Transplanter

Abstract

To provide a transplanting machine including a control unit capable of executing automatic linear motion control, and in which the timing of starting execution of the automatic linear motion control can be grasped by an operator with allowance, and thereby various operations in work traveling can be performed more reliably.SOLUTION: A transplanting machine includes a traveling machine body, a planting work machine, a lifting / lowering cylinder, a planting clutch, a position information acquisition unit, a steering unit for controlling the steering operation of the traveling machine body, and a control part. The control part is configured to be able to execute straight traveling control for controlling the steering unit so that the traveling machine body may perform straight traveling when performing the planting work to a field surface by the planting work machine. The straight traveling control is configured to execute steering control with the steering unit after a preset predetermined allowable time elapses from when the planting clutch is switched from a disconnected state to a connected state.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a transplanter having a control unit that controls steering operation so as to travel straight ahead. [Background technology]

[0002] A work vehicle as described in Patent Document 1 is known in the art and is equipped with a running body steered by a steering handle, a position information acquisition unit that acquires position information of the running body, a steering unit that controls the steering operation of the running body, and a control unit, and is capable of automatically running the running body along a predetermined target running route.

[0003] Furthermore, a transplanter as described in Patent Document 2 is known which includes a running body steered by a steering handle, a planting machine connected to the rear of the running body so that it can be raised and lowered, a lifting cylinder which raises and lowers the planting machine, a planting clutch which intermittently operates the transmission of engine power to the planting machine, a position information acquisition unit which acquires position information of the running body, a steering unit which controls the steering operation of the running body, and a control unit which is configured to be able to execute straight-line running control which controls the steering unit so that the running body runs in a straight line based on the position information detected by the position information acquisition unit, and which controls the steering unit so that the running body runs in a straight line when planting work is performed in a field.

[0004] According to the transplanter of Patent Document 2, when the planting clutch is switched from a disconnected state to a connected state in order to resume planting work after the turning travel is completed at the edge of the field, the control unit automatically executes straight-line running control, thereby reducing the effort required to start executing straight-line running control.

[0005] On the other hand, with the configuration of Patent Document 2, immediately after the operator engages the clutch with one hand, the operation of the steering wheel being operated with the other hand is suddenly controlled, which can cause the operator to become flustered and lose his or her psychological composure, which is an issue. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2004-154012 A [Patent Document 2] JP 2020-31558 A Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention has an object to provide a transplanter equipped with a control unit capable of executing automatic straight-line control that controls the steering unit so that the traveling body travels in a straight line, which allows the operator to calmly grasp the timing when the execution of the automatic straight-line control is started, thereby allowing the operator to perform various operations reliably while traveling for work with ease. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention provides a planting machine comprising: a traveling machine body steered by a steering handle; a planting machine connected to the rear of the traveling machine body so that it can be raised and lowered; a lifting cylinder for lifting and lowering the planting machine; a planting clutch for connecting and disconnecting engine power transmitted to the planting machine side; a position information acquisition unit for acquiring position information of the traveling machine body; a steering unit for controlling the steering operation of the traveling machine body; and a control unit, wherein the control unit is configured to be capable of executing straight-line running control for controlling the steering unit so that the traveling machine body runs straight based on position information detected by the position information acquisition unit when the planting machine performs planting work in a field; The control unit isThe planting clutch is switched from a disconnected state to a connected state. Provided that Predefined It is time Grace period and when the countdown of the grace time is completed, the straight running control starts a countdown of the grace time. The steering unit is configured to execute steering control.

[0009] Secondly, the present invention is characterized in that a notification means for notifying an operator is provided, and the control unit is configured to notify the operator that the grace period is in progress.

[0010] Thirdly, the control unit is configured to not execute the straight-line driving control even after the grace time has elapsed if a predetermined cancellation operation is detected during the grace time. Effect of the Invention

[0011] The control unit provides a predetermined grace period from when the planting clutch is switched from the disconnected state to the planting state until the execution of the straight-line travel control is started, so that the timing of the planting clutch connection operation and the start of the automatic straight-line travel control that controls the steering operation by the steering unit can be shifted and executed in sequence, allowing the operator to perform operations during work travel in a more calm and psychologically stable manner in sequence. In other words, it is possible to prevent a situation in which the operator becomes psychologically flustered by the simultaneous execution of the planting clutch connection and steering control, making it more difficult to operate during work travel.

[0012] In addition, if a notification means is provided to notify the operator and the control unit is configured to notify the operator that the grace period is in progress, the operator can know the time and timing until execution of straight-line driving control begins, allowing the operator to perform operations during work driving in a more calm psychological state.

[0013] Furthermore, if the control unit is configured to not execute the straight-line driving control even after the grace time has elapsed if a specified cancellation operation is detected during the grace time, a cancellation operation can be performed quickly even if the straight-line driving control is about to be started due to an operator's erroneous steering operation or work machine operation, thereby further improving operability and safety. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is an overall perspective view of a riding rice transplanter to which the transplanter of the present invention is applied. [Diagram 2] 13A is a front view of the main parts of the control unit, FIG. 13B is a diagram showing the display panel, and FIG. 13C is a diagram showing the grip part of the main shift lever. [Diagram 3] 1A is a perspective view of the essential parts showing the installation state of the steering unit, and FIG. 1B is a front view showing the operation panel. [Figure 4] FIG. 13 is a diagram showing a planting path when automatic straight-line control is executed. [Diagram 5] 13 is a diagram showing the turning path and the timing of the lifting and lowering operation of the planting implement when turning control is executed. FIG. [Figure 6] FIG. 2 is a block diagram of a control unit. [Figure 7] FIG. 4 is a process flow diagram of work machine operation control. [Figure 8] FIG. 4 is a process flow diagram of control during turning. [Figure 9] FIG. 2 is a diagram showing a main flow of automatic straight-line driving control. [Figure 10] FIG. 4 is a process flow diagram showing a subroutine of automatic straight-line starting control 1. [Figure 11] FIG. 11 is a process flow diagram showing a subroutine of automatic straight-line starting control 2. [Figure 12] FIG. 11 is a process flow diagram showing a subroutine of automatic straight-line delay control. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Fig. 1 is an overall perspective view of a riding rice transplanter to which the transplanter of the present invention is applied, Fig. 2(A) is a front view of the main part of the steering section, Fig. 2(B) is a view showing the display panel, Fig. 2(C) is a view showing the grip part of the main shift lever, Fig. 3(A) is a perspective view of the main part showing the installation state of the steering unit, and Fig. 3(B) is a front view of the operation panel. This riding rice transplanter is equipped with a traveling machine body 3 supported by a pair of left and right front wheels 1,1 and rear wheels 2,2, a planting machine 6 connected to the rear of the traveling machine body 3 via a lifting link so as to be freely raised and lowered, and a soil leveling machine 7 arranged between the planting machine 6 and the rear wheels 2.

