Work vehicles

Abstract

To provide a work vehicle, even immediately after a start of control of straight traveling, causing no disturbance at the start of planting, and having no possibility of decreasing planting accuracy.SOLUTION: A control part includes: a notification device that, when a traveling car body detected by an attitude detection part in a ground work executable state where a ground work part can execute the ground work, is traveling in an attitude following an original travel direction, notifies that a straight traveling support is available; and a detection part for detecting a steering state of the traveling car body. When the steering state detected by the detection part in the ground work executable state where the ground work part can execute the ground work is not a state of causing the traveling car body to travel straight, the control part causes the notification device to notify that the straight traveling support is unavailable.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

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

[0002] Conventionally, some work vehicles, such as seedling transplanters used for planting seedlings, are equipped with automatic steering devices that assist in straight-line driving. For example, there are known vehicles that automatically drive straight by controlling the steering wheel of the steering device and maintaining it in a straight-line position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-24541 Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, the conventional work vehicle disclosed in Patent Document 1 does not take into consideration the difficulty that it would be for an operator to recognize whether the steering angle set by the steering device is within a predetermined range appropriate for a straight-ahead state when starting control of straight-ahead traveling by the automatic steering device. Furthermore, skilled techniques and many years of experience are required of an operator to determine whether the traveling vehicle body itself is in a straight position relative to the traveling direction.

[0005] As a result, with conventional work vehicles, there was a risk that the start of planting would be disrupted immediately after the automatic steering device began to control straight-line driving, resulting in a decrease in planting accuracy.

[0006] The present invention has been made in consideration of the above, and aims to provide a work vehicle that does not cause any disruption in the start of planting even immediately after control of straight-line driving begins, and does not pose a risk of reduced planting accuracy. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) described in claim 1 comprises a traveling body (2) to which a ground working unit (50) can be connected at the rear and which is provided with steerable wheels (4) steered by a steering device (110); a position information acquisition device (120) for acquiring position information of the traveling vehicle body (2); The system includes a control unit (150) that controls the steering device (110) based on the position information acquired by the position information acquisition device (120) to perform straight-line support to support the automatic straight-line driving of the traveling vehicle body (2), and an attitude detection unit (170) that detects whether the traveling direction of the traveling vehicle body (2) deviates from the direction that is the reference for the straight-line driving of the traveling vehicle body (2) in the straight-line driving support, which is the original traveling direction, The control unit (150) controls the ground working unit (50) Work is performed with the In a state where ground operations are possible The straight support is available, a notification device (200) that notifies that the straight-line driving support is available when the posture of the traveling vehicle body (2) detected by the posture detection unit (170) is traveling in a posture along the original traveling direction, A detection unit for detecting the steering state of the traveling vehicle body (2) is provided, The aforementioned Examination If the steering state detected by the output unit is not a state that allows the traveling vehicle body (2) to travel straight, the notification device (200) notifies that the straight traveling support is unavailable. death, When the posture of the traveling vehicle body (2) detected by the posture detection unit (170) is oblique to the original traveling direction, the traveling vehicle body (2) is provided with an indicator member that serves as a guide for the original traveling direction, and the indicator member functions as the notification device. It is characterized by:

[0008] (delete)

[0009] Claim 2 The work vehicle (1) described in claim 1 toThe position information acquisition device (120) is equipped with an inertial navigation device that detects the inclination of the traveling body (2), the position information acquisition device (120) is supported by a frame (124), wiring extending from the position information acquisition device (120) is routed along the frame (124), and the frame (124) can be rotated to move the position information acquisition device (120) downward. [Effects of the Invention]

[0010] According to the work vehicle of claim 1, when the posture of the traveling vehicle body detected by the posture detection unit is in a straight state after the traveling vehicle body has turned, the notification device issues a notification that the vehicle is available for use, thereby preventing the traveling vehicle body from moving in a direction diagonal to the expected direction of travel. Therefore, if the work vehicle is, for example, a seedling planting machine, it is possible to further prevent disruption to the initial planting of seedlings immediately after work begins.

[0011] Also For example, when a notification is made using a lamp or the like, the worker does not need to take his / her eyes away from the front, making it easier for him / her to recognize the notification content.

[0012] Claim 2 According to the work vehicle described in claim 1 to In addition to the effects of the invention described above, when the thickness of the location information acquisition device becomes a height hindrance when transporting or storing in a barn, etc., the overall vehicle height can be lowered without removing the location information acquisition device. [Brief explanation of the drawings]

[0013] [Figure 1A] FIG. 1A is an explanatory diagram showing an outline of a straight-travel support of a seedling transplanter according to an embodiment. [Figure 1B] FIG. 1B is an explanatory diagram showing an outline of a notification function in the straight movement support of the seedling transplanter according to the embodiment. [Figure 2] FIG. 2 is a side view of the seedling transplanter according to the embodiment. [Figure 3]FIG. 3 is an explanatory diagram of the control section. [Figure 4A] FIG. 4A is an overall side view of the center mascot. [Figure 4B] FIG. 4B is a partial front view of the center mascot. [Figure 5A] FIG. 5A is an explanatory front view of an antenna frame provided in the seedling transplanter according to the embodiment. [Figure 5B] FIG. 5B is an explanatory diagram of the antenna frame as seen from a side. [Figure 6] FIG. 6 is a perspective view of the antenna frame. [Figure 7] FIG. 7 is a functional block diagram centered around the controller. [Figure 8] FIG. 8 is a flowchart showing an example of straight driving support. [Figure 9] FIG. 9 is an explanatory diagram showing the procedure for registering a reference driving line in the straight driving support. DETAILED DESCRIPTION OF THE INVENTION

[0014] A work vehicle according to an embodiment of the present invention will be described in detail below with reference to the drawings as a riding seedling transplanter. Note that the components in the following embodiments include those that are easily replaceable by those skilled in the art, or those that are substantially the same, or so-called equivalents. Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention. In the following, the entire seedling transplanter may be referred to as the vehicle.

