Work vehicles

Abstract

To assist timing of a turning operation.SOLUTION: A work vehicle includes notification means (31a) for notifying an operator of a straight shifting period for shifting a vehicle body (4) from turning to straight traveling, in the case where it is detected that the straight shifting period has come, when the work vehicle travels from a first work route (403-2) toward a second work route (403-3), and thereby the operator can recognize that the straight shifting period has come, and the work vehicle can assist timing of a turning operation.SELECTED DRAWING: Figure 7

Description

[Technical Field]

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

[0002] In work vehicles such as rice transplanters and tractors, after working along a linear work path, when moving to the next work path, a technology is known in which the planting unit is raised when the steering wheel is turned, and the planting unit is lowered when the steering angle falls within a predetermined range (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-191957 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology described in Patent Document 1, the work equipment rises and falls in conjunction with steering operation, but if the steering operation, particularly the timing of turning the steering wheel or returning the steering wheel from a turn to straight driving, is incorrect, the timing of the work equipment rising and falling will be off, and the position where work is performed will be shifted. FIG. 13 is an explanatory diagram of the problems that arise when a work machine equipped with a large work implement makes a U-turn. In Figure 13, particularly when using a rice transplanter with many rows or a work implement 01 with a large working width (horizontal width), the distance between adjacent linear work paths 02, 03 also becomes wider. That is, if the rice transplanter travels along the U-shaped turning path 04 when turning (making a U-turn), it will turn too quickly and not match the next work path 03, resulting in an area 06 where the work widths overlap. It is possible to increase the turning radius to match the distance between the work paths 02, 03, but in this case, the area where work is not performed along the ridge will become wider, which may reduce workability.

[0005] The present invention has as its technical object to provide assistance in timing of turning operations. [Means for solving the problem]

[0006] The above-mentioned problems of the present invention are solved by the following means. The invention described in claim 1 provides a vehicle body (4) having a working implement (10) at the rear, and a travel path (401) having a linear first work path (403-2) and a second work path (403-3) that is linear and parallel to the first work path (403-2) and adjacent to the first work path (403-2) at an interval based on the work width (L1) of the work implement (10), when the vehicle body (4) is traveling along the travel path (401), a notification means (31a) that notifies an operator of the straight travel transition time when it is detected that the vehicle body (4) should transition from turning to straight travel when traveling from the first work path (403-2) to the second work path (403-3); a handle (32) operated by an operator to turn the vehicle body (4); a working machine control means (307) for raising the working machine (10) when the handle (32) is turned; a turning angle detection means (303) for detecting the turning angle of the handle (32); and the notification means (31a) for displaying a deviation between a current operating position of the handle (32) detected by the turning angle detection means (303) and a target position of the handle (32) when the vehicle body (4) is traveling straight or turning. The work vehicle is characterized by being equipped with:

[0007] The invention described in claim 2 is the work vehicle described in claim 1, characterized in that it comprises, in addition to the first work path (403-2) and the second work path (403-3), the travel path (401) which is set between the end (A1) of the first work path (403-2) and the start (A2) of the second work path (403-3) and has a straight lateral travel path (404b) which intersects with the first work path (403-2), and the notification means (31a) which notifies the worker of the straight travel transition time when it is detected that the straight travel transition time for transitioning the vehicle body (4) from turning to straight travel has arrived when transitioning from the first work path (403-2) to the lateral travel path (404b).

[0008] The invention described in claim 3 is the work vehicle described in claim 2, characterized in that it is equipped with an alarm means (31a) that notifies the worker of the turning transition time when it is detected that the vehicle body (4) needs to transition from straight ahead to turning when transitioning from the lateral travel path (404b) to the second work path (403-3).

[0009] The invention described in claim 4 is the work vehicle described in claim 1, characterized in that it comprises, in addition to the first work path (403-2) and the second work path (403-3), the travel path (401) having a straight lateral travel path (404b) that is set between the end (A1) of the first work path (403-2) and the start (A2) of the second work path (403-3) and intersects with the first work path (403-2), and the notification means (31a) that notifies the worker of the straight-line transition time when it is detected that the vehicle body (4) should transition from turning to straight-line travel when transitioning from the lateral travel path (404b) to the second work path (403-3).

[0010] The invention described in claim 5 is the work vehicle described in claim 1, characterized in that it comprises the travel path (401) having, in addition to the first work path (403-2) and the second work path (403-3), an arc-shaped turning path (404') set between the end (A1) of the first work path (403-2) and the start (A2) of the second work path (403-3), and the notification means (31a) that notifies the worker of the straight-line transition time when it is detected that the vehicle body (4) should transition from turning to straight-line travel when transitioning from the arc-shaped turning path (404') to the second work path (403-3).