[0016] The running body 3 is provided with a bonnet 8 that surrounds an engine (not shown) mounted on the front side, and a control unit 9 located behind the bonnet 8, and the front of the running body 3 supports a seedling transport platform 11 that transports spare seedlings from the front to the rear of the running body, and a GNSS unit (GPS unit, receiving unit) 12 that acquires (receives) the position information of the running body from a positioning satellite (see Figure 1).

[0017] The operating section 9 includes a seat 13 for the operator to sit on, a steering handle 14 for steer- ing the front wheels, a display panel 16 arranged in front of the steering handle 14, a main shift lever 17 arranged on one of the left and right sides of the steering handle 14 (left side in the illustrated example), and a work equipment lever 18 arranged on the other left and right side of the steering handle 14 (right side in the illustrated example).

[0018] The work implement lever 18 is configured to be operated to swing up and down, thereby enabling the lifting and lowering of the planting implement 6 and the on-off operation of the planting clutch (work implement clutch) 30, which connects and disconnects the engine power transmitted to the planting implement 6, through the work implement operation control by a control unit 50, which will be described in detail later. The control unit 50 will be described in detail later.

[0019] The working equipment lever 18 can be swung up and down and is biased to a neutral position by a biasing member (not shown) or the like. As a result, when the operator releases the working equipment lever 18 after swinging the working equipment lever 18 up and down, the working equipment lever 18 is automatically returned to the neutral position.

[0020] The main speed change lever 17 is configured to be swung back and forth to operate a traveling HST (not shown), thereby enabling main speed change operation of the traveling machine body 3. In addition, inside the grip of the main speed change lever 17, a pair of switch operating devices are provided that can, like the work machine lever 18, lift and lower the planting work machine 6 and operate the planting clutch 30 on and off.

[0021] Specifically, on the inside of the grip portion of the main speed change lever 17, there are provided the switch operating devices: a work machine up switch 17A for operating the raising operation of the planting work machine and planting stop (disconnecting the planting clutch), and a work machine down switch 17B for operating the lowering operation of the planting work machine 6 and planting drive (connecting the planting clutch) (see Figure 2 (C)).

[0022] The display panel 16 is provided with, in addition to alarm lamps that indicate the remaining amount of fuel and fertilizer, an automatic planting lamp 26 that indicates that the automatic planting mode (ON state) has been switched to by the automatic planting switch 35 described below, an automatic straight-line lamp 27 that indicates that the automatic straight-line control described below is being executed, and a work machine lamp 28 that indicates the operating status of the planting work machine 6 (see Figure 2 (B)).

[0023] Incidentally, as shown in FIG. 3, on the side of the steering wheel 14 in the operation section, there are provided a steering angle sensor (operation position detection sensor) 25 that detects the operation position of the steering wheel 14, and a steering unit (steering device) 20 that can automatically steer the steering wheel 14 (see FIG. 3, etc.).

[0024] The steering unit 20 is a case body configured to be detachably attached to the upper end side of the steering shaft to which the steering handle 14 is connected, and has a steering motor 21 that controls the steering operation (direction operation) by rotating the steering shaft, the control unit 50 that controls the steering motor 21, and an operation panel 22 for operating the steering unit 20 (see Figure 3 (A)).

[0025] The operation panel 22 is formed in a left-right panel shape and is disposed directly below the steering handle. The operation panel 22 is provided with an automatic steering switch (straight ahead switch, automatic switch) 31 for operating execution and stop of the automatic straight ahead control (straight ahead automatic control, automatic steering control) described in detail later, a start point (point A) registration switch 32 for setting a start point (point A) used when setting a reference line L0 for executing the automatic straight ahead control (teaching control described later), an end point (point B) registration switch 33 for setting an end point (point B), and a work mode switch 34 for switching the work mode during turning control described later, and an operation switch (work preparation switch) 36 for turning on and off the power supply to the steering unit 20 is provided on the left and right outer sides of the operation panel 22 (left side in the illustrated example) (see FIG. 3(B)). Specific control contents using various switches will be described later.

[0026] Also, notification lamps are arranged near each switch operating tool on the operation panel 22. Specifically, an automatic straight-line control notification lamp 31A for notifying the operator that automatic straight-line control is being executed is provided above the automatic steering switch 31, a start point lamp 32A and an end point lamp 33A for notifying that a start point and an end point have been set are provided above the start point registration switch 32 and the end point registration switch 33, respectively, and a target line lamp 37 for notifying whether the traveling machine body 3 is traveling on a target line during execution of the automatic straight-line control is provided at an end of the operation panel 22 (the right end side in the illustrated example) (see FIG. 3(B)).