[0015] Fig. 1A is an explanatory diagram showing an overview of the straight-line support of the seedling transplanter 1 according to the embodiment, and Fig. 1B is an explanatory diagram showing an overview of the notification function of the straight-line support of the seedling transplanter according to the embodiment. Both Fig. 1A and Fig. 1B show the seedling transplanter 1 immediately after turning, for example, on a headland. The seedling transplanter 1 according to this embodiment has a traveling body 2 with front wheels 4 and rear wheels 5, to which a seedling planting unit 50 is connected at the rear.

[0016] Further, the straight-line driving support refers to a function that supports the automatic straight-line driving of the seedling transplanter 1 in the field by having the controller 150 (see FIG. 7), which is a control unit, control the operation of the steering wheel 32 based on the steering angle θ of the front wheels 4 of the traveling body 2 and the position information of the traveling body 2. Here, the steering angle θ is the turning angle of the front wheels 4, but it may also be possible to detect the steering angle of the steering wheel 32, for example. Furthermore, the position information of the seedling transplanter 1 is acquired by a GNSS unit 120 (see FIG. 7), which is provided on the traveling body 2 and serves as a position information acquisition device.

[0017] In the following description, the front, rear, left and right directions of the seedling transplanter 1 are based on the traveling direction of the traveling body 2 as seen from the operator's seat 28 (see FIG. 2) where an operator can sit.

[0018] 1A(a), the seedling transplanter 1 according to this embodiment is configured to prohibit straight-line support when the steering angle θ detected by the steering angle sensor 130 (see FIG. 7) after the traveling body 2 has turned is not a value that indicates a straight-line state, i.e., when the steering angle θ indicates an angle of a predetermined value or more relative to the straight-line direction that should be the traveling direction L1. Here, the straight-line direction L1 is based on a pre-registered reference traveling line L2.

[0019] Furthermore, as shown in FIG. 1A(b), the seedling transplanter 1 prohibits straight-line support if the posture of the traveling body 2 detected by the posture sensor 170 (see FIG. 7) after the traveling body 2 has turned is oblique with respect to the traveling direction L1. The steering angle θ, which is the standard for determining that the traveling body 2 is in an oblique posture, is specified as, for example, 5 degrees or more. In other words, if the turning angle of the front wheels 4 is less than 5 degrees, the posture of the traveling body 2 is determined to be approximately straight with respect to the traveling direction L1, and straight-line support is continued.

[0020] That is, skilled techniques and many years of experience are required to clearly determine whether the entire machine body is straight in the direction of travel. However, in this embodiment, if the values ​​detected by the steering angle sensor 130 and the attitude sensor 170 after the traveling body 2 turns do not indicate that the machine body is moving in a straight line, the controller 150 automatically prohibits straight-line support. Therefore, when straight-line control is started, there is no risk of the machine moving at an angle, as shown by the virtual trajectory L3 in Figures 1A(a) and (b), causing a disruption in the start of planting and a decrease in planting accuracy. This in turn prevents poor seedling growth due to disruption in planting attitude, etc.

[0021] 1B, the seedling transplanter 1 according to this embodiment can notify the operator of the support status, including whether or not straight-line support is available, for example by illuminating the center mascot 350, thereby improving operability when switching from turning to straight-line support. Thus, the seedling transplanter 1 according to this embodiment improves upon the conventional issues with straight-line support, improving safety and operability when starting automatic straight-line support, and making it easier for the operator to recognize information about the machine.

[0022] 1A and 1B, the front wheels 4 correspond to the steered wheels, and the seedling planting unit 50 corresponds to the ground working unit. The handle 32 forms part of the steering device 110. The steering device 110 will be described in detail later.

[0023] Fig. 2 is a side view of the seedling transplanter 1 according to the embodiment, and Fig. 3 is an explanatory diagram of the control unit. The specific configuration of the seedling transplanter 1 will be described with reference to Figs. 2 and 3. As shown in Fig. 2, a seedling planting unit 50 is attached to the traveling body 2 of the seedling transplanter 1 so that it can be raised and lowered via a seedling planting unit lifting mechanism 40, which is a lifting device. The traveling body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are both driven. The front wheels 4, which serve as steered wheels, are steered by turning the steering wheel 32, allowing the vehicle to travel in fields and on roads between fields.

[0024] The traveling body 2 also comprises a main frame 7 located approximately in the center of the body, an engine 10 as a prime mover mounted on the main frame 7, and a power transmission device 15 that transmits the power of the engine 10 to the front and rear wheels 4, 5 and the seedling planting unit 50. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used as the power source for the engine 10, and the generated power is used not only to move the traveling body 2 forward and backward, but also to drive the seedling planting unit 50.

[0025] The power transmission device 15 also has a hydraulic continuously variable transmission 16, known as an HST (Hydro Static Transmission), which changes the speed of the driving force transmitted from the engine 10 and outputs it, and a power transmission section 17 which transmits the power from the engine 10 to the hydraulic continuously variable transmission 16.

[0026] The power transmission device 15 also has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the hydraulic continuously variable transmission 16 via a power transmission section 17, and the power that has been changed in speed by the hydraulic continuously variable transmission 16 is transmitted to the transmission case 18. The transmission case 18 incorporates an auxiliary transmission mechