Work vehicles

Abstract

To reduce waste time and effort in comparison with the case where autonomous travel is started in an incomplete state of attachment of an implement.SOLUTION: A work vehicle includes a vehicle body (4) to which an implement performing work in a field can be connected, and a manual travel mode by artificial operation, and an automatic travel mode for causing the vehicle body (4) to travel based on reference data of the field. When the implement is unconnected, the automatic travel mode is inhibited.SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] BACKGROUND ART Work vehicles to which a work implement can be attached are known (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-96774 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the present inventors have noticed that with the above-mentioned conventional work vehicles, for example, the burden on the worker when using such convenient functions is not necessarily small.

[0005] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems in the prior art, the present invention has an object to provide a work vehicle that can reduce the burden on workers. [Means for solving the problem]

[0006] The first aspect of the present invention is a farm equipment comprising: a vehicle body (4) to which a work machine that performs work on a field can be connected; A work vehicle capable of mounting a work implement selected from a plurality of work implements, The monitor is provided with items related to the connected working machine and the setting values ​​of the items, and the working machine is a planting device (10) that plants seedlings in a field from a mat of seedlings. When a direct seeding device (150) is connected to the vehicle body (4) instead of the planting device (10), the setting value of the planting depth is displayed, but the setting value related to the mat of seedlings is not displayed. This is a work vehicle characterized by the above.

[0007] (delete)

[0008] (delete)

[0009] (delete) [Effects of the Invention]

[0010] According to the invention described in claim 1, It is possible to improve usability.

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[0012] (delete)

[0013] (delete) [Brief explanation of the drawings]

[0014] [Figure 1] Left side view of a rice transplanter according to an embodiment of the present invention [Figure 2] FIG. 1 is an explanatory diagram of a monitor for a rice transplanter according to an embodiment of the present invention; [Figure 3] FIG. 2 is an explanatory diagram of a monitor of a rice transplanter according to an embodiment of the present invention (part 2) [Figure 4] FIG. 3 is an explanatory diagram of a monitor for a rice transplanter according to an embodiment of the present invention. [Figure 5] FIG. 4 is an explanatory diagram of a monitor for a rice transplanter according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0016] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0017] (1) First, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be specifically described with reference to FIG.

[0018] FIG. 1 is a left side view of a rice transplanter according to an embodiment of the present invention.

[0019] While explaining the operation of the rice transplanter of this embodiment, a work vehicle operation control method according to an invention related to the present invention, which is realized by the controller 600 and the like, will also be explained.

[0020] The rice transplanter of this embodiment is a rice transplanter for traveling the vehicle body 100 on a traveling device 220 having a pair of front wheels 221 and rear wheels 222 in accordance with the control of a controller 600 based on manual steering operation or automatic steering operation of a steering device 230, leveling the field F with a ground leveling device 260 having a rotor 261 and a float 262, planting seedlings in the field F with a seedling planting device 240 having a seedling planting tool 241, and applying fertilizer to the field F with a fertilizer application device 250.

[0021] The traveling device 220, the seedling planting device 240, the fertilizer application device 250, and the soil leveling device 260 are driven by the power of the engine 210 transmitted via a transmission mechanism having a main transmission and an auxiliary transmission, which are HSTs.

[0022] The rice transplanter of this embodiment is a rice transplanter to which a work machine selected from a plurality of work machines can be attached, for example, a rice transplanter to which a direct seeding unit can be attached as a work machine, and is a specific example of a work vehicle in the present invention.

[0023] (2) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail.

[0024] (2a) The monitor display when a direct seeding unit or the like is attached to the robotic rice transplanter according to the embodiment of the present invention will be described.

[0025] When predetermined necessary items related to the attached work implement are displayed on at least one of the monitors 800 of the vehicle body 100 and the remote controller 700, and predetermined necessary items related to at least one not-attached work implement are simultaneously displayed, the display of the item related to the at least one not-attached work implement is modified to indicate that it is not attached.

[0026] When a robotic rice transplanter is equipped with units such as a direct seeding unit, a weeder unit, or a furrow cutter unit, it is possible to configure the monitor panel of the monitor 800 provided on the vehicle body 100 and the remote controller 700 so that the contents of items for the seedling mat unit that are not related to these units are not displayed. When a direct seeding unit or the like is installed, there will be no data reference source for the seedling mat unit item, such as the number of times the seedling mat is fed sideways. Therefore, even if the monitor display is updated following a program restart operation, a display that is likely to lead to misunderstandings by the user will not be displayed, improving usability.

[0027] Display transformation is accomplished by displaying the names of the items but not the contents of the items.

[0028] That is, the display modification may be performed by adding a symbol such as a check mark, or by changing the color of the displayed characters or the color of the displayed background.

[0029] The attached work implement can be identified by the controller 600 of the vehicle body 100 by utilizing a wired or wireless connection with the work implement.