[0027] The GNSS unit 12 comprises a support frame 39 which is extended across the bonnet 8 in the left-right direction and is U-shaped with an open bottom, a pair of receivers (GNSS antennas) 41, 41 provided on the left and right sides of the support frame 39, a correction signal receiver 42 which acquires correction information from an RTK base station described later, and a GNSS control unit 60 which is positioned on the center of the left and right sides of the support frame (see Figure 1).

[0028] The GNSS unit (GNSS control unit 60) 12 is connected to the control unit 50 via a control area network (CAN) or the like, and is configured to be able to input position information, orientation information, etc. of the traveling vehicle obtained from a positioning satellite system to the control unit 50.

[0029] Of the receiving devices 41, the receiving device 41 on one side, left or right, is a receiving antenna for receiving position information serving as a reference for the traveling body 3, and the receiving device 41 on the other side, left or right, is a receiving antenna for acquiring orientation information for the traveling body 4. That is, by providing a pair of the receiving devices 41, 41 on the left and right at a predetermined distance or more, the positioning accuracy of the traveling body 3 can be improved.

[0030] The correction signal receiving device 42 is configured to receive correction information (specifically, coordinate data of the RTK base station and distance data between the traveling machine body and the RTK base station) from an RTK base station 43 installed at a location some distance away from the field where the machine body travels for work. This allows the position information of the traveling machine body 3 acquired by the receiving device 41 to be corrected, thereby improving the accuracy of the position information to the centimeter level.

[0031] Incidentally, the GNSS control unit 60 is configured to be connectable to an information terminal (notification means 56) such as a tablet terminal 40 via wireless communication (Bluetooth (registered trademark), wifi, etc.). The tablet terminal 40 has navigation software installed, and can assist in the execution of teaching control, turning control, and automatic straight-line control by the control unit described below. In addition, the tablet terminal 40 can also provide various notifications to the operator via a display or voice (sound).

[0032] The planting work machine 6 is equipped with a seedling carrier table on which seedlings to be planted in the field are placed, and a planting section which plants the seedlings placed on the seedling carrier table into the field.It is connected to the rear side of the traveling body 3 via a lifting cylinder 48 so that it can be raised and lowered, and is configured so that the power transmitted from the engine is interrupted by a planting clutch 30.

[0033] In addition, the planting work machine 6 is configured to be able to execute the work machine operation control by the control unit 50 to switch between an ascending state in which the planting work machine 6 ascends, a descending state in which the planting work machine 6 descends (or a descending stopped state in which the descending stops at the lower end), a fixed state in which the planting work machine 6 is fixed at any height position, and a planting state in which planting work is performed by driving the planting section 47 in the descending stopped state.

[0034] That is, the control unit 50 is configured to be able to execute the work machine operation control that can change the lifting and lowering operation of the planting work machine 6 and the on / off operation of the planting clutch 30, in other words, the working state (raised state, lowered state, lowering stop state, fixed state, planting state) of the planting work machine 6 in response to the up / down swing operation of the work machine lever 18. Specific control contents of the work machine operation control will be described later.

[0035] Next, a control example of the automatic straight-line control will be described with reference to Fig. 4. Fig. 4 is a diagram showing a planting path when the automatic straight-line control is executed.

[0036] The above-mentioned transplanter (work vehicle) can perform planting work over the entire inside of the field except for the periphery by alternating between planting work (driving straight ahead while planting in the field) and turning work (stopping planting and turning toward the adjacent planting row) (see Figure 4), and finally performing planting work along the periphery of the remaining field.

[0037] At this time, when the automatic straight-line mode is operated to the ON state by the automatic steering switch 31, the control unit 50 is configured to be able to execute the automatic straight-line control (automatic straight-line control) which automatically controls the steering operation via the steering unit 20 so that the traveling body 3 travels straight along a predetermined target line L1 in a field scene when performing the planting travel.

[0038] First, before executing the automatic straight-line control, the control unit 50 records the coordinates of the start point (point A) by pressing the start point registration switch 32 at the position in the field where the planting drive will begin, and then performs the planting drive (straight-line drive) by the operator's operation, and records the coordinates of the end point (point B) by pressing the end point registration switch 33 just before turning on the field body side, thereby enabling the execution of teaching control to set the reference line L0 (see Figure 4).

[0039] As a result, the control unit 50 (automatic straight-line control) can set a target line L1, which will be the reference line for planting travel from now on, by drawing a line parallel to the reference line (reference line) L0 from the planting resume position where the transplanter (traveling body) resumes planting work (planting travel). The control unit 50 (automatic straight-line control) is also configured to control steering operation via the steering unit 20 so that the transplanter performs planting travel along the target line L1. Specific control contents will be described later.

[0040] Incidentally, the control unit 50 is configured to be able to execute a turning control that automatically controls the lifting and lowering operation of the planting implement and the on-off operation of the planting clutch 30 when turning toward the adjacent planting row at the edge of the field (see Figs. 4 and 5). This will be explained below.

[0041] Next, an example of the control during turning will be described with reference to Figures 4 and 5. Figure 5 is a diagram showing the turning path and the timing of the lifting and lowering operation of the planting implement when the turning control is executed. When the traveling machine body 3 is turned in a state switched to the automatic planting mode by the automatic planting switch 35, the control unit 50 is configured to be able to execute the turning control for automatically switching the planting implement 6 in the order of planting state → raised state → lowered state → planting state according to the turning position during turning travel.

[0042] Specifically, the turning control is configured to switch the planting work machine 6 to a planting state and perform work travel (planting travel), and if a steering operation (turning operation) by the operator is detected at the edge of the field (see D0 in Figure 5), automatically switch the planting work machine 6 from the planting state to the raised state and start counting the travel distance during turning travel, and if it is detected that the traveling body 3 has turned a predetermined distance since the start of turning travel (see D1 in Figure 5), automatically switch the planting work machine 6 from the raised state (or fixed state at the raisedmost position) to the lowered state, and if the traveling body 3 reaches the planting resumption position (see D2 in Figure 5), automatically switch the planting work machine 6 to the planting state and resume planting work.