[0011] Claim 6The invention described in (1) comprises a frame portion (452) extending in the longitudinal direction, a target position for straight driving displayed in the longitudinal center of the frame portion (452), and a target position for turning displayed closer to the longitudinal end of the frame portion (452) as the turning angle of the handlebars (32) increases, and is displayed as an image (454) having pentagonal figures (454a) arranged at both ends of the frame portion (452) in the lateral direction and line segments (454b) connecting the pentagonal figures. and the current operation position is displayed as a rectangular image (455) that moves along the longitudinal direction of the frame portion (452) according to the turning angle of the steering wheel (32) detected by the turning angle detection means (303), and the rectangular image (455) is displayed at an end of the longitudinal direction of the frame portion (452) as the turning angle of the steering wheel (32) detected by the turning angle detection means (303) increases. Claim 1 It is a work vehicle described in

[0012] Claim 7 The invention described in the item (1) is characterized in that the target position during the turning can be set according to an input by an operator. Claim 6 It is a work vehicle described in

[0013] Claim 8 The invention described in the item (1) is characterized in that the display color is different depending on whether the deviation between the current operation position and the target position is within a predetermined range or outside the range. Claim 1 It is a work vehicle described in [Effects of the Invention]

[0014] According to the invention described in claim 1, when traveling from the first work path (403-2) to the second work path (403-3), if it is detected that it is time to transition the vehicle body (4) from turning to straight traveling, the worker is notified of the time to transition to straight traveling, so that the worker can recognize that it is time to transition to straight traveling and can be assisted in timing the turning operation. Furthermore, according to the invention described in claim 1, the working implement can be raised in conjunction with the start of swinging, which reduces the damage to the field compared to when the working implement is not raised. Furthermore, according to the invention described in claim 1, by displaying the deviation between the current operating position of the handle (32) and the target position of the handle (32), the operator can easily recognize the target of the operation.

[0015] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when transitioning from the first working path (403-2) to the lateral running path (404b), if it is detected that it is time to transition from turning to straight running of the vehicle body (4), the worker is notified of the time to transition to straight running, thereby enabling a smooth and appropriate transition to the lateral running path (404b).

[0016] According to the invention described in claim 3, in addition to the effect of the invention described in claim 2, when it is detected that the time has come to transition from straight travel to turning of the vehicle body (4) when transitioning from the lateral travel path (404b) to the second work path (403-3), the worker is notified of the time to transition to turning, so that turning can be started smoothly and at an appropriate timing from the lateral travel path (404b).

[0017] According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, when transitioning from the lateral path (404b) to the second work path (403-3), if it is detected that it is time to transition the vehicle body (4) from turning to straight-line travel, the worker is notified of the time to transition to straight-line travel, thereby enabling a smooth and appropriate transition to the second work path (403-3).

[0018] According to the invention described in claim 5, in addition to the effects of the invention described in claim 1, when transitioning from the arc-shaped turning path (404') to the second working path (403-3), if it is detected that it is time to transition from turning to straight-line movement of the vehicle body (4), the worker is notified of the time to transition to straight-line movement, thereby enabling a smooth and appropriate transition from the arc-shaped turning path (404') to the second working path (403-3).

[0019] Claim 6 According to the described invention, Claim 1 In addition to the effects of the invention described above, the operator can easily recognize the target of operation depending on the deviation between the image (454) displaying the target position and the image (455) displaying the current operation position.

[0020] Claim 7 According to the described invention, Claim 6 In addition to the effects of the invention described above, by setting the target position during turning according to input by the operator, the setting can be changed according to the field conditions and the operator's preferences.

[0021] Claim 8 According to the described invention, Claim 1 In addition to the effects of the described invention, by displaying different colors depending on whether the deviation between the operating position and the target position is within a predetermined range or outside that range, it is easier for the operator to recognize whether the deviation from the target position is within the range or not. [Brief explanation of the drawings]

[0022] [Figure 1] FIG. 1 is a side view of the seedling transplanter according to the embodiment. [Figure 2] Figure 2 is a front view of the seedling transplanter. [Figure 3] Figure 3 is a plan view of the seedling transplanter. [Figure 4] FIG. 4 is a functional block diagram of the control unit according to the embodiment. [Figure 5] FIG. 5 shows an example of a work route according to the embodiment, where FIG. 5(A) is an explanatory view of the entire work route, and FIG. 5(B) is an enlarged view of a main part of the work route. [Figure 6] FIG. 6 is an example of an image for setting a steering wheel target position (guide angle) during turning according to the embodiment. [Figure 7] Figure 7 is an explanatory diagram of an example of an alarm image in an embodiment, where Figure 7(A) is a diagram of an alarm image in a straight-ahead state before starting to turn immediately after the turning transition time has arrived, and Figure 7(B) is a diagram of an alarm image in a state where the steering wheel has been turned slightly from the state of Figure 7(A). [Figure 8] Figure 8 is an explanatory diagram of an example of a notification image in an embodiment, where Figure 8(A) is a diagram of the state in which the steering wheel is operated to the target position when turning, and Figure 8(B) is a diagram of the state in which the steering wheel is operated beyond the target position. [Figure 9] Figure 9 is an explanatory diagram of an example of a notification image of an embodiment, where Figure 9(A) shows a state where the target position is within the allowable range of Figure 8(A) but has not been reached, and Figure 9(B) shows a state where the target position is beyond the allowable range of Figure 8(A). [Figure 10] FIG. 10 is an explanatory diagram of an example of a notification image according to the embodiment, in which the target position is manually set by the operator and the value of the target position is smaller than that in the case of FIG. [Figure 11] Figure 11 is an explanatory diagram of an example of a notification image in an embodiment, where Figure 11(A) is a diagram of the notification image immediately after the time to transition to straight ahead has arrived and before the steering wheel is returned to the straight ahead state (neutral position), and Figure 11(B) is a diagram of another example of the notification image at the time to transition to straight ahead. [Figure 12] FIG. 12 is an explanatory diagram of a case where the connection path is U-shaped. [Figure 13] FIG. 13 is an explanatory diagram of the problems that arise when a work machine equipped with a large work implement makes a U-turn. DETAILED DESCRIPTION OF THE INVENTION

[0023] An embodiment of the present invention will be described below. FIG. 1 is a side view of the seedling transplanter according to the embodiment. Figure 2 is a front view of the seedling transplanter. Figure 3 is a plan view of the seedling transplanter.