[0030] It is also possible to configure a unit such as a seedling mat unit to be connected to the rice transplanter body with a harness or the like, and have the type of unit identified by a controller 600 installed at the front or rear of the rice transplanter.

[0031] At least one of the work machines that is not attached is a seedling mat unit. Display modifications are performed on the items of the number of seedling mat lateral feeds and the number of seedling mats used, which are related to the seedling mat unit.

[0032] As shown in Figure 2, which is an explanatory diagram (part 1) of the monitor 800 of a rice transplanter according to an embodiment of the present invention, the display of the number of times seedling mats are fed sideways and the number of seedling mats used is modified by adding a horizontal bar symbol.

[0033] As shown in Figure 3, which is an explanatory diagram (part 2) of the monitor 800 of an embodiment of the rice transplanter of the present invention, the display of the number of times seedling mats are fed sideways and the number of seedling mats used is modified by changing the display brightness.

[0034] When a unit other than the seedling mat unit is detected in the manner described above, it is also possible to configure the monitor panel so that the number of seedling mat lateral feeds item is not displayed or a string indicating no data is displayed.

[0035] When the number of times seedling mats are fed sideways on the monitor panel is not displayed or a string indicating no data is displayed, it is also possible to configure the panel display area that displays the number of seedling mats used per 10 ares, which is calculated from the number of times seedling mats are fed sideways, the amount of seedlings removed, and the number of plants, to be not displayed or a string indicating no data is displayed.

[0036] The display of the seedling planting depth and seedling removal amount items related to the seedling mat unit is not modified, and the settings of the item contents can be adjusted. When the seedling mat unit is installed, the adjusted settings are reflected.

[0037] As shown in FIG. 4, which is an explanatory diagram (part 3) of the monitor 800 for the rice transplanter according to the embodiment of the present invention, the setting of the item content for the seedling planting depth is adjustable.

[0038] As shown in FIG. 5, which is an explanatory diagram (part 4) of the monitor 800 for the rice transplanter according to the embodiment of the present invention, the setting of the content of the item for the seedling removal amount is adjustable.

[0039] That is, items of a standard seedling mat unit with a seedling planting device 240 that are frequently used, such as seedling planting depth and seedling removal rate, may be specially addressed and made more convenient since they are often more important than items such as seeding rate for a direct seeding unit and furrow depth for a furrow cutter unit.

[0040] Even when a unit other than the seedling mat unit is detected, the seedling planting depth item is displayed on the function setting screen and the setting can be adjusted, and it is also possible to configure the changed setting to be reflected when the seedling mat unit is attached.

[0041] Even when a unit other than the seedling mat unit is detected, the seedling removal amount item is displayed on the function setting screen and the setting can be adjusted, and it is also possible to configure the changed setting to be reflected when the seedling mat unit is attached.

[0042] Even when a unit other than the seedling mat unit is detected, the seedling planting depth item is displayed on the function setting screen of the remote controller 700 and the correction value can be adjusted, and it is also possible to configure the changed settings to be reflected when the seedling mat unit is attached.

[0043] Even when a unit other than the seedling mat unit is detected, the seedling removal amount item is displayed on the function setting screen of the remote controller 700 and the correction value can be adjusted, and it is also possible to configure the changed settings to be reflected when the seedling mat unit is attached.

[0044] The pattern for the number of times seedling mats are fed sideways can be displayed and adjusted on the monitor panel function setting screen, and it is conceivable that the changed setting will also be reflected in the number of seedling mats used per 10 ares.

[0045] (2b) The operation of the remote controller of the robotic rice transplanter according to the embodiment of the present invention will be described.

[0046] The direct seeding soil covering settings can be adjusted by the remote controller 700 according to user instructions.

[0047] A possible configuration for a riding rice transplanter is one in which the soil cover adjustment function for the direct seeding unit can be realized by operating a mobile device such as a remote controller 700 that can communicate wirelessly with the rice transplanter. Since soil cover adjustment can be performed from outside the machine even when the machine is traveling automatically, planting accuracy can be improved.

[0048] A configuration is also possible in which a soil cover adjustment item is provided on the remote controller function setting screen of the mobile terminal.

[0049] If the type determination of the planting unit recognizes that the attached unit is a direct seeding unit, the soil cover adjustment item in the above-described embodiment may be made selectable and activated.

[0050] If the type determination of the planting unit determines that the attached unit is not a direct seeding unit, the soil cover adjustment item in the above-described manner may be displayed as inactive and not selectable.

[0051] If the type determination of the planting unit determines that the attached unit is not a direct seeding unit, the soil cover adjustment item in the above-described manner may be configured to be inactive and not displayed.

[0052] (3) Next, the configuration and operation of the rice transplanter according to the embodiment of the present invention will be described in more detail.