[0043] According to this configuration, the lifting and lowering operation of the planting implement 6 and the on-off operation of the planting clutch 30 can be automatically controlled when turning around the edge of the field, greatly reducing the operator's operational burden and greatly improving operability during planting work. This allows the operator to concentrate on steering when turning around, reducing operational errors.

[0044] Incidentally, the automatic straight-line control by the control unit 50 includes an automatic straight-line start control (automatic straight-line start control 1 and automatic straight-line start control 2 described later) for automatically starting the automatic straight-line control at a predetermined timing after a turning run at the edge of the field regardless of whether the turning control is executed or not, and an automatic straight-line deferral control for deferring the execution of the automatic straight-line control after the conditions for starting the automatic execution of the automatic straight-line control are met, and is configured so that steering control via the steering unit 20 is automatically executed at a predetermined timing.

[0045] In particular, the automatic straight-line grace period control is configured to provide a predetermined grace period between the time when turning travel to an adjacent planting row is completed and the planting implement 6 is switched to the planting state, and the time when steering control (automatic straight-line control) is executed by the steering unit 20.

[0046] According to this configuration, if the switching operation of the planting work machine 6 to the planting state and the control of the steering operation by the steering unit 20 are executed simultaneously after the traveling body 3 has finished turning, the operator may lose his psychological composure and become impatient, so by shifting the timing at which the two controls are executed, the operator can be given a sense of composure and erroneous operation can be reduced. The specific control content of the automatic straight-line control described above will be described later.

[0047] Next, various controls performed by the control unit will be described with reference to Figures 6 to 12. Figure 6 is a block diagram of the control unit.

[0048] The input side of the GNSS control unit 60 is connected to the receiving devices (GNSS antennas) 41, 41, the correction signal receiving device 42, and the tablet terminal 40, and is connected to the control unit 50 side via CAN (see Figure 6).

[0049] Connected to the input side of the control unit 50 are the start point (point A) registration switch 32, the end point (point B) registration switch 33, the automatic steering switch 31, the automatic planting switch 35 that switches the automatic planting mode on and off, the operation switch (work preparation switch) 36, the steering angle sensor 25 (operation position detection sensor), a vehicle speed sensor 51 that detects the speed of the traveling body 3, a rotation sensor 52 that detects the travel distance of the traveling body 3, a lift angle potentiometer (lifting position detection sensor) 53 that detects the lifting position of the planting work machine 6, and a work machine operating cam potentiometer 54 that detects the lifting state of the planting work machine 6 by detecting the operating position of a work machine operating cam (not shown) that operates the lifting cylinder 48 that lifts and lowers the planting work machine 6.

[0050] The output side of the control unit 50 is connected to the steering motor 21, an alarm means 56 that notifies the operator, the alarm lamp (alarm display unit), the planting clutch 30, and the lifting cylinder 48.

[0051] The control unit 50 also includes a timer 58 for counting a grace period, which will be described later, and a storage device 59.

[0052] 7 is a process flow diagram of the working machine operation control. When the working machine operation control is executed by the control unit 50, the process proceeds to step S11. In step S11, it is confirmed whether or not a lowering operation of the working machine lever 18 (or a pressing operation of the working machine lowering switch 17B) has been detected, and if a lowering operation of the planting work machine 6 has been detected, the process proceeds to step S12.

[0053] In step S12, the ON / OFF state of the work preparation switch 36 is confirmed, and if the ON state of the work preparation switch 36 is detected, the process proceeds to step S13. In step S13, it is detected whether the planting work machine 6 is in a raised state by the work machine operation cam potentiometer 54, and if a state other than the raised state is detected, the process proceeds to step S14.

[0054] In step S14, it is detected by the working machine operation cam potentiometer 54 and the planting clutch 30 whether the planting working machine 6 is in a lowered state. If a state other than the lowered state (specifically, the fixed state or the planting state) is detected, the process proceeds to step S15. In step S15, it is detected by the working machine operation cam potentiometer 54 whether the planting working machine 6 is in the fixed state. If it is detected that the planting working machine 6 is in the fixed state, the process proceeds to step S16.

[0055] In step S16, the planting working machine 6 is set from the fixed state to the lowered state, and then returns. On the other hand, in step S15, if it is detected that the planting working machine 6 is not in the fixed state, that is, if the planting state of the planting working machine 6 is detected, it returns as it is.

[0056] Also, in step S14, if the lowered state of the planting working machine is detected, the process proceeds to step S17.

[0057] In step S17, it is confirmed whether the operation time T of the lowering operation of the working machine lever 18 is shorter than a predetermined time T0 set in advance. If it is detected that the operation time T < T0, the process proceeds to step S18. In step S17, if it is detected that the operation time T of the lowering operation of the working machine lever 18 is equal to or longer than the predetermined operation time T0, it returns thereafter.

[0058] In step S18, it is confirmed by the lift angle potentiometer 53 whether the planting working machine 6 has reached the planting height (lower end side) and the lowering operation has stopped. If it is detected that the planting working machine 6 has reached the planting height and the lowering operation has stopped, the process proceeds to step S19. In step S19, the planting working machine 6 is set to the planting state, and then returns.

[0059] Also, in step S18, if it is detected that the planting working machine 6 is in the lowering operation, the process proceeds to step S20. In step S20, the planting working machine 6 is set to the state waiting for the planting clutch to be engaged, and then returns.

[0060] If the elevated state of the planting implement 6 is detected in step S13, the process proceeds to step S21. In step S21, the planting implement 6 is set to a fixed state, and then the process returns.

[0061] If it is detected in step S12 that the work preparation switch 36 is OFF, the process proceeds to step S22. In step S22, it is detected whether the planting work machine 6 is raised by the work machine operation cam potentiometer 54, and if it is detected that the planting work machine 6 is raised, the process proceeds to step S21, where the planting work machine 6 is set to a fixed state, and then the process returns.

