter 1 is acquired by a GNSS unit 120 (see FIG. 7) provided on the traveling vehicle body 2 as a position information acquisition device.

[0015] In the following description, the front-back and left-right direction references of the seedling transplanter 1 are based on the traveling direction of the traveling vehicle body 2 as viewed from the operator's seat 28 (see FIG. 2) where the operator can sit.

[0016] As shown in FIG. 1A(a), in the seedling transplanter 1 according to the present embodiment, when the steering angle θ detected by the steering angle sensor 130 (see FIG. 7) after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, that is, when the steering angle θ indicates an angle greater than or equal to a predetermined value with respect to the straight-ahead direction L1 that should be the traveling direction, straight-ahead support is prohibited. Here, the traveling direction L1 that should be the straight-ahead direction is based on the reference traveling line L2 registered in advance.

[0017] Also, as shown in FIG. 1A(b), in the seedling transplanter 1, when the posture of the traveling vehicle body 2 detected by the posture sensor 170 (see FIG. 7) after the traveling vehicle body 2 turns is an oblique posture with respect to the traveling direction L1, straight-ahead support is prohibited. The steering angle θ serving as a criterion for determining an oblique posture is defined as, for example, 5 degrees or more. That is, in other words, if the steering angle of the front wheels 4 is less than 5 degrees in the reverse direction, it is determined that the posture of the traveling vehicle body 2 is substantially straight with respect to the traveling direction L1, and straight-ahead support is continued.

[0018] That is, in order to clearly recognize whether the entire body is straight with respect to the traveling direction, skilled techniques and many years of experience are required. However, in the present embodiment, when the values detected by the steering angle sensor 130 and the posture sensor 170 after the traveling vehicle body 2 turns do not indicate that the posture of the body is in a straight-ahead state, the straight-ahead support is automatically prohibited by the controller 150. Therefore, when starting the straight-ahead control, for example, there is no possibility that the body advances obliquely like the virtual trajectory L3 in FIGS. 1A(a) and (b), and the start of planting is disturbed and the planting accuracy is reduced. As a result, it is also possible to suppress the occurrence of poor growth of seedlings caused by disturbances in the planting posture and the like.

[0019] Furthermore, as shown in Figure 1B, the seedling transplanter 1 according to this embodiment can notify the support status, including whether or not straight-line support can be performed, by, for example, illuminating the center mascot 350, thereby improving operability when switching from turning operation to straight-line support. In this way, the seedling transplanter 1 according to this embodiment improves upon the conventional problems in straight-line support, enhances safety and workability when automatic straight-line movement is initiated, and makes it easier for the operator to recognize information about the machine.

[0020] In Figures 1A and 1B, the front wheel 4 corresponds to the steering wheel, and the seedling planting unit 50 corresponds to the ground work unit. The handle 32 also constitutes part of the steering device 110. Details of the steering device 110 will be described later.

[0021] Figure 2 is a side view of the seedling transplanter 1 according to an embodiment, and Figure 3 is an explanatory diagram of the control unit. The specific configuration of the seedling transplanter 1 will be described with reference to Figures 2 and 3. As shown in Figure 2, the seedling planting unit 50 is mounted on the vehicle body 2 of the seedling transplanter 1 so as to be able to move up and down via a seedling planting unit lifting mechanism 40, which is a lifting device. The vehicle body 2 is a four-wheel drive vehicle in which both the left and right front wheels 4 and the left and right rear wheels 5 are driven, and the front wheels 4, which are steering wheels, are steered by turning the steering wheel 32, making it possible to travel on fields and roads between fields.

[0022] Furthermore, the vehicle body 2 comprises a main frame 7 positioned approximately in the center of the vehicle body, an engine 10 mounted on the main frame 7, and a power transmission device 15 that transmits the power of the engine 10 to the front and rear wheels 4, 5 and the seedling planting unit 50. In this seedling transplanter 1, the engine 10, which is the power source, is an internal combustion engine such as a diesel engine or a gasoline engine, and the power generated is used not only to move the vehicle body 2 forward and backward, but also to drive the seedling planting unit 50.

[0023] Furthermore, the power transmission device 15 includes a hydraulic continuously variable transmission 16, also known as an HST (Hydro Static Transmission), which changes the speed of the driving force transmitted from the engine 10 and outputs it, and a power transmission unit 17 that transmits power from the engine 10 to this hydraulic continuously variable transmission 16.

[0024] Furthermore, the power transmission device 15 has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the hydraulic continuously variable transmission 16 via the power transmission unit 17, and the power shifted by this hydraulic continuously variable transmission 16 is transmitted to the transmission case 18. The transmission case 18 has an internal sub-transmission mechanism (not shown) that switches between a high-speed mode and a low-speed mode, which will be described later, and is mounted on the front of the main frame 7.

[0025] The power transmitted from the transmission case 18 to the front wheels 4 and rear wheels 5 is partially transmitted to the front wheels 4 via the left and right front wheel final drive cases 13, and the remainder is transmitted to the rear wheels 5 via the left and right rear wheel gear cases 22. The left and right front wheel final drive cases 13 are located on the left and right sides of the transmission case 18, respectively. The left and right front wheels 4 are connected to the left and right front wheel final drive cases 13 via the axle 131, and these front wheel final drive cases 13 are driven in response to the steering operation of the steering wheel 32, allowing the front wheels 4 to be steered.

[0026] Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles 220. Meanwhile, power is transmitted from the transmission case 18 to the seedling planting unit 50 via a planting clutch 500 located at the rear of the vehicle body 2, from a work implement drive shaft (not shown). The planting clutch 500 is operated by a planting clutch motor 510 connected to a controller 150, which will be described in detail later (see Figure 7).