[0053] (3a) The stuck detection of the robot rice transplanter according to the embodiment of the present invention will be described.

[0054] A possible configuration is to monitor the number of front wheel rotations detected by the front wheel rotation sensor each time a predetermined number of rear wheel rotations is detected by the rear wheel rotation sensor based on, for example, the number of pulses 308 corresponding to one rear wheel rotation. In various robotic rice transplanter specifications, it is possible to check the amount of movement of the front wheel 221 relative to the amount of movement of the rear wheel 222.

[0055] In the above-described embodiment, the amount of movement of the front wheels 221 relative to the amount of movement of the rear wheels 222 is confirmed, and the ideal front wheel rotation speed F_roll_ideal corresponding to the rear wheel rotation speed R_roll when the slip is zero is compared with the actually measured front wheel rotation speed F_roll, and a simple slip ratio is calculated. (Number 1) SlipRatio A configuration is also conceivable in which the slip ratio is calculated as F_roll_ideal = (F_roll_ideal - F_roll) / F_roll_ideal. The slip ratio in a slip state defined as a front wheel spin state in which the front wheels 221 are not driven in response to the rotation of the rear wheels 222, rather than as a state caused by friction between the ground and the actual rotation of the tires, can be easily calculated by comparing the actual front wheel rotation speed with the ideal front wheel rotation speed.

[0056] In the above-described simple calculation of the slip ratio, it is also possible to consider a configuration in which the ideal front wheel rotation speed F_roll_ideal, which corresponds to the rear wheel rotation speed R_roll when the slip is zero, is changed in accordance with the steering angle. Taking into account that the balance between the front and rear wheel rotation speeds changes in accordance with the steering angle, the slip ratio can be calculated appropriately in accordance with the steering angle.

[0057] It is also possible to consider a configuration in which it is determined that a stuck state has occurred when the slip ratio in a straight-ahead state exceeds a predetermined ratio, such as 50%, making it possible to detect a stuck state of the rice transplanter.

[0058] In the above-described method for determining whether a stuck state has occurred, a configuration is also conceivable in which, when the robot is automatically traveling and a stuck state is detected, the robot is temporarily stopped. If a stuck state is detected and the robot is allowed to continue traveling, a dangerous state in which the robot is likely to sink may occur, so the robot is stopped.

[0059] In the above-described mode in which the aircraft is temporarily stopped, a configuration is also possible in which the handle position is aligned with the handle center position after the aircraft is stopped in response to stuck detection. In this way, the aircraft handle position is aligned with the handle center position as the first stuck-free operation step. In other words, since the handle position even in a straight-ahead state may not match the handle center position, if necessary, the handle position may be aligned with the handle center position after the aircraft is stopped in response to stuck detection.

[0060] In the above-described mode in which the vehicle is temporarily stopped, it is also possible to consider a configuration in which, after the vehicle is stopped in response to the detection of a stuck vehicle, the electromagnetic left and right rear wheel clutches are turned off and the motor differential lock is turned on. In this way, four-wheel drive is performed as a second stuck vehicle escape operation step.

[0061] After the vehicle is stopped due to the detection of a stuck state, the steering wheel position may be aligned with the center position, or the electromagnetic left and right rear wheel clutches may be turned off, and the vehicle may be moved backward at a slow speed in the manner described above. In this way, as a third stuck-free operation step, the vehicle is moved backward at a slow speed to attempt to escape from the muddy area.

[0062] In the above-described embodiment in which the vehicle is moved backward at a slow speed, it is also possible to consider a configuration in which the vehicle is moved backward a predetermined distance and then moved forward again at a slow speed. In this way, as a fourth stuck escape operation step, the vehicle is moved backward and then moved forward again, and a travel retry is attempted.

[0063] In the above-described mode in which a travel retry is attempted, a configuration is also conceivable in which stuck detection is performed again by utilizing the above-described slip ratio calculation. In this way, the effectiveness of the stuck avoidance operation by moving the vehicle backward is confirmed as the fifth stuck avoidance operation step. In other words, stuck detection may be performed repeatedly to confirm the effectiveness of the stuck avoidance operation by moving the vehicle backward.

[0064] In the above-described method for checking the effectiveness of the stuck-car avoidance operation, if the stuck-car avoidance is successful, the vehicle speed may be automatically restored to the speed before the stuck state occurred. If the stuck-car avoidance is successful, the work can be resumed at the original vehicle speed.

[0065] In the above-described mode for checking the effectiveness of the stuck avoidance operation, if the stuck avoidance operation fails, it is also possible to consider a configuration in which a stuck escape operation is performed again to try to avoid the stuck state.If the stuck avoidance operation fails, the machine can be repeatedly moved forward and backward at a slow speed to firmly solidify the foothold field F and finally avoid the stuck state.

[0066] In the above-described embodiment in which the aircraft repeatedly moves forward and backward at a slow speed, if the stuck avoidance operation fails a predetermined number of times, for example, five times, it may be determined that the aircraft is unavoidable and the aircraft may be stopped and the motor brake may be activated. If the aircraft is unavoidable, the aircraft may be stopped on the spot and the brake may be activated to ensure safety.

[0067] (3b) The electrically assisted HST control according to the embodiment of the present invention will now be described.

[0068] When turning, a configuration is conceivable in which a servo motor that controls the HST trunnion opening is supplied with a correction current value to return the vehicle speed to a preset level according to the load detected by a torque sensor mounted on the axle, thereby adjusting the tilt of the electrically assisted HST swash plate, thereby maintaining a constant vehicle speed and stabilizing the turning trajectory. Not only does vehicle speed change depending on the amount of slip, but the DGNSS positioning accuracy is not very high, so the turning trajectory produced by turning assistance can sometimes be unstable. However, by adjusting the tilt of the electrically assisted HST swash plate when turning with turning assistance, the occurrence of the phenomenon in which the turning trajectory becomes difficult to maintain constant due to a decrease in vehicle speed caused by slip and the positioning accuracy of the DGNSS can be suppressed, allowing the vehicle to turn toward the desired location.

[0069] Another possible configuration is to maintain a constant vehicle speed and stabilize the turning trajectory by supplying a correction current value to the servo motor that controls the HST trunnion opening to return the vehicle speed to a preset level based on the load detected by a load cell attached to the axle instead of the torque sensor in the above-mentioned embodiment, thereby adjusting the inclination of the electrically assisted HST swash plate.

[0070] (3c) The variable motor HST control for automatic straight-line driving control according to the embodiment of the present invention will be described.

[0071] One possible configuration is to determine that automatic straight-line driving is in progress when point A, the first reference point for automatic straight-line driving control, is registered by operating the straight-line driving assist lever, and reduce the HST variable motor capacity. By utilizing the characteristics of the variable motor HST, which achieves high efficiency by ensuring that the HST is in use with output never falling below a specified level, horsepower loss is reduced and the decline in work efficiency that tends to occur when the HST variable motor capacity does not change, even under light loads, is suppressed. In other words, the HST variable motor capacity may be reduced by reducing the HST trunnion opening, thereby reducing vehicle speed.

[0072] In the above-described embodiment, a configuration is also possible in which the HST variable motor capacity is increased when Point B, the second reference point for automatic straight-line control, is registered by operating the straight-line assist lever. By making full use of the characteristics of the variable motor HST, turning performance is ensured and poor turning caused by insufficient output torque, which is likely to occur when the HST variable motor capacity remains unchanged from the HST variable motor capacity during straight-line driving, even when turning and placing a heavy load on the traveling system, is suppressed.

[0073] In the above-described embodiment, it is also possible to consider a configuration in which the HST variable motor capacity is reduced when the straight-line assist is turned on by operating the straight-line assist lever. By making the most of the characteristics of the variable motor HST, horsepower loss is reduced and a decrease in work efficiency, which tends to occur when the HST variable motor capacity does not change even when the load is light, is suppressed.

[0074] In the above-described embodiment, it is also possible to consider a configuration in which the HST variable motor capacity is increased when the straight-line assist is turned off by operating the straight-line assist lever. By making full use of the characteristics of the variable motor HST, turning performance is ensured and poor turning caused by insufficient output torque, which is likely to occur when the HST variable motor capacity remains unchanged from the HST variable motor capacity during straight-line operation even when turning and a large load is placed on the traveling system, is suppressed.

[0075] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0076] Furthermore, the recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0077] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the plurality of steps.

[0078] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0079] Furthermore, one form of use of the inventive program related to the present invention may be a form in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0080] The recording medium also includes a ROM (Read Only Memory).

[0081] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0082] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0083] The work vehicle of the present invention can reduce the burden on the worker and is useful for use as a work vehicle such as a rice transplanter. [Explanation of symbols]

[0084] 100 body 210 engine 220 Running gear 221 Front wheel 222 rear wheel 230 Steering Gear 240 Seedling planting device 241 Seedling planting tools 250 Fertilizer equipment 260 Ground leveling equipment 261 rotor 262 Float 600 Controller 700 Remote Controller 800 monitors F field

Claims

[Claim 1] a vehicle body (4) to which a work machine that performs work on a field can be connected; A work vehicle capable of mounting a work implement selected from a plurality of work implements, A work vehicle equipped with a monitor that displays items related to the connected work implement and the setting values ​​of the items, and the work implement is a planting device (10) that plants seedlings in a field from a mat of seedlings, and when a direct seeding device (150) is connected to the vehicle body (4) instead of the planting device (10), the setting value of the planting depth is displayed but the setting value related to the mat of seedlings is not displayed.

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