[0062] On the other hand, if a state other than the raised state of the planting implement 6 is detected in step S22, the process proceeds to step S23.

[0063] In step S23, the planting machine 6 is detected as being in a fixed state by the machine operation cam potentiometer 54 or the like, and if the fixed state of the planting machine 6 is detected, the process proceeds to step S24. In step S24, the planting machine 6 is set to an automatic (lowering) state in which it is lowered by its own weight, and then the process returns. On the other hand, if the planting machine 6 is detected as being in a state other than the fixed state in step S23, the process returns. This prevents the planting state from being switched to when the work preparation switch 36 is OFF.

[0064] In other words, when the lowering operation of the planting work machine 6 is detected, if the planting work machine 6 is in a planting state, the control unit 50 maintains the planting state; if the planting work machine 6 is in a fixed state where it is fixed at any height position, the control unit 50 switches it to a lowering state; if the work preparation switch 36 is in an on state and the planting work machine 6 is in a lowering operation, the control unit 50 switches it to a planting clutch engagement waiting state in which the planting work machine 6 is switched to the planting state as soon as it reaches the lower end side (planting height / working height); and if the planting work machine 6 is in a raised state, the control unit 50 stops the raising operation of the planting work machine 6 and switches it to a fixed state.

[0065] In addition, when the control unit 50 detects that the lowering operation of the planting machine 6 has been continued for a predetermined period of time or more while the planting machine 6 is in the lowering operation, the control unit 50 restricts the switching of the planting state regardless of the raised or lowered position of the planting machine 6.

[0066] According to this configuration, even if the operator operates (misoperates) the work implement lever 18 downward during the lowering operation of the planting implement 6 at a time when he does not want to switch to the planting state, the operator can cancel (restrict) the switch to the planting state by maintaining the lowering operation of the work implement lever 18 for a predetermined period of time or more, thereby further improving operability.

[0067] In the above step S11, if the lowering operation of the working implement lever 18 (or the pressing of the working implement lowering switch 17B) is not detected, the process proceeds to step S25. In step S25, it is confirmed whether or not the working implement lever 18 has been raised (or the working implement raising switch 17A has been pressed), and if the raising operation of the planting implement 6 is detected, the process proceeds to step S26.

[0068] In step S26, it is detected whether the planting implement 6 is in a raised state by the implement operating cam potentiometer 54 and the planting clutch 30, and if it is detected that the planting implement 6 is in a state other than the raised state, the process proceeds to step S27. Note that if it is detected in step S26 that the planting implement 6 is in a raised state, the process maintains the raised state and then returns.

[0069] In step S27, the implement operating cam potentiometer 54 and the planting clutch 30 are used to check whether the planting implement 6 is in a lowered state, and if a state other than the lowered state of the planting implement 6 (specifically, a fixed state or a planting state) is detected, the process proceeds to step S28.

[0070] In step S28, it is confirmed whether the planting work machine 6 is in the planting state by the work machine operating cam potentiometer 54 and the planting clutch 30, and if the planting state of the planting work machine 6 is detected, the process proceeds to step S29. In step S29, the planting work machine 6 is switched from the planting state to the lowering (automatic) state, and then the process returns.

[0071] If a state other than the planting state (specifically, the fixed state) of the planting implement 6 is detected in step S28, the process proceeds to step S30. In step S30, the planting implement 6 is switched from the fixed state to the raised state, and then the process returns.

[0072] If the lowered state of the planting implement 6 is detected in step S27, the process proceeds to step S31. In step S31, it is confirmed whether the planting implement 6 has reached the lower end (planting height) and stopped lowering by the lift angle potentiometer 53, and if it is detected that the planting implement 6 has stopped lowering at the planting height, the process proceeds to step S30, where the planting implement 6 is switched to the raised state, and then returns.

[0073] On the other hand, if it is detected in step S31 that the planting implement 6 is in the process of descending, the process proceeds to step S32. In step S32, the planting implement 6 is switched to a fixed state to stop the descending operation, and then the process returns.

[0074] In other words, when the control unit 50 detects an operation to raise the planting work machine 6, if the planting work machine 6 is in a lowered state and the lowering operation is stopped at the lower end (planting height, working height), or if the planting work machine 6 is fixed at an arbitrary height position, the control unit 50 is configured to switch the planting work machine 6 to a raised state, if the planting work machine 6 is in a lowering operation, the control unit 50 switches the planting work machine 6 to a fixed state, and if the planting work machine 6 is in a raised state, the raised state of the planting work machine 6 is maintained.

[0075] If the lifting operation of the planting implement 6 is not detected in step S25, the process proceeds to step S33. In step S33, it is confirmed whether the planting implement 6 is set to a planting clutch engagement waiting state, and if it is detected that the planting implement 6 is set to a planting clutch engagement waiting state, the process proceeds to step S34. Note that if the planting clutch engagement waiting state has not been set in step S33, the process then returns.

[0076] In step S34, the lift angle potentiometer 53 checks whether the planting implement 6 has reached the lower end (planting height) and the descent operation has stopped, and if it is detected that the descent operation of the planting implement 6 has stopped at the planting height, the process proceeds to step S35.

[0077] In step S35, the planting implement 6 is switched to the planting state, and then the process returns. If the planting implement 6 is in the lowering operation in step S34, the process returns.

[0078] 8 is a process flow diagram of the control during turning. When the control during turning is executed by the control unit 50, the process proceeds to step S41. In step S41, the ON / OFF state of the work preparation switch 36 is confirmed, and if the ON state of the work preparation switch 36 is detected, the process proceeds to step S42.

[0079] In step S42, it is confirmed whether or not a steering operation (turning operation) of a predetermined angle β or more has been performed by the steering angle sensor 25, and if a steering operation (turning operation) of the predetermined angle or more has been detected, the process proceeds to step S43.