[0027] Incidentally, the engine 10 is positioned approximately in the center of the vehicle body 2 in the left-right direction, and protrudes above the floor step 26 on which the worker places their feet when riding. The floor step 26 is provided between the front of the vehicle body 2 and the rear of the engine 10 and is mounted on the main frame 7, and a part of it is latticed so that mud from shoes can be shaken off into the field. In addition, a rear step 27, which also serves as a fender for the rear wheel 5, is provided behind the floor step 26. The rear step 27 has an inclined surface that slopes upward as it approaches the rear, and is positioned on each side of the engine 10.

[0028] Furthermore, the engine 10 protrudes upward from these floor steps 26 and rear steps 27, and an engine cover 11 is provided to cover the portion of the engine 10 that protrudes from these steps 26 and 27.

[0029] A driver's seat 28 is installed on top of the engine cover 11, and a control unit 30 is provided in front of the driver's seat 28 and in the front center of the vehicle body 2. The control unit 30 is positioned so as to protrude upward from the floor surface of the floor step 26, dividing the front side of the floor step 26 into left and right halves.

[0030] The control unit 30 is equipped with a steering post 315, and a handle 32 that can be operated by an operator is provided on the upper part of this steering post 315. The instrument panel 33 provided on the steering post 315 is equipped with various switches and meters, including a reference point registration switch 83 which will be described later, as shown in Figure 3. The control unit 30 is also equipped with a tablet terminal device 140 which will be described later, and is detachably attached to the lower part of the steering post 315. In addition, a buzzer 215, which is an example of a notification device 200, is provided at a predetermined position on the control unit 30 (see Figure 7).

[0031] Furthermore, the control unit 30 is provided with a main gear lever 81 and an auxiliary gear lever 82 near the steering post 315. The main gear lever 81 is located on the right side of the control unit 30, and the auxiliary gear lever 82 is located below the steering wheel 32.

[0032] The main gear shift lever 81 is a lever used to switch between forward and reverse movement and driving output of the vehicle body 2. By gripping the handle 810 at the tip of the lever, the operator can adjust the rotation angle of the trunnion (not shown) of the hydraulic continuously variable transmission 16, which will be described later, thereby adjusting the speed of the vehicle body 2.

[0033] On the other hand, the sub-transmission lever 82 is a lever that switches the driving mode, which defines the driving speed of the vehicle body 2, between a low-speed mode and a high-speed mode depending on the location of travel. Here, the low-speed mode is a driving mode defined within a speed range suitable for the seedling transplanter 1 to perform planting work in a field. On the other hand, the high-speed mode is a driving mode used, for example, when moving the seedling transplanter 1 between fields, and allows for faster travel than in the low-speed mode. These mode switches are performed by a sub-transmission mechanism provided in the transmission case 18, depending on the position of the sub-transmission lever 82.

[0034] Furthermore, a front cover 31 that can be opened and closed is provided at the front of the control unit 30. A center mascot 350, which serves as an indicator member for driving, is attached to the center of the front end of this front cover 31. Although omitted from the illustration in Figure 2 for convenience, spare seedling trays 400, 400 (see Figure 5A) are provided on the left and right front sides of the driving body 2.

[0035] Figure 4A is an overall side view of the center mascot 350, and Figure 4B is a partial front view of the center mascot 350. The center mascot 350 according to this embodiment will be described using Figures 4A and 4B.

[0036] The center mascot 350 according to this embodiment is mounted at the front center of the vehicle body 2 and functions to serve as a guide for the direction of travel when the operator seated in the driver's seat 28 is operating the seedling transplanter 1. In addition, the center mascot 350 according to this embodiment also functions as a notification device 200 that notifies the support status, including whether or not the aforementioned straight-line support can be performed.

[0037] In other words, as shown in Figure 4A, the center mascot 350 is arranged in a row in the direction of travel at the front center of the vehicle body 2. Specifically, the first support column 353a and the second support column 353b, each with a curved lower section and an upwardly extending tip, are attached so as to be located at the center of the front end of the front cover 31.

[0038] A first lens section 351 is provided at the tip of the first support column 353a, and a second lens section 352 is provided at the tip of the second support column 353b. A locking bar 356 is provided in the middle of the second support column 353b, and when the front cover 31 provided at the front of the control unit 30 is opened, it can be locked into this locking bar 356 to maintain the open state (see Figure 5A). In cases where there is no need to distinguish between the first support column 353a and the second support column 353b, they may be collectively referred to as the mascot support column 353. The base end of such a mascot support column 353 is attached to the front side of the main frame 7 of the vehicle body 2 via a pivot 355 so as to be able to tilt forward and backward.

[0039] As shown in Figure 4B, the first lens section 351 and the second lens section 352 of the center mascot 350 are equipped with a plurality of lamps 354a to 354e, and are configured to function as a display section 210 (see Figure 7) that constitutes the notification device 200 by the illumination of these lamps 354a to 354e. When referring to the plurality of lamps 354a to 354e collectively, they are referred to as lamp 354.

[0040] Furthermore, as shown in Figure 4A, the first support column 353a is relatively long and located towards the front, while the second support column 353b, which is shorter than the first support column 353a, is positioned closely behind the first support column 353a. The first support column 353a bends forward midway, and then its tip extends upward.

[0041] Therefore, the first lens section 351 and the second lens section 352, which each emit light and function as a notification device 200 (display section 210), are arranged to be separated in the front-to-back direction with a predetermined height difference, ensuring good visibility for the worker and eliminating the risk of misidentifying the light emitted by the first lens section 351 and the light emitted by the second lens section 352. Furthermore, by using multiple lens sections 351 and 352, the notification content can be diversified.