[0024] The seedling transplanter, which is an example of a work vehicle according to an embodiment of the present invention, has a seedling planting unit 10, which is an example of a work machine and is a multi-row planting machine body, attached to the rear of a vehicle body 4 in a high-floor riding mode via a parallel link lift link mechanism 11 that is raised, lowered, and rotated by the hydraulic expansion and contraction of a lift cylinder (not shown). This seedling planting unit 10 has multiple floats 6, such as a center float and side floats, that glide and level the soil surface, arranged on the underside of the seedling transplanter body 5 connected to the lift link mechanism 11. The seedling transplanting machine body 5 is mainly composed of a transmission case, and is equipped with a seedling tank 8 that lays out a large number of mat seedlings on top of it and guides them along the downward sloping surface at the rear end before dispensing them to the seedling outlet 7 formed at the lower end, and a planting device 9 that separates and holds the mat seedlings dispensed at the seedling outlet 7 and inserts the planting claws into the leveled soil surface below, operating along a planting trajectory that is oval in side view, thereby allowing seedlings to be planted in multiple rows.

[0025] An engine (internal combustion engine) 30 is mounted under an engine cover 29 below the driver's seat 1 of the vehicle body 4, and a steering board 31, a steering handle 32, and other operating mechanisms 33 for operating the seedling transplanter are arranged in front of the driver's seat 1. An LCD monitor as an example of a display unit and various buttons and knobs as examples of an input unit are arranged on the steering board 31. In addition, a high-mounted monitor 31a as an example of a display unit and an example of a notification means is installed in the upper front part of the steering board 31. On both the left and right sides of the driver's seat 1, steering board 31, and center floor 34 between them, a side floor 2 is formed that is long and wide, extending continuously from the front end of the vehicle body 4 to the rear fender 24 on the rear end. The driver and assistant workers can move back and forth on the top surface of this side floor 2 to easily perform tasks such as supplying mat seedlings and fertilizer.

[0026] The seedling transplanter shown in the figure is designed to have eight rows of seedlings and a wide width, so a sub-floor 35 of an appropriate width is added along the outside of the side floor 2 to accommodate the width of the seedling planting section 10. It is also possible to configure the machine without the sub-floor 35. On the front end of this sub-floor 35, a multi-tiered auxiliary seedling shelf 26 is provided on a support frame 36 erected from the side of the vehicle body 4, and mat seedlings can be loaded and stored thereon to be replenished in the seedling tank 8 at the rear. A step 37 for the operator to get on and off is provided on the outside of this sub-floor 35. A pair of left and right line-drawing markers 41 are also placed on the sides of the subfloor 35. The line-drawing marker 41 on the left and right side where seedlings have not yet been planted is deployed to draw a line on the surface of the field as a reference for traveling.

[0027] Behind the driver's seat 1, a wide, stepped rear floor 3 is formed extending to the rear ends of the side floors 2, and the front edge of the rear floor 3 is connected to the rear edge of the side floors 2 by an inclined plate 38 that slopes downwards in front, making it easy for the driver to move his / her feet. A short operating lever mechanism 39 is disposed at the lower end of the inclined plate 38, making it easy to operate from the driver's seat 1. A U-shaped guard rail 52 is formed at an upper position of the rear floor 3 by a rear edge 50 that runs along the rear edge and side edges 51 that run along the left and right edge, allowing the driver to maintain a safe working posture when refueling on the rear floor 3.

[0028] A rear fender 24 is configured above the rear wheels 27 of the vehicle body 4, and the left and right end portions of the rear floor 3 are configured above this rear fender 24. The front wheels 40 and rear wheels 27 are arranged within the lateral width of the side floor 2 and rear floor 3, but depending on the width of the rear wheels 27, in particular, the rear wheels may extend outward from the width of the rear floor 3. For this reason, the rear fender 24 may be configured to extend outward more widely than the outer end of the rear floor 3, or the underside of the rear floor 3 itself may be used as the rear fender 24.

[0029] A seedling planting section 10 is attached to the rear of the vehicle body 4 via a lift link mechanism 11 that can be raised and lowered. The seedling planting section 10 consists of a float 6 that slides on the soil surface and supports the seedling transplanting machine body 5, a seedling tank 8 that receives mat seedlings and delivers them to a seedling outlet 7 at the bottom of the rear, and a planting device 9 that separates and holds the mat seedlings delivered to the seedling outlet 7 and plants them on the soil surface leveled by the float 6. A number of fertilizer applicators 12 are arranged along the outer side of the rear floor 3 in the front-to-rear direction.