[0080] In step S43, the automatic planting switch 35 checks whether or not the automatic ascent mode (a state in which the planting implement 6 has been switched to an elevated state by the control unit) is in effect, and if the elevated state of the planting implement 6 is not detected, the process proceeds to step S44.

[0081] In step S44, the ON / OFF state of the automatic planting mode is confirmed, and if the ON state of the automatic planting mode is detected, the process proceeds to step S45. However, if the OFF state of the automatic planting mode is detected in step S44, the process then returns.

[0082] In step S45, counting of the turning travel distance Dt (the travel distance after a turning operation of a predetermined value or more is detected) is started, the notification means 56 notifies the user that control of the lifting / planting clutch 30 of the planting implement 6 by turning control has started, the automatic planting flag is set ON, and the process proceeds to step S46. In step S46, the planting implement 6 is automatically switched (from the planting state) to the raised state (automatic lift mode ON), and then the process returns.

[0083] If the planting implement 6 is in the raised state (automatic lift mode) in step S43, the process proceeds to step S46, where the planting implement 6 is maintained in the raised state, and then the process returns.

[0084] That is, in a state where the control unit 50 is switched to the automatic planting mode by the planting automatic switch 35, when a steering operation equal to or greater than a predetermined value (a steering operation with a steering angle β or greater) is detected, the control unit 50 automatically controls the switching of the planting work implement 6 to the raised state and the disconnection operation of the planting clutch 30, thereby reducing the operator's operation during turning travel.

[0085] Also, in step S42, when a turning operation with a steering angle equal to or greater than the predetermined steering angle β is not detected by the steering angle sensor 25, the process proceeds to step S47. In step S47, the ON / OFF state of the automatic planting mode operated by the planting automatic switch 35 is confirmed. When the ON state of the automatic planting mode is detected, the process proceeds to step S48. In step S47, when the OFF state of the automatic planting mode is detected, the process then returns.

[0086] In step S48, the presence or absence of an operation of the work implement lever 18 (lifting switches 17A and 17B), which is an operating tool for operating the lifting operation etc. of the planting work implement 6, is confirmed. When the operation of the operating tool is not detected, the process proceeds to step S49.

[0087] In step S49, it is confirmed whether the turning travel distance Dt is equal to or greater than a predetermined turning distance D2 (refer to D2 in FIG. 5). When it is detected that the turning travel distance Dt < D2, the process proceeds to step S50.

[0088] In step S50, it is confirmed whether the turning travel distance Dt being counted is equal to or greater than a predetermined turning distance D1 (refer to D1 in FIG. 5). When it is detected that Dt ≧ D1, the process proceeds to step S51.

[0089] In step S51, the planting work implement 6 is switched to the lowered state, and then the process returns. In step S50, when the turning travel distance Dt being counted is shorter than D1, the process then returns.

[0090] In other words, when the control unit 50 detects that the turning travel distance Dt is equal to or greater than D1 during execution of turning control, the planting implement 6 is automatically switched to the lowered state, thereby reducing the amount of operation required by the operator.

[0091] Also, in step S49, if it is detected that the turning distance Dt being counted is equal to or greater than the predetermined turning distance D2, the process proceeds to step S52. In step S52, the steering angle sensor 25 checks whether the steering operation of the steering wheel 14 is equal to or less than a preset predetermined turning angle α, and if it is detected that the steering operation of the steering wheel 14 is equal to or less than the turning angle α (the turning operation has ended), the process proceeds to step S53. Note that in step S52, if the steering operation of the steering wheel is greater than the turning angle α, the process then returns.

[0092] In step S53, the planting implement 6 is automatically switched (from the lowered state) to the planting state, and the process proceeds to step S54.

[0093] In step S54, the count of the turning travel distance Dt is cleared (stopped), the notification means notifies the operator that the execution of the turning control has ended, the automatic planting flag is set to OFF, and then the process returns.

[0094] That is, when the control unit 50 detects that the turning travel distance Dt is equal to or greater than D2 during the execution of the turning control, it can control the planting clutch 30 to automatically switch the planting implement 6 to the planting state, thereby reducing the effort required of the operator.

[0095] Incidentally, in step S48, if operation of the work implement using the work implement lever 18 or the like is detected, the process proceeds directly from step S48 to step S54.

[0096] According to this configuration, if operation of the implement lever 18 or the like is detected while the above-mentioned turning control is being executed, the automatic lifting and lowering operation of the planting implement 6 by the turning control and the automatic connection operation of the planting clutch can be canceled.

[0097] Next, the process flow of the automatic straight-line driving control will be described with reference to Fig. 9 to Fig. 12. Fig. 9 is a diagram showing the main flow of the automatic straight-line driving control. When the main flow of the automatic straight-line driving control is started, the process proceeds to step S61.

[0098] In step S61, it is confirmed whether or not the automatic planting switch 35 has been switched to the automatic planting mode, and if switching to the automatic planting mode is not detected, the process proceeds to step S62.

[0099] In step S62, a subroutine of automatic straight-line start control 1, which will be described later, is executed, and the process proceeds to step S63. In step S63, automatic straight-line start control, which will be described later, is executed, and then the process returns. Here, automatic straight-line start control 1 is a processing flow in the case where the above-mentioned turning control is not used when turning at the edge of a field. The details will be described later.

[0100] Also, in step S61, if it is detected that the mode has been switched to the automatic planting mode, the process proceeds to step S64.

[0101] In step S64, a subroutine of automatic straight-line start control 2, which will be described later, is executed, and the process proceeds to step S63. In step S63, automatic straight-line start control, which will be described later, is executed, and then the process returns. Here, automatic straight-line start control 2 is a process flow in which the above-mentioned turning control is used when turning at the edge of a field. This will be described in detail later.

[0102] 10 is a process flow diagram showing a subroutine of the automatic straight-line start control 1. When the subroutine of the automatic straight-line start control 1 is executed, the process proceeds to step S71. In step S71, the work preparation switch 36 checks whether the power supply to the steering unit 20 is ON or OFF, and if the power supply to the steering unit 20 is detected to be ON, the process proceeds to step S72.

[0103] In step S72, it is confirmed whether or not the automatic steering switch 31 has been switched to the straight-ahead automatic mode. If it is detected that the mode has been switched to the straight-ahead automatic mode, the process proceeds to step S73.

[0104] In step S73, it is confirmed by the steering angle sensor 25 whether or not a steering operation of the predetermined turning angle β or more has been performed, and if a steering operation of the predetermined turning angle β or more has not been detected, the process proceeds to step S74.

[0105] In step S74, the rotation sensor 52 checks whether the turning travel distance Dt is equal to or greater than the predetermined turning travel distance D2, and if it is detected that the turning travel distance Dt≧D2, the process proceeds to step S75. In step S75, it is checked whether the planting machine 6 has been switched to the planting state, and if it is detected that the planting machine 6 is in the planting state, the process proceeds to step S76. Note that if it is not detected that the planting machine 6 is in the planting state in step S75, the process then returns.

[0106] In step S76, the steering angle sensor 25 checks whether the traveling body 3 is traveling straight ahead, and if it is detected that the traveling body 3 is traveling straight ahead, the process proceeds to step S77.

[0107] In step S77, a target line (target line) L1 that is a line parallel to the reference line L0 set by the teaching control or the like is set from the position information acquired via the GNSS unit 12, an automatic straight-line driving start flag used in the automatic straight-line driving grace period control described later is turned ON (set), a countdown T which is the grace period until automatic steering is started is started, the count of the traveled distance Dt is cleared, and then the process returns.

[0108] If a steering operation of equal to or greater than the predetermined turning angle β is detected in step S73, the process proceeds to step S78. In step S78, it is confirmed whether or not the reference line L0 set by the teaching control is set, and if it is detected that the reference line L0 is set, the process proceeds to step S79.

[0109] In step S79, the target line L1 is reset, counting of the traveled distance Dt is started, and then the process returns. If the reference line L0 has not been set in step S78, the process returns.

[0110] In other words, the control unit 50 is configured to reset the target line L1 when a steering operation of a predetermined magnitude or more (a turning angle β or more) is detected at the edge of the field, and when it is detected that the turning travel has ended (Dt≧D2) and that the planting implement 6 has been switched to the planting state, to set a flag to start the execution of automatic straight-line control.

[0111] In other words, according to the automatic straight-line start control 1, even if the above-mentioned turning control is not used and the implement lever 18 or the like is used, when turning travel at the edge of the field and switching of the planting implement 6 to the planting state after the turning is completed are detected, the automatic straight-line control can be started (a flag can be set).

[0112] Also, in step S74, if the turning distance Dt is shorter than the turning distance D2, the process proceeds to step S80. In step S80, it is confirmed whether or not the target line L1 is set, and if the target line L1 is set, the process proceeds to step S81. Note that, in step S80, if the target line L1 is not set, the process returns.

[0113] In step S81, it is confirmed whether the planting implement 6 has been switched from the planting state to the lowered state, and if the switch to the lowered state of the planting implement 6 is detected, the process proceeds to step S82. In step S82, the automatic straight-line start flag is set to OFF, and then the process returns.

[0114] If it is not detected in step S81 that the planting machine 6 has been switched from the planting state to the lowered state, the process proceeds to step S83. In step S83, it is confirmed whether the planting machine 6 has been switched from the lowered state to the planting state, and if it is detected that the planting machine 6 has been switched to the planting state, the process proceeds to step S84. If it is not detected in step S83 that the planting machine 6 has been switched to the planting state, the process then returns.

[0115] In step S84, the automatic straight driving start flag is turned ON (set), an automatic straight driving start flag used in the automatic straight driving grace control described later is turned ON (set), a settable countdown T is started, and then the process returns.

[0116] In other words, even if, for example, while traveling along a set target line L1 for planting, the control unit 50 disconnects the planting clutch 30 and switches the planting implement 6 to a lowered state in order to temporarily stop planting work, as long as the setting of the target line L1 remains, the control unit 50 can set the automatic straight-line start flag and resume execution of the automatic straight-line control by switching the planting implement 6 from the lowered state to the planting state using the implement lever 18, etc.

[0117] Also, in step S72, if switching to the straight-ahead automatic mode is not detected, or in step S71, if the power ON of the steering unit 20 is not detected by the work preparation switch 36, the process proceeds to step S85. In step S85, the setting of the reference line L0 is reset, and then the process returns.

[0118] 11 is a process flow diagram showing a subroutine of the automatic straight-line start control 2. Only the differences from the subroutine of the automatic straight-line start control 1 will be described. The automatic straight-line start control 2 differs from the automatic straight-line start control 1 in that the automatic straight-line start control 2 is switched to the automatic planting mode, in other words, the turning control is executed to control the lifting and lowering operation of the planting implement 6 and the connecting and disconnecting of the planting clutch 30 when turning at the edge of the field.

[0119] Accordingly, since the turning travel distance Dt is counted by the turning control, the counting of the turning travel distance Dt is not started in step S78, and the counting of the turning travel distance Dt is not cleared in steps S77 and S84 (see Figures 10 and 11).

[0120] In addition, in step S74, instead of comparing the turning distance Dt with D2, the presence or absence of the automatic planting flag (see step S45 in Figure 8) is confirmed, which is set when a turning operation of a predetermined turning angle β or greater is detected in the turning control.

[0121] 12 is a process flow diagram showing the subroutine of the automatic straight-line driving grace period control. When the subroutine of the automatic straight-line driving grace period control is executed, the process proceeds to step S91. In step S91, it is confirmed whether the automatic straight-line driving start flag is ON (set), and if the automatic straight-line driving start flag is detected, the process proceeds to step S92. Note that, if the automatic straight-line driving start flag is not detected in step S91, the process then returns.

[0122] In step S92, it is confirmed whether or not a countdown T preset by the timer 58 has reached 0, and if countdown T→0 is detected, the process proceeds to step S93. In step S93, execution of automatic straight running control is started to control the steering operation via the steering unit 20 so that the traveling body 3 travels straight along the target line L1, an automatic straight running start flag is turned OFF, and then the process returns.

[0123] Furthermore, in step S92, if it is detected by the timer 58 that the countdown T has not reached 0, the process proceeds to step S94. In step S94, it is confirmed whether or not an automatic straight ahead driving canceling operation has been performed to cancel the automatic straight ahead driving control during the countdown (within the grace period), and if an automatic straight ahead driving canceling operation has not been detected, the process proceeds to step S95.

[0124] In step S95, the notification means 56 is used to notify the operator of the remaining time of the countdown T, and then the process returns. The notification method by the notification means 56 may be to notify the operator of the time until the countdown reaches 0 by voice, or to notify the operator of the time until the end of the countdown T by gradually narrowing the interval of an alarm sound, or may be a method of displaying the time on a screen via the tablet terminal 40 or the like. Note that the notification method is not limited to these.

[0125] If an automatic straight driving cancel operation is detected in step S94, the process proceeds to step S96. In step S96, the automatic straight driving start flag is set to OFF, and then the process returns. Here, the notification means 56 may notify the operator that the automatic straight driving control has been canceled.

[0126] In other words, the control unit 50 is configured so that even if the automatic straight-line start control 1, 2 has completed the end of turning travel and the switching of the planting work machine 6 to the planting state, and the automatic straight-line start flag has been set, the steering control (execution of the automatic straight-line control) via the steering unit 20 will not be started until the preset countdown T has ended.

[0127] In other words, the control unit 50 is configured so that when the planting work machine 6 is switched to the planting state (when the automatic straight running start flag is turned ON) after the turning run is completed, the steering control is automatically executed via the steering unit 20 so that the traveling body 3 runs straight after a predetermined grace period has elapsed (after the countdown T is completed). This allows the operator to calmly welcome the start of the automatic straight running control.

[0128] According to this configuration, immediately after the turning travel is completed, the planting work machine 6 is switched to the planting state and the steering control is performed via the steering unit 20 at the same time, thereby preventing the operator from becoming impatient or losing psychological composure during operation, which can lead to subsequent erroneous operation.

[0129] Furthermore, even after the automatic straight-line start flag has been set, the control unit 50 can halt (cancel) the execution of the automatic straight-line control if the automatic straight-line cancel operation is performed during counting (during the grace period) of the countdown T. With this configuration, for example, even if the planting implement 6 is switched to the planting state due to an erroneous operation by the operator, the automatic control of the steering operation thereafter can be stopped and manual steering operation can be continued, improving the ability to respond to erroneous operations.

[0130] Incidentally, the automatic straight-line driving canceling operation described above may be performed by providing a dedicated operating tool for performing the automatic straight-line driving canceling operation, or may be configured to be set as the automatic straight-line driving canceling operation by performing a predetermined operation on an existing operating tool. Specifically, for example, the automatic straight-line driving canceling operation may be set to swing the working equipment lever 18 downward for a predetermined period of time or more, but the operating method is not limited to this.

[0131] Furthermore, the above-mentioned automatic straight-line control is configured to execute an automatic straight-line grace period control subroutine whether the automatic straight-line start flag is set in automatic straight-line start control 1 or automatic straight-line start control 2. For this reason, even in a pattern in which the operator operates the implement lever 18 or the like to switch the planting implement 6 from the planting restart position to the planting state when turning toward an adjacent planting row at the edge of the field (automatic straight-line start control 1), or even in a case in which the lifting and lowering operation of the planting implement 6 and the on / off of the planting clutch 30 are controlled using turning control, a grace period can be provided between switching the planting implement 6 to the planting state and executing the automatic straight-line control.

[0132] In addition, when the planting work machine 6 is switched to the planting state at the position where planting work is to be started (resumed), the automatic straight-line advance grace control may be any operation or control, and is not limited to the patterns of the automatic straight-line start control 1 and 2 described above. [Explanation of symbols]

[0133] 3 Running body 6 Planting machine 12 GNSS unit (location information acquisition unit) 14 Steering handle 20 Steering unit 30 Planting Clutch 40 Tablet terminal, information terminal (notification means) 48 Lifting cylinder 50 Control section 56 Notification means

Claims

1. A traveling machine body steered by a steering handle; A planting machine connected to the rear of the traveling body so as to be able to rise and fall; A lifting cylinder for lifting and lowering the planting machine; A planting clutch that interrupts the engine power transmitted to the planting machine; A position information acquisition unit for acquiring position information of the traveling machine body; A steering unit that controls the steering operation of the traveling machine body; A control unit. The control unit is configured to be able to execute straight-line running control for controlling the steering unit so that the traveling machine body runs straight based on the position information detected by the position information acquisition unit when performing planting work in a field by the planting machine, The control unit is configured to start a countdown of a grace time, which is a predetermined time, on the condition that the planting clutch is switched from a disconnected state to a connected state, The straight running control is configured to execute steering control by the steering unit when the countdown of the grace time has been completed. A transplanter characterized by:

2. providing a notification means for notifying an operator; The control unit is configured to notify an operator that the grace period is in progress.

2. The transplanter of claim 1.

3. The control unit is configured not to execute the straight ahead driving control even after the grace time has elapsed if a predetermined cancel operation is detected during the grace time. A transplanter according to claim 1 or 2.

Images