[0042] Here, we will explain the operation of the notification device 200 with an example. For example, when straight-line support is activated and automatic straight-line movement is possible, the lower lamp 354d of the first lens section 351 of the center mascot 350 flashes, and if automatic straight-line movement is actually occurring, the lower lamp 354d lights up. On the other hand, if straight-line support is unavailable for any reason, the lower lamp 354d remains off. In this case, the upper lamp 354e may light up, for example, in red, to indicate that straight-line support is unavailable.

[0043] On the other hand, the second lens section 352, located below the first lens section 351, may be configured to display the status of the seedling planting section 50 with lamps, rather than the status of the straight-line support. For example, although not shown in the diagram, sensors can be provided to detect the remaining amount of seedlings and fertilizer. When the amount of seedlings in the seedling planting section 50 falls below a predetermined amount, the left lamp 354a and the right lamp 354b on the lower side of the second lens section 352 will light up or flash according to the remaining amount. Similarly, when the amount of fertilizer falls below a predetermined amount, the upper lamp 354c of the second lens section 352 will flash or light up. Alternatively, the first lens section 351 may display the status of the seedling planting section 50, and the second lens section 352 may display the status of the straight-line support.

[0044] As described above, the seedling transplanter 1 according to this embodiment uses a center mascot 350, which serves as a notification device 200, to notify not only the status of straight-line support but also information regarding the remaining amount of work materials such as seedlings and fertilizer in the seedling planting unit 50.

[0045] Because the center mascot 350 is always in the field of vision of the worker facing forward, the worker can constantly monitor the status of the seedling transplanter 1 without taking their eyes off the road, which greatly contributes to improving safety.

[0046] Furthermore, teaching is required beforehand in order to enable the seedling transplanter 1 to perform straight-line support. In the teaching process, for example, a reference travel line L2 is registered using the receiving antenna 121 and the travel reference registration unit 152 (see Figure 7) in order to perform straight-line support and control the machine's movement in a straight line.

[0047] In other words, the controller 150 (see Figure 7) of the seedling transplanter 1 according to this embodiment has a driving reference registration unit 152 that registers a reference driving line L2 (see Figures 1A and 1B) which serves as the reference for the straight-line movement of the vehicle body 2 in straight-line support.

[0048] The driving reference registration unit 152 acquires the start and end positions of the straight-line support as the reference start point P1 and reference end point P2, respectively, and registers the line segment connecting the acquired reference start point P1 and reference end point P2 as the reference driving line L2.

[0049] The acquisition of the reference start point P1 and reference end point P2 can be performed by operating the reference point registration switch 83 located on the control unit 30. The reference point registration switch 83 is a so-called rebound switch, with the first operation being the acquisition of the reference start point P1 and the second operation being the acquisition of the reference end point P2. Furthermore, pressing and holding the reference point registration switch 83 cancels the acquisition of the reference start point P1 and reference end point P2.

[0050] At this time, the notification device 200, i.e., the center mascot 350, can notify the acquisition status of the reference start point P1 and reference end point P2 using the display unit 210, which is composed of lamps 354a to 354e. In addition, by making the buzzer 215 of the notification device 200 sound in conjunction with the switch operation, the acquisition operation of the reference start point P1 and reference end point P2 can be performed while confirming through both sight and sound. It is also preferable that the buzzer sound beeps for a longer duration when a long press operation is performed to cancel the acquisition operation of the reference start point P1 and reference end point P2.

[0051] Here, we will explain the notification provided by the center mascot 350. For example, if the second lens unit 352 is used, and the reference starting point P1 and reference ending point P2 that define the reference running line L2 have not been acquired, both of the two lower left and right lamps 354a and 354b of the second lens unit 352 will be off. If only the reference starting point P1 has been acquired, the left lamp 354a will light up. Then, once both the reference start point P1 and the reference end point P2 have been acquired, both the left and right lamps 354a and 354b will light up. In this case, for example, the upper lamp 354c may be made to blink while the teaching operation is in progress and to light up when it is finished.

[0052] Of course, the acquisition status of the reference start point P1 and reference end point P2 may also be notified by the first lens unit 351. In that case, for example, if the reference start point P1 and reference end point P2 have not been acquired, both the upper and lower lamps 354e and 354d of the first lens unit 351 will be off, and if only the reference start point P1 has been acquired, the upper lamp 354e will light up. Then, when both the reference start point P1 and reference end point P2 have been acquired, both the upper and lower lamps 354e and 354d will light up.

[0053] As described above, the reference point registration switch 83 used when registering the reference travel line L2 (see Figures 1A and 1B) is located on the left side of the control unit 30, as shown in Figure 3. In other words, the main gear lever 81, which switches between forward and reverse movement and travel output of the vehicle body 2, and the reference point registration switch 83, which is an operation switch for acquiring the reference start point P1 and reference end point P2, are located opposite each other with the steering wheel 32 in between. By arranging the main gear lever 81 and the reference point registration switch 83 to face each other on opposite sides in this way, the risk of the operator mistakenly operating the main gear lever 81, which moves the machine forward and backward, and the reference point registration switch 83 when performing teaching work, which is a preparatory step for straight-line support, is reduced as much as possible.

[0054] Incidentally, as shown in Figure 2, the seedling transplanter 1 according to this embodiment has a GNSS unit 120 with a built-in receiving antenna 121 (see Figure 7) mounted on the vehicle body 2. This GNSS unit 120 can acquire positional information on Earth at predetermined intervals by acquiring GNSS coordinates at predetermined time intervals using the receiving antenna 121. In addition to the receiving antenna 121, the GNSS unit 120 according to this embodiment also incorporates an inertial navigation system using a gyro sensor and an acceleration sensor (not shown), and a control board to control them.