[0030] When planting seedlings with the seedling transplanter, the seedling planting section 10 is lowered and the planting device 9 operates on the soil surface leveled by each float 6, separating and holding the appropriate number of mat seedlings delivered to the seedling outlet 7 of the seedling tank 8, and planting them at a fixed depth on the leveled soil surface. When fertilizing the planting section with each planting device 9, granular fertilizer that has been previously supplied to the fertilizer hopper 19 is delivered to the delivery outlet by the delivery device 15, and the fertilizer is applied to the planting area near the planting point on the planting soil surface leveled by each float 6 via the fertilizer hose 25 for each fertilizer row by the force of air blown from the blower 13 through the duct 14 under the rear floor 3.

[0031] When the seedling planting section 10 is raised, the upper end of the seedling tank 8 can be raised to approach a position above the rear floor 3, making it easier for an operator to supply mat seedlings from above the rear floor 3, and enabling quick and accurate supply of seedlings.

[0032] Further, the left and right end portions of the rear floor 3 are configured as rear fenders 24 or configured as upper portions of the rear fenders 24, and the plurality of fertilizer applicators 12 are arranged above the rear fenders 24.

[0033] The left and right side ends of the rear floor 3 formed at the rear end of the side floor 2 next to the driver's seat 1 are positioned above the rear fender 24 that covers the upper part of the rear wheels 27 of the raised-floor vehicle body 4, so they are less likely to interfere with stepping on and moving around when replenishing mat seedlings in the seedling tank 8 as described above, and the foot area at the lateral end of the rear floor 3 at the rear position of the side floor 2 is formed wide, making it easy to perform seedling replenishing operations in the rear seedling tank 8 and fertilizer replenishing operations in the lateral fertilizer hopper 19.

[0034] (Explanation of the control unit of the seedling transplanter) FIG. 4 is a functional block diagram of the control unit according to the embodiment. The seedling transplanter of this embodiment has a control unit 300 that controls each function. The control unit 300 has an input / output interface I / O that performs input and output of signals from and to the outside. The control unit 300 also has a read-only memory (ROM) that stores programs and information for performing necessary processing. The control unit 300 also has a random access memory (RAM) for temporarily storing necessary data. The control unit 300 also has a central processing unit (CPU) that performs processing according to the programs stored in the ROM or the like. Therefore, the control unit 300 of this embodiment is configured as a small information processing device, a so-called microcomputer. Therefore, the control unit 300 can realize various functions by executing programs stored in the ROM or the like.

[0035] The control unit 300 receives signals from signal input elements such as a high-mount monitor 31a, which is an example of an input unit and an example of a display unit, and which is configured with a touch panel, a steering angle sensor SN1, a rear wheel rotation sensor SN2, and various other sensors not shown.

[0036] The control unit 300 can send control signals to a lift cylinder, a planting clutch, and the like, which are examples of controlled elements, to control the raising and lowering of the seedling planting unit 10 and the operation / stop of the seedling planting unit 10. The control unit 300 can also output a control signal to a liquid crystal monitor or high-mount monitor 31a, which is an example of a display unit, to display work information and work status.

[0037] FIG. 5 shows an example of a work route according to the embodiment, where FIG. 5(A) is an explanatory view of the entire work route, and FIG. 5(B) is an enlarged view of a main part of the work route. The control unit 300 according to the embodiment has the following functional means (program modules). The work path storage means 301 stores a travel path 401. As shown in FIG. 5, the work path storage means 301 of the embodiment stores in advance a travel path 401, which is a path along which work, turning, and the like are performed within a field 402. The travel path 401 of the embodiment includes a work start position 401a, a work end position 401b, a work path 403 along which work is performed, and a connecting path 404 connecting the work paths 403. The work path 403 includes multiple linear work paths 403-1, 403-2, 403-3, ... that extend parallel to one of the outer edges of the field 402 and parallel to each other. The spacing between adjacent work paths 403 is set based on the work width L1 of the seedling planting unit 10, which is a work machine, so that the work widths L1 do not overlap and are adjacent.

[0038] The connecting path 404 in this embodiment has an arc-shaped front swing path 404a connected to the end A1 of the front working path 403 (an example of a first working path, 403-2 in FIG. 5(B)), a straight lateral running path 404b connected to the end B1 of the front swing path 404a, and an arc-shaped rear swing path 404c connected to the end B2 of the lateral running path 404b and the start A2 of the next working path 403 (an example of a second working path, 403-3 in FIG. 5(B)). Therefore, in the example shown in FIG. 5, the connecting path 404 is not curved like a U, but is configured as a U-shaped path having the lateral running path 404b and the front and rear swing paths 404a and 404c.

[0039] The travel path 401 can be calculated and set automatically based on the shape of the field 402 and the working width of the seedling planting unit 10, which is the work machine, or it can be set manually by the operator. Therefore, seedling transplanters with a large number of rows tend to have a longer lateral travel path 404b, while seedling transplanters with a small number of rows tend to have a shorter lateral travel path 404b. Furthermore, models with wider row spacing tend to have a longer lateral travel path 404b compared to models with narrow row spacing. In addition, because the minimum turning radius differs depending on the distance between the front wheels 40 and the rear wheels 27 (wheelbase), the length of the lateral travel path 404b also differs depending on the wheelbase. In addition, the travel path 401 can be calculated automatically by an information processing device (computer device) external to the seedling transplanter and stored in the seedling transplanter via a storage medium, wired communication, wireless communication, etc., or it can be calculated by the control unit 300 of the seedling transplanter.

[0040] FIG. 6 is an example of an image for setting a steering wheel target position (guide angle) during turning according to the embodiment. The turning angle storage means 302, which serves as an example of a storage means for storing the target position of the steering wheel during turning, stores setting information for the turning angle when traveling along the front turning path 404a or the rear turning path 404c, i.e., the target position (target value of the operation amount) of the steering wheel 32. The turning angle is preset to a standard value (default value), but can also be manually set or changed by the operator depending on the field conditions (depth, soil softness, amount of water, etc.) or the operator's preference. In FIG. 6, in the seedling transplanter of this embodiment, a setting image 411 is displayed on the liquid crystal panel (display unit, not shown) of the steering board 31, and the turning angle (guide angle) can be manually set by operating the input buttons and operation knobs (not shown) of the steering board 31.

[0041] The turning angle detection means 303 detects the current operating position of the steering wheel 32, that is, the turning angle, based on the detection result of the turning angle sensor SN1.

[0042] The rear wheel rotation amount calculation means 304 calculates the amount of rotation of the rear wheel 27 based on the detection result of the rear wheel rotation sensor SN2. In this embodiment, the travel distance of the vehicle body 4 is derived by calculating the amount of rotation of the rear wheel 27 while traveling along the travel path 401. Therefore, by comparing the travel distance from the start point A2 of the work path 403 with the total length of the work path 403, it is possible to determine that the end point A1 of the work path 403 has been reached. It is also possible to determine that the end point B1 of the front turning path 404a has been reached from the travel distance and turning angle from the start point of the front turning path 404a (end point A1 of the work path 403). The same applies to the lateral traveling path 404b and the rear turning path 404c.

[0043] In the seedling transplanter of this embodiment, the front wheels 40 are drive wheels and the rear wheels 27 are driven wheels, and the travel distance is calculated based on the rotation of the rear wheels 27. Drive wheels can slip when traveling on soft soil, which can cause a discrepancy between the rotation of the drive wheels and the actual travel distance. In contrast, driven wheels are less likely to slip, which reduces the error in calculated travel distance. Therefore, in this embodiment, the travel distance is calculated using the rear wheels 27, which are driven wheels. Depending on the field conditions, it is also possible to calculate the travel distance using the drive wheels, or in the case of four-wheel drive, it is possible to calculate the travel distance based on the rotation of any wheel.

[0044] The handle operation timing determination means 305 has a turning transition timing determination means 305a and a straight-ahead transition timing determination means 305b, and determines the operation timing of the steering wheel 32. That is, it determines the turning transition timing, which is the timing when the steering wheel 32 is turned from a straight-ahead state (neutral position), and the straight-ahead transition timing, which is the timing when the steering wheel 32 is returned from a turned state to a straight-ahead state (neutral position).

[0045] The turning transition time determination means 305a determines whether or not it is time to transition to turning based on the detection result by the rear wheel rotation amount calculation means 304. In this embodiment, when traveling along the linear work path 403 or the lateral travel path 404b, it is determined that it is time to transition to turning when the vehicle reaches the end point A1 of the work path 403 or the end point B2 of the lateral travel path 404b based on the travel distance calculated by the rear wheel rotation amount calculation means 304 and the length of the path being traveled.

[0046] The straight running transition time determination means 305b determines whether or not it is time to transition to straight running based on the detection result by the rear wheel rotation amount calculation means 304. In this embodiment, when traveling along an arc-shaped (non-linear) front turning path 404a or rear turning path 404c, it is determined that it is time to transition to straight running when the vehicle reaches the end B1 of the front turning path 404a or the end B1 of the rear turning path 404c (start A2 of the next working path 403) based on the travel distance and turning angle calculated by the rear wheel rotation amount calculation means 304 and the length of the path being traveled.

[0047] In the embodiment, it is determined that the turning transition time has arrived when the terminal end A1 or B2 is reached, and that the straight-travel transition time has arrived when the terminal end B1 or the starting point A2 is reached. However, this is not limiting. Taking into account time allowance for operation, it is also possible to determine the turning transition time when the vehicle reaches a position a predetermined distance before the terminal end A1 or B2, or the straight-travel transition time when the vehicle reaches a position a predetermined distance before the terminal end B1 or the starting point A2. The near position can be preset as a standard value, or can be manually changed by the operator. The near position can also be set as a specific distance or length, or as a value of the amount of rotation of the rear wheels 27.

[0048] Furthermore, although the embodiment has been described as an example of a configuration in which the timing for transitioning to straight running or turning is detected from the travel distance, the present invention is not limited to this. For example, it is possible to mount a sensor for detecting the orientation of the vehicle body 4, and detect that it is time to transition to straight running to the lateral running path 404b when the orientation changes by 90° from the orientation of the terminal A1 of the work path 403, or to determine that it is time to transition from the rear turning path 404c to the next work path 403 when the orientation changes by 180° from the orientation of the terminal A1 of the work path 403.