[0055] Figure 5A is a front view of the antenna frame of the seedling transplanter 1 according to this embodiment, Figure 5B is a side view of the antenna frame, and Figure 6 is a perspective view of the antenna frame. As shown in Figures 2, 5A, and 5B, the GNSS unit 120 is mounted on the top of the antenna frame 124, whose base end is connected to the front end of the vehicle body 2, so that it is located directly above the axle 131 of the front wheel 4. The height of the antenna frame 124 in the normal state is set to a height that does not interfere with the head of an average man standing on the floor step 26.

[0056] As shown in Figure 6, the antenna frame 124 consists of left and right front lower frames 124a, 124a, a front upper frame 124b, an upper L-shaped frame 124c, and a rear vertical frame 124d.

[0057] A pair of brackets 127, 127 are provided at the base ends of the left and right front lower frames 124a, 124a, and the front lower frames 124a are attached to the bumper 700 of the vehicle body 2 via these brackets 127, 127.

[0058] The front upper frame 124b is a frame that is roughly U-shaped in plan view, having left and right vertical frames 1241, 1242 whose base ends are rotatably connected to the left and right front lower frames 124a, 124a via rotating connectors 124f, 124f, and is roughly L-shaped in side view (see Figure 2).

[0059] As shown in Figure 6, the left and right rotating connectors 124f, 124f are connected and fixed to each other with knob bolts 128, and as shown in Figure 2, a reinforcing frame 124e is stretched between the rotating connectors 124f, 124f and the front cover 31. In this way, a simple configuration prevents rattling of the front lower frames 124a, 124a and the left and right vertical frames 1241, 1242.

[0060] As shown in Figure 5A, the left and right front lower frames 124a, 124a are erected at an angle so that their upper ends do not come into contact with the front cover 31. As a result, a space Q is formed between the control unit 30 and the spare seedling stands 400, 400 located on the left and right sides of the machine, which is large enough for, for example, an operator to move between the front of the machine and the floor step 26.

[0061] The GNSS unit 120 is then mounted on an aluminum block 122 that spans the upper parts of the left and right vertical frames 1241 and 1242. By interposing the aluminum block 122 between the GNSS unit 120 and the steel pipe antenna frame 124 in this way, the reception sensitivity is improved compared to directly attaching it to the receiving antenna 121.

[0062] The upper L-shaped frame 124c has its tip connected to the rear end of the front upper frame 124b. Although not shown in the illustration, wiring such as harnesses extending from the GNSS unit 120 is routed along the upper L-shaped frame 124c.

[0063] The rear vertical frame 124d is connected to the rear step 27 at its lower end behind the cockpit 28. Behind the cockpit 28, the storage hoppers 71, 71 of the fertilizer applicator 70 are located on the left and right sides, respectively. The rear vertical frame 124d is positioned between these left and right storage hoppers 71, 71, so that it does not interfere when opening and closing the storage hoppers 71.

[0064] Thus, the antenna frame 124 for mounting the GNSS unit 120 is connected at the front to the bumper 700 and the front cover 31, and at the rear to the rear step 27, providing a structurally stable three-point support, which allows it to be attached to the vehicle body 2 in an extremely stable state.

[0065] The upper end of the rear vertical frame 124d is provided with a connecting portion 125 that detachably connects to the other end of the upper L-shaped frame 124c, thereby detachably connecting the upper L-shaped frame 124c. The connecting portion 125 may be composed of, for example, pin insertion holes (not shown) formed at the connecting ends of the upper L-shaped frame 124c and the rear vertical frame 124d, and fastening pins (not shown) that can be inserted into and removed from these pin insertion holes. In this way, the upper L-shaped frame 124c and the rear vertical frame 124d can be detachably connected with a simple configuration.

[0066] In this way, the height of the antenna frame 124 can be reduced by a simple operation in which the upper L-shaped frame 124c is detached from the rear vertical frame 124d, and the front upper frame 124b and the upper L-shaped frame 124c are rotated downwards and rearwards relative to the front lower frames 124a, as shown in Figure 5B (see Figure 5B).

[0067] Therefore, for example, when transporting the seedling transplanter 1 or storing it in a barn, if the thickness of the GNSS unit 120 becomes a height-related obstacle, the overall vehicle height can be reduced without removing the GNSS unit 120.

[0068] Furthermore, the antenna frame 124 (front upper frame 124b and upper L-shaped frame 124c) is configured to rotate using a simple rotating connector 124f, which helps to suppress cost increases and minimize rattle of the entire antenna frame 124. Moreover, it offers the convenience of being able to perform the rotation operation in a single action.

[0069] Incidentally, in this embodiment, as shown in Figure 6, a frame support 126 formed in a substantially Y shape is provided near the upper end of the rear vertical frame 124d. Therefore, when the antenna frame 124 is folded to reduce its height, the upper L-shaped frame 124c can be stably held by locking it to the frame support 126.

[0070] Now, let's return to Figure 2 and describe the seedling planting unit 50 and other components. As shown in Figure 2, the seedling planting unit 50 is mounted on the rear of the vehicle body 2 so as to be able to move up and down via a seedling planting unit lifting mechanism 40. The seedling planting unit lifting mechanism 40 is equipped with a lifting link device 41, which is equipped with a parallel link mechanism that connects the rear of the vehicle body 2 and the seedling planting unit 50. This parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably connected to a rear-view gate-shaped link base frame 43 erected at the rear end of the main frame 7. The other ends of the links 41a and 41b are rotatably connected to the seedling planting unit 50. In this way, the seedling planting unit 50 is connected to the vehicle body 2 so as to be able to move up and down.

[0071] Furthermore, the seedling planting section lifting mechanism 40 has a hydraulic lifting cylinder 44 that extends and retracts by hydraulic pressure, and the seedling planting section 50 can be raised and lowered by the extension and retraction of the hydraulic lifting cylinder 44. The hydraulic lifting cylinder 44 is driven by the aforementioned hydraulic continuously variable transmission 16, and the raising and lowering operation of the seedling planting section lifting mechanism 40 allows the seedling planting section 50 to be raised to a non-working position or lowered to a ground-level working position (planting position).

[0072] Furthermore, the seedling planting unit 50 can plant seedlings in multiple sections or multiple rows. For example, it can be a so-called 6-row seedling planting unit 50 that plants seedlings in 6 sections. The seedling planting unit 50 comprises a seedling planting device 60, a seedling mounting stand 51, and floats 47 (48, 49). Of these, the seedling mounting stand 51 is provided at the rear of the vehicle body 2 as a seedling mounting member for loading multiple rows of seedlings, and has seedling mounting surfaces 52 corresponding to the number of planting rows partitioned in the left-right direction of the vehicle body 2, and it is possible to place soil-covered mat-shaped seedlings on each seedling mounting surface 52.

[0073] Furthermore, the seedling planting device 60 is located below the seedling tray 51 and is supported by a planting support frame 55 located on the front side of the seedling tray 51. The seedling planting device 60 is a device that takes seedlings placed on the seedling tray 51 from the tray 51 and plants them in the field, and has a planting transmission case 64 and a planting body 61. The planting body 61 is configured to take seedlings from the seedling tray 51 and plant them in the field, and the planting transmission case 64 can supply driving force to the planting body 61.

[0074] Furthermore, the planting transmission case 64 is configured to supply power transmitted from the engine 10 to the seedling planting unit 50 to the planting body 61, and the planting body 61 is rotatably connected to the planting transmission case 64. The planting body 61 also has a planting rod 62 for taking seedlings from the seedling stand 51 and planting them in the field, and a rotary case 63 that rotatably supports the planting rod 62 and is rotatably connected to the planting transmission case 64. The rotary case 63 incorporates an uneven speed transmission mechanism (not shown) that allows the planting rod 62 to rotate while changing its rotational speed when rotated by the driving force transmitted from the planting transmission case 64. As a result, when the planting body 61 rotates, the planting rod 62 can rotate while changing its rotational speed depending on the rotation angle relative to the rotary case 63.

[0075] The seedling planting devices 60 configured in this way are arranged one at a time for every two rows. In other words, each of the multiple seedling planting devices 60 is assigned to a planting row. In addition, each planting transmission case 64 is rotatably equipped with planting bodies 61 for two rows. That is, two rotary cases 63 are connected to one planting transmission case 64 on both sides in the left-right direction of the machine.

[0076] Furthermore, the float 47 slides across the field surface to level the ground as the vehicle body 2 moves, and has a center float 48 located in the center of the seedling planting section 50 in the left-right direction of the vehicle body 2, and side floats 49 located on both sides of the seedling planting section 50 in the left-right direction.

[0077] The center float 48 is equipped with a float potentiometer 154 (see Figure 7), which serves as a hydraulic sensitivity mechanism for raising and lowering the seedling planting section 50 according to the field conditions.

[0078] Furthermore, leveling rotors 67, 67 for leveling the field are provided on the front side of the lower position of the seedling planting section 50. These leveling rotors 67 are configured to be rotatable by the output from the engine 10 transmitted via the rear wheel gear case 22. In the seedling transplanter 1 according to this embodiment, the controller 150, described later, performs straight-line support only when the leveling rotors 67, 67 are in contact with the ground. In other words, straight-line support is performed only when seedling planting work is in progress.

[0079] Furthermore, the seedling planting section 50 is equipped with line marking markers 68 on both the left and right sides to form a line that serves as a guide for the direction of travel in the next planting row. The line marking markers 68 draw a line on the field as a guide when the seedling transplanter 1 moves forward in a straight line within the field, after turning at the edge of the field ridge. However, since the seedling transplanter 1 according to this embodiment can perform straight-line support using GNSS (Global Positioning System), the line marking markers 68 can be eliminated.

[0080] Furthermore, a fertilizer application device 70 is mounted behind the driver's seat 28 on the vehicle body 2. The fertilizer application device 70 includes left and right storage hoppers 71, 71 for storing fertilizer, a dispensing device 72 that dispenses a set amount of fertilizer supplied from the storage hoppers 71, 71, a fertilizer application hose 74 which is a fertilizer application passage that supplies the fertilizer dispensed by the dispensing device 72 to the field, and a blower 73 that supplies conveying air to the fertilizer application hose 74. The blower 73 transfers the fertilizer in the fertilizer application hose 74 to the seedling planting section 50. In addition, the fertilizer application device 70 includes a fertilizer guide 75 to which the fertilizer is transferred by the fertilizer application hose 74, and a furrowing device 76 that drops the fertilizer transferred by the fertilizer application hose 74 into a fertilizer furrow formed near the side of the seedling planting row.

[0081] Figure 7 is a functional block diagram of the seedling transplanter 1, centered on the controller 150. In this embodiment, the seedling transplanter 1 is capable of controlling each part by electronic control, and the seedling transplanter 1 is equipped with a controller 150 as a control unit that controls each part. This controller 150 is provided with a processing unit having a CPU (Central Processing Unit), a storage unit such as ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit, which are connected to each other and can exchange signals. The storage unit stores a computer program that controls the seedling transplanter 1.

[0082] As shown in the figure, the controller 150 is connected to the tablet terminal device 140, various actuators, and sensors that acquire information from various parts. In this embodiment, the controller 150 and the tablet terminal device 140 are connected wirelessly using a predetermined wireless communication standard.

[0083] The controller 150 is connected to actuators such as a throttle motor 100 for adjusting the intake volume of the engine 10, a trunnion drive motor 165 for changing the rotation angle of the trunnion of the hydraulic continuously variable transmission 16, and a planting clutch motor 510 for operating the planting clutch 500.

[0084] Furthermore, the controller 150 is connected to various other sensors 199, including a steering angle sensor 130, a direction sensor 160, a posture sensor 170, a tilt sensor 180, and a seating sensor 190, as well as lever sensors that detect the amount of movement of the main transmission lever 81 and the sub-transmission lever 82 as a tilt angle.

[0085] The steering angle sensor 130 is, for example, a sensor that detects the rotation angle of the steering wheel 32, or a sensor that detects the steering angle when the front wheels 4, which are the steering wheels, are steered by the operation of the steering wheel 32. The controller 150 stores the value detected by the steering angle sensor 130 in the RAM of the storage unit.

[0086] The orientation sensor 160 is a sensor that detects the orientation of the aircraft and is commonly used in car navigation systems and other applications. The controller 150 can derive the actual direction of travel of the aircraft based on the values ​​obtained from the orientation sensor 160.

[0087] Therefore, the controller 150 can disable straight-line support if the steering angle detected by the steering angle sensor 130 after the vehicle body 2 has turned is not a value indicating a straight-line state, or if the direction detected by the direction sensor 160 or the attitude detected by the attitude sensor 170 is not a value indicating a straight-line direction. This prevents the planting posture of the seedlings from being disrupted immediately after the start of the seedling planting work, and consequently eliminates any adverse effects on seedling growth.

[0088] The attitude sensor 170 according to this embodiment detects how oblique the attitude of the vehicle body 2 is with respect to the direction of travel L1, and is composed of a gyro sensor or the like.

[0089] The tilt sensor 180 according to this embodiment detects the vertical tilt of the vehicle body 2, that is, the degree of forward or backward tilt, and is configured using an acceleration sensor or the like.

[0090] The seating sensor 190 is a sensor installed in the cockpit 28, consisting of a load cell, a pressure-sensitive film sensor, etc., and can detect whether an operator is seated in the cockpit 28.

[0091] Furthermore, the controller 150 is connected to a notification device 200, which includes a display unit 210 consisting of a first lens unit 351 and a second lens unit 352 provided on the center mascot 350, and a buzzer 215 that emits alarms and the like. In this embodiment, the display unit 210 and buzzer 215 are assumed to be pre-installed on the vehicle body 2, but similar functions can also be provided to an externally brought-in tablet terminal device 140.

[0092] The controller 150 can notify the operator of the status of the straight-line support, including when it is being initiated or stopped, using the buzzer 215 and the display unit 210. Therefore, the operator can easily recognize whether the rudder angle and attitude of the aircraft after turning are suitable for performing straight-line support, thereby improving the ease of switching from turning to straight-line support. In addition, the controller 150 can also use the buzzer 215 and the display unit 210 to notify the operator of abnormalities in the power transmission device 15 (such as a gear slip in the clutch mechanism).

[0093] Furthermore, the seedling transplanter 1 is equipped with a steering device 110 controllable by a controller 150, a GNSS unit 120 which is a position information acquisition device, and a tablet terminal device 140 which is an information processing terminal device, all of which are connected to the controller 150.

[0094] The steering system 110 includes a steering wheel 32 and a transmission mechanism (not shown) that is linked to the steering wheel 32, as well as a straight-line support mechanism 310 that applies an arbitrary rotational force to the steering wheel 32, enabling automatic steering by the controller 150. The transmission mechanism includes a steering motor 112 (see Figure 7) that rotates the steering wheel 32. For example, when a straight-line support switch (not shown) is operated, the controller 150 can maintain the vehicle body 2 in a straight direction by automatically steering the steering wheel 32 via the straight-line support mechanism 310 based on position information acquired by the GNSS unit 120.

[0095] While the straight-line support is being performed, the controller 150 will disable the straight-line support if the steering angle θ detected by the steering angle sensor 130 after the vehicle body 2 has turned is not a value indicating a straight-line state, or if the attitude of the vehicle body 2 detected by the attitude sensor 170 is at an angle to the direction of travel.

[0096] The GNSS unit 120 has a receiving antenna 121 (see Figure 1) that receives signals from satellites used in GNSS, acquires positional information (coordinate information) of the seedling transplanter 1 on Earth, and transmits the acquired positional information to the controller 150.

[0097] From the position data of the machine acquired by the GNSS unit 120, the controller 150 can also derive the actual speed of the seedling transplanter 1. In other words, the actual driving speed can be sequentially calculated from the amount of movement of the machine within a certain period of time. Therefore, the controller 150 can acquire the actual speed of the seedling transplanter 1 regardless of the amount of rotation of the rear wheels 5, even if, for example, the front wheels 4 and rear wheels 5 slip.

[0098] The tablet terminal device 140 is configured to be wirelessly connected between a built-in terminal communication unit 144 and a vehicle communication unit 151 connected to the controller 150. It also includes a control unit 141, a touch panel 142 that serves as both a display unit for displaying information and an input unit for performing various input operations, and a storage unit 143 for storing information. The storage unit 143 stores map information for one or more fields, as well as various programs and data necessary for controlling the seedling transplanter 1.

[0099] The tablet terminal device 140 has a so-called map function, and the seedling transplanter 1 according to this embodiment can display the machine's position superimposed on the map information of the field, including the work area, on the touch panel 142, based on the position information of the traveling vehicle body 2 acquired by the GNSS unit 120.

[0100] Furthermore, the controller 150 can also notify the tablet terminal device 140 of the support status, including whether or not straight-line support can be performed, on the touch panel 142. In addition to the support status, it can also notify information regarding the remaining amount of seedlings, fertilizer, etc., provided by the seedling planting unit 50. In other words, as a modification of this embodiment, the notification device 200 can be configured to include the touch panel 142, or the tablet terminal device 140 equipped with it.

[0101] Furthermore, the seedling transplanter 1 is equipped with a reference point registration switch 83, a float potentiometer 154, and various switches 153 mainly located in the control unit 30, which are connected to the controller 150.

[0102] As shown in Figure 3, the reference point registration switch 83 is located on the left side of the instrument panel 33 and functions as an operation switch for acquiring the reference start point P1, which is the starting position of the straight-line support, and the reference end point P2, which is the ending position.

[0103] The float potentiometer 154 is mounted on a center float 48 that moves up and down in accordance with the unevenness of the field. The vertical movement of this center float 48 can be sensed, allowing the seedling planting unit 50 to be raised and lowered according to the unevenness of the field.

[0104] The seedling transplanter 1 according to this embodiment has the configuration described above, and below, an example of the straight-line support performed by the seedling transplanter 1 will be described. Figure 8 is a flowchart showing an example of straight-line support.

[0105] As shown in Figure 8, when straight-line support is initiated by, for example, a switch operation (step S110), the controller 150 determines whether the aircraft is turning or not until it is determined that the aircraft is turning (step S120). That is, the controller 150 determines whether the aircraft is turning or not based on the detection results of the steering angle sensor 130, the heading sensor 160, the attitude sensor 170, etc. In addition, to detect that the aircraft is turning, for example, the rotation speed of the handle 32 can be detected and it can be determined that the aircraft is turning if it exceeds a predetermined rotation speed. Alternatively, it can be determined that the aircraft is turning if the steering angle of the handle 32 is 180 degrees or more, or if the steering angle θ (turning angle) of the front wheel 4 is 30 degrees or more.

[0106] If the controller 150 determines that the aircraft is turning (step S120: Yes), it determines whether the aircraft's turn has finished (step S130). The controller 150 repeats this detection process until the aircraft's turn is finished. If the controller 150 determines that the turn has finished (step S130: Yes), it determines whether the angle detected by the rudder angle sensor 130 is greater than a predetermined angle α (step S140). Here, the predetermined angle α, which is the threshold for the rudder angle θ, is expressed as the absolute value of the rudder angle θ, and is set to 5 degrees here, but is not limited to this value and can be experimentally determined as appropriate.

[0107] Then, if the controller 150 determines that the detected angle, i.e., the steering angle θ, is greater than a predetermined angle α (step S140: Yes), it performs a straight-line control prohibition process (step S160). In other words, it stops the execution of straight-line support.

[0108] On the other hand, in step S140, if the controller 150 determines that the detected angle, i.e., the steering angle θ, is not greater than a predetermined angle α (step S140: No), it determines whether the vehicle body 2 is tilted at a predetermined angle or more with respect to the direction of travel (step S150). That is, the controller 150 determines, based on the detected value of the direction sensor 160, whether the vehicle body 2 is tilted at a predetermined angle or more with respect to the direction of travel L1 (see Figure 1) with respect to a pre-set reference travel line L2 (see Figure 1).

[0109] If it is determined that the vehicle is not tilted by more than a predetermined angle (step S150: No), the controller 150 terminates the straight-line support process. However, if it is determined that the vehicle is tilted by more than a predetermined angle (step S150: Yes), the controller 150 moves the process to step S160, performs a straight-line control prohibition process, and then terminates the straight-line support process.

[0110] Now, referring to Figure 9, we will explain the procedure for registering the reference driving line L2, which serves as the basis for implementing the straight-line support described above. Figure 9 is an explanatory diagram showing the procedure for registering the reference driving line L2 in straight-line support.

[0111] As shown in Figure 9, first, a reference starting point P1 is acquired (step S210). That is, the seedling transplanter 1 is stopped in the field along the direction of travel of the machine when performing seedling planting work, and the machine is turned in a straight direction. Then, by operating the reference point registration switch 83, that position is acquired as the reference starting point P1, which will be the starting position for straight-line support. At this time, the notification device 200 gives a first notification indicating that the acquisition of the reference starting point P1 has been completed (step S220). Here, as mentioned above, the notification is given by the illumination of lamps 354a to 354e on the display unit 210 provided on the center mascot 350.

[0112] Next, the reference endpoint P2 is acquired (step S230). This is done by moving the seedling transplanter 1 in a straight line for the distance required for straight-line support after acquiring the reference starting point P1, stopping it, and operating the reference point registration switch 83. The second operation of the reference point registration switch 83 is the operation to acquire the reference endpoint P2, which is the end position of the straight-line support. At this time, the notification device 200 gives a second notification indicating that the acquisition of the reference endpoint P2 has been completed (step S240). Here again, the notification is given by the illumination of lamps 354a to 354e on the display unit 210 provided on the center mascot 350.

[0113] Once the acquisition of the reference starting point P1 and reference ending point P2 is complete, the driving reference registration unit 152 of the controller 150 generates a line segment connecting the acquired reference starting point P1 and reference ending point P2 as the reference driving line L2 (step S250). This allows the straight-line direction to be defined when performing straight-line support.