[0049] Figure 7 is an explanatory diagram of an example of an alarm image in an embodiment, where Figure 7(A) is a diagram of an alarm image in a straight-ahead state before starting to turn immediately after the turning transition time has arrived, and Figure 7(B) is a diagram of an alarm image in a state where the steering wheel has been turned slightly from the state of Figure 7(A). Figure 8 is an explanatory diagram of an example of a notification image in an embodiment, where Figure 8(A) is a diagram of the state in which the steering wheel is operated to the target position when turning, and Figure 8(B) is a diagram of the state in which the steering wheel is operated beyond the target position. Figure 9 is an explanatory diagram of an example of a notification image of an embodiment, where Figure 9(A) shows a state where the target position is within the allowable range of Figure 8(A) but has not been reached, and Figure 9(B) shows a state where the target position is beyond the allowable range of Figure 8(A).

[0050] The display control means 306, which is an example of a notification control means, displays images and videos on the high-mounted monitor 31a guiding the vehicle body 4 along the travel path 401 while the vehicle body 4 is traveling along the travel path 401. In FIGS. 7 to 9 , when the display control means 306 of the embodiment detects (determines) that it is time to transition to a turn, it displays a steering guide image 451, which is an image that notifies the operator of the time to transition to a turn, on the high-mounted monitor 31a. The steering guide image 451 of the embodiment has a horizontally long rectangular frame 452. A neutral bar 453 indicating the neutral position is displayed in the center of the frame 452 in the longitudinal direction. A target position image 454 indicating a target position is displayed in the frame 452 in accordance with the target position of the steering wheel 32 during a turn. In the embodiment, the target position image 454 is displayed further outward in the longitudinal direction as the turning angle, which is the target position of the steering wheel 32, increases.

[0051] In addition, the target position image 454 of the embodiment has target markers 454a, which are pentagonal figures arranged at both ends of the frame portion 452 in the short direction (vertical direction), and target bars 454b, which are line segments connecting the target markers 454a. A current position image 455 that displays the current operating position of the steering wheel 32 is displayed inside the frame 452. In this embodiment, the current position image 455 is configured as a rectangular image. The current position image 455 moves along the longitudinal direction of the high mounted monitor 31a according to the turning angle of the steering wheel 32 detected by the turning angle detection means 303.

[0052] Furthermore, in the steering guide image 451 of the embodiment, when the current position of the steering wheel 32 does not reach the allowable range of the target position as in Figures 7 and 8(B), the frame 452 is displayed in white, and when the current position of the steering wheel 32 is at the target position or within the allowable range of the target position as in Figures 8(A) and 9, the color of the frame 452 changes. In other words, the displayed color is different depending on whether the deviation between the operation position of the steering wheel 32 and the target position is within a predetermined allowable range or outside the allowable range.

[0053] FIG. 10 is an explanatory diagram of an example of a notification image according to the embodiment, in which the target position is manually set by the operator and the value of the target position is smaller than that in the case of FIG. When the turning angle (guide angle) is manually set on the setting image 411, the position of the target position image 454 changes according to the set turning angle, as shown in FIG.

[0054] Figure 11 is an explanatory diagram of an example of a notification image in an embodiment, where Figure 11(A) is a diagram of the notification image immediately after the time to transition to straight ahead has arrived and before the steering wheel is returned to the straight ahead state (neutral position), and Figure 11(B) is a diagram of another example of the notification image at the time to transition to straight ahead. Furthermore, when it is detected (determined) that the time has come to transition to straight driving, a steering guide image 451', which is an image that notifies the operator of the time to transition to straight driving, is displayed on the high-mounted monitor 31a. In Fig. 11(A) , in the steering guide image 451' of the embodiment, a target position image 454 is displayed so as to overlap with the neutral bar 453. 11(B), in order to make it easier to notice that the target position is the neutral position, it is also possible to display target position images 454 on both sides in the longitudinal direction (left and right direction) of neutral bar 453. In this case, if target position images 454 are arranged according to the allowable range of the target position, the allowable range can also be easily visually recognized.

[0055] Therefore, an operator looking at the steering guide image 451 can confirm the deviation between the current operating position of the steering wheel 32 and the target position of the steering wheel 32 when the vehicle body 4 is moving straight or turning by checking the deviation between the current position image 455 and the target position image 454. In the embodiment, the notification method is exemplified as notifying the driver that it is time to transition to straight driving or turning by displaying the target position image 454 of the steering guide image 451, 451′ on the high mount monitor 31a, but is not limited to this. For example, any notification method can be adopted, such as notifying by voice guidance, notifying by turning on, flashing, or changing the color of a lamp, sounding a buzzer, changing the type of sound to be sounded, or changing the interval or cycle of the sound.

[0056] The auto-lift control means 307, which is an example of a working machine control means, controls the auto-lift, which is the raising and lowering of the seedling planting unit 10, which is a working machine. When the steering handle 32 is turned (operated by a predetermined turning angle or more) after reaching the end A1 of the working path 403, the auto-lift control means 307 of the embodiment raises the seedling planting unit 10. In addition, when the end A1 of the rear turning path 404c (starting point A2 of the next working path 403) is reached, the auto-lift control means 307 Then, the seedling planting section 10 is lowered.

[0057] The planting clutch control means 308, which is an example of a working machine operation control means, controls the on / off of the planting clutch, which is a transmission switching device of the seedling planting unit 10, to control the operation or stop of the seedling planting unit 10. When the planting clutch control means 308 of the embodiment reaches the end A1 of the work path 403, it turns off the planting clutch to stop the operation of the seedling planting unit 10. Furthermore, when the planting clutch control means 308 reaches the end A1 of the rear turning path 404c (the start A2 of the next work path 403), it turns on the planting clutch to operate the seedling planting unit 10. Furthermore, if the seedling planting unit 10 starts operating while descending when it reaches the end of the rear turning path 404c (the start point A2 of the next work path 403), planting will not be stable, so it is preferable to control the planting clutch to turn on after a predetermined time has elapsed after the seedling planting unit 10 has reached the completed state, i.e., the end of the rear turning path 404c (the start point A2 of the next work path 403).

[0058] In the seedling transplanter of the embodiment having the above configuration, when an operator travels along a travel path 401 while working within a field 402, the operator can travel along the travel path 401 by steering the steering wheel 32 in accordance with the guidance of the steering guide images 451, 451′ displayed on the high-mounted monitor 31a. In this embodiment, when a time to transition to a turning or straight ahead is detected, a target position image 454 corresponding to the target position of the steering wheel 32 is displayed. The operator can then simply operate the steering wheel 32 so that the current position image 455 aligns with the target position image 454, thereby being prompted to perform an appropriate amount of operation at the appropriate time and traveling along the travel path 401. Therefore, in the seedling transplanter of the embodiment, the steering guide images 451, 451′ can appropriately assist in timing the turning (steering) operation.

[0059] In addition, in this embodiment, when the current position falls within an allowable range of the target position, the color of the steering guide images 451, 451' changes, making it easier for the operator to recognize whether the target position has been reached.

[0060] FIG. 12 is an explanatory diagram of a case where the connection path is U-shaped. In the embodiment, the connecting path 404 is a U-shaped path, but this is not limiting. As shown in Fig. 12, the present invention can also be applied to a configuration in which a turning path 404', which is a U-shaped connecting path, is set so that the working width L1 of the work machine does not interfere. Therefore, when the start of the turning path 404' (terminal end A1 of the first working path 403-2) is reached, it is detected that it is time to transition to turning, and a steering guide image 451 similar to that in Fig. 7 is displayed. Furthermore, when the end of the turning path 404' (starting end A2 of the second working path 403-3) is reached, it is detected that it is time to transition to straight driving, and a steering guide image 451' similar to that in Fig. 11 is displayed.

[0061] While the embodiment illustrates a configuration in which the turning direction is predetermined by the travel path 401, this is not limiting. The present invention can also be applied to a configuration in which the travel path 401 is not predetermined. In this case, if straight-line travel is detected from the turning angle, it is determined that the vehicle is traveling on the work path 403. If the steering wheel 32 is turned by a predetermined amount or more, it is determined that a turn has begun, and the seedling planting unit 10 is raised. If the orientation changes by 180°, it is determined that the time to transition to straight travel (the next work path 403 has been reached) has arrived. When a turn begins, a target position image 454 is displayed according to the turning angle stored in the turning angle storage means 302. At this time, it is possible to determine whether the vehicle is turning right or left based on the turning angle. If the vehicle is turning right, the target position image 454 is displayed on the right side of the frame 452, and if the vehicle is turning left, the target position image 454 is displayed on the left side of the frame 452. The turning angle is preferably set according to the number of rows and the row spacing of the seedling transplanter.

[0062] It is also possible to configure the system so that steering guide images 451, 451' are displayed only in specific situations, such as providing guidance when turning right but not when turning left. It is preferable that the settings for turning right and turning left can be set and changed by the operator according to their preferences.

[0063] Furthermore, the line drawing marker 41, which serves as a travel reference for the seedling transplanter, can be configured to retract or deploy in conjunction with the elevation of the seedling planting unit 10 or the engagement and disengagement of the planting clutch. The line drawing marker 41 is deployed alternately left and right each time the vehicle body 4 turns or rotates. However, if the turning direction is predetermined based on the travel path 401, the left and right line drawing markers 41 are deployed alternately in accordance with the turning direction. Furthermore, when detecting and distinguishing between right and left turns, it is possible to determine whether the left or right line drawing marker 41 should be deployed in accordance with the right or left turn. Once a right or left turn has been determined, even after the engine of the seedling transplanter is stopped for a break or other reason, the line drawing marker 41 can be deployed from the next time onward, assuming that the turning direction is the same as the previous turning direction.

[0064] Furthermore, in the embodiment, the guidance on the steering guide images 451, 451' is not limited to a configuration in which it is always provided. For example, it is possible to switch between providing and not providing guidance by operating a switch or lever. Alternatively, it is possible to provide guidance only when the seedling transplanter is set to operate in a specific mode. Therefore, it is also possible to configure the display of the steering guide images 451, 451' to stop when the specific mode is canceled.