[0114] Then, once the generated reference running line L2 is registered, the notification device 200 makes a third notification indicating that the reference running line L2 has been registered (step S260). This notification is also made by the illumination of lamps 354a to 354e on the display unit 210.

[0115] The following seedling transplanter 1 is realized from the embodiments described above.

[0116] (1) A seedling transplanter 1 comprising a vehicle body 2 having front wheels 4, 4 that are steered by a steering device 110 and to which a seedling planting unit 50 can be connected at the rear, a GNSS unit 120 that acquires position information of the vehicle body 2, a steering angle sensor 130 that detects the steering angle θ of the front wheels 4, 4, and a controller 150 that provides straight-line support by controlling the steering device 110 based on the position information acquired by the GNSS unit 120 to support the automatic straight-line driving of the vehicle body 2, wherein the controller 150 prohibits straight-line support if the steering angle θ detected by the steering angle sensor 130 after the vehicle body 2 has turned is not a value indicating a straight-line state.

[0117] (2) The seedling transplanter 1 in which the attitude sensor 170 detects the attitude of the vehicle body 2 after the vehicle body 2 has turned and the attitude of the vehicle body 2 detected by the attitude sensor 170 is at an angle to the direction of travel, the controller 150 prohibits straight-line support.

[0118] (3) A seedling transplanter 1 equipped with a notification device 200 that notifies the support status, including whether or not straight-line support can be performed, as described in (1) or (2) above.

[0119] (4) In the above (3), the traveling vehicle body 2 is equipped with a center mascot 350 that serves as a guide for the direction of travel, and the seedling transplanter 1 has the center mascot 350 function as a notification device 200.

[0120] (5) In (4) above, the center mascot 350 is a seedling transplanter 1 which is arranged in a row in the direction of travel at the front center of the vehicle body 2.

[0121] (6) In (4) or (5) above, the center mascot 350 is equipped with a plurality of lamps 354) and functions as an alarm device 200 by the illumination of each lamp 354.

[0122] (7) In any of (3) to (6) above, the notification device 200 notifies the seedling transplanter 1 of the remaining amount of work materials provided by the seedling planting unit 50, in addition to the support status.

[0123] (8) In any of (3) to (7) above, the seedling transplanter 1 has a driving reference registration unit 152 that registers a reference driving line L2 which serves as the reference for the straight-line movement of the driving vehicle body 2 in straight-line support, the driving reference registration unit 152 acquires the start position and end position of the straight-line support as a reference start point P1 and a reference end point P2, and registers the line segment connecting the acquired reference start point P1 and reference end point P2 as a reference driving line L2, and the notification device 200 notifies the acquisition status of the reference start point P1 and reference end point P2.

[0124] (9) The seedling transplanter 1 in the above (8), comprising a main gear lever 81 for operating the forward and reverse movement of the vehicle body 2, and a reference point registration switch 83 for operating the acquisition of a reference starting point P1 and a reference ending point P2, wherein the main gear lever 81 and the reference point registration switch 83 are located opposite each other with the handle 32 in between.

[0125] The embodiments described above are merely examples and are not intended to limit the scope of the invention. The embodiments can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications of each component, shape, display element, etc. (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be modified as appropriate. [Explanation of Symbols]

[0126] 1. Seedling transplanter (work vehicle) 2. Running vehicle 4. Front wheels (steering wheels) 32. Steering wheel 50 Seedling planting section (ground work section) 81 Main gear shift lever 83 Reference Point Registration Switch 110 Steering gear 120 GNSS Unit (Location Information Acquisition Device) 130. Steering angle sensor (steering angle detection unit) 150 Controller (Control Unit) 152 Driving Standards Registration Section 170 Attitude sensor (attitude detection unit) 200 notification devices 350 Center mascot (indicator component) 354 Lamp L1 Direction of travel L2 Reference Running Line P1 Reference starting point P2 Reference endpoint θ Rudder angle

Claims

1. A running vehicle body (2) to which a ground work unit (50) can be attached at the rear, and equipped with steering wheels (4) that are steered by a steering device (110), A location information acquisition device (120) that acquires location information of the aforementioned vehicle body (2), A control unit (150) controls the steering device (110) based on the position information acquired by the position information acquisition device (120) to provide straight-line support for the automatic straight-line driving of the vehicle body (2), In order to provide the aforementioned straight-line support, the system is configured to register a reference starting point (P1) and a reference ending point (P2). The system includes a posture detection unit (170) that detects whether the direction of travel of the vehicle body (2) deviates from the original direction of travel, which is the reference direction for straight-line travel of the vehicle body (2) in the straight-line support system. The control unit (150) is configured such that the straight-line support is available when the ground work unit (50) is in a lowered position and performing work. The system includes a notification device (200) that notifies that the straight-line support is available when the attitude of the vehicle body (2) detected by the attitude detection unit (170) is traveling in an attitude aligned with the original direction of travel. The vehicle body (2) is equipped with a detection unit that detects the steering state, If the steering state detected by the detection unit is not such that the vehicle body (2) is moving in a straight line, the notification device (200) notifies that the straight-line support is unavailable. The notification device (200) notifies that either or both of the above-mentioned reference starting point (P1) and reference ending point (P2) have been acquired. The aforementioned vehicle body (2) is equipped with a display that indicates the intended direction of travel, and the display is characterized in that it functions as a notification device.

2. The position information acquisition device (120) is equipped with an inertial navigation device that detects the tilt of the mobile vehicle (2), The position information acquisition device (120) is supported by the mobile body (2) via a frame (124), Wiring extending from the position information acquisition device (120) is routed along the frame (124). The work vehicle according to claim 1, characterized in that the frame (124) can be rotated to move the position information acquisition device (120) downward.

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