[0065] The switching between providing / not providing the above-mentioned guidance can be configured to transition, for example, each time the switch button is pressed, such as on → off → on → off → .... Also, the switching between providing guidance for only right turns or left turns described above can be configured to transition, such as both off → both on → left turns only → right turns only → both off → both on → .... This switching is not limited to being performed by the switch button, and can also be performed by input to the high-mounted monitor 31a, etc.

[0066] Furthermore, in the embodiment, a configuration in which guidance is provided using steering guide images 451, 451' is exemplified, but this is not limiting. For example, a configuration in which the display of steering guide images 451, 451' is stopped while traveling along work path 403, which has a long straight distance, until the vehicle approaches terminal end A1 is also possible. In addition, a configuration in which guidance is provided while traveling along each of the work path 403, forward turning path 404a, sideways traveling path 404b, and rear turning path 404c, and guidance is not provided while traveling along each of the paths can be individually switched. [Industrial Applicability]

[0067] The work vehicle of the present invention is not limited to seedling transplanters, but can also be applied to various types of work vehicles such as tractors, chemical spraying vehicles, etc. The work machine is not limited to seedling planting devices, but can be applied to any work machine such as a tiller, soil leveler, or seed sower. [Explanation of symbols]

[0068] 4...car body, 10...Work equipment, 31a...Notification means, 32...Handle, 303...Turning angle detection means, 307...Work machine control means, 401...Travel route, 403-2...First working path, 403-3...Second working path, 404b...sideways route, 404'...turning route, 452...frame part, 454a...pentagonal figure, 454b...line segment, 454...Image showing target position, 455...rectangular image, A1...terminal, A2…starting end, L1...Working width.

Claims

1. a vehicle body (4) having a work implement (10) at the rear; a notification means (31a) for notifying an operator of a time to transition to straight running when it is detected that a time has come for the vehicle body (4) to transition from turning to straight running when the vehicle body (4) is traveling from the first work path (403-2) to the second work path (403-3) in a case where the vehicle body (4) is traveling along a travel path (401) having a linear first work path (403-2) and a linear second work path (403-3) that is parallel to the first work path (403-2) and adjacent to the first work path (403-2) at an interval based on the work width (L1) of the work implement (10); a handle (32) that is operated by an operator to rotate the vehicle body (4); a working machine control means (307) for raising the working machine (10) when the handle (32) is turned; A steering angle detection means (303) for detecting the steering angle of the steering wheel (32); the notification means (31 a) for displaying a difference between the current operation position of the steering wheel (32) detected by the steering angle detection means (303) and a target position of the steering wheel (32) when the vehicle body (4) is traveling straight or turning; A work vehicle comprising:

2. the travel path (401) including, in addition to the first work path (403-2) and the second work path (403-3), a linear lateral path (404b) that is set between the end (A1) of the first work path (403-2) and the start (A2) of the second work path (403-3) and intersects with the first work path (403-2); the notification means (31 a) notifying an operator of the straight-line transition time when it is detected that the vehicle body (4) should transition from turning to straight-line travel when transitioning from the first work path (403-2) to the lateral travel path (404b); 2. The work vehicle according to claim 1, further comprising:

3. the notification means (31a) notifying the worker of the turning transition time when it is detected that the vehicle body (4) is to transition from straight travel to turning when transitioning from the lateral travel path (404b) to the second work path (403-3); 3. The work vehicle according to claim 2, further comprising:

4. the travel path (401) including, in addition to the first work path (403-2) and the second work path (403-3), a linear lateral path (404b) that is set between the end (A1) of the first work path (403-2) and the start (A2) of the second work path (403-3) and intersects with the first work path (403-2); the notification means (31 a) notifying an operator of the time to transition to straight running when it is detected that the time has come to transition the vehicle body (4) from turning to straight running when transitioning from the lateral running path (404 b) to the second work path (403-3); 2. The work vehicle according to claim 1, further comprising:

5. the travel path (401) having, in addition to the first working path (403-2) and the second working path (403-3), an arc-shaped turning path (404') set between the end (A1) of the first working path (403-2) and the start (A2) of the second working path (403-3); the notification means (31 a) notifying an operator of the time to transition to straight running when it is detected that the time has come for the vehicle body (4) to transition from turning to straight running when transitioning from the arc-shaped turning path (404') to the second working path (403-3); 2. The work vehicle according to claim 1, further comprising:

6. a longitudinally extending frame portion (452); A target position when traveling straight is displayed in the center of the longitudinal direction of the frame portion (452); a target position during turning that is displayed closer to the longitudinal end of the frame portion (452) as the turning angle of the handlebars (32) increases, and that is displayed as an image (454) having pentagonal figures (454a) arranged at both ends of the frame portion (452) in the lateral direction and line segments (454b) connecting the pentagonal figures; the current operating position being displayed as a rectangular image (455) that moves along the longitudinal direction of the frame portion (452) according to the turning angle of the steering wheel (32) detected by the turning angle detection means (303), and the rectangular image (455) being displayed at the longitudinal end of the frame portion (452) as the turning angle of the steering wheel (32) detected by the turning angle detection means (303) increases; 2. The work vehicle according to claim 1, further comprising:

7. The target position during the rotation can be set according to the operator's input.

7. A work vehicle according to claim 6.

8. The display color is changed depending on whether the deviation between the current operation position and the target position is within a predetermined range or outside the range.

2. The work vehicle according to claim 1.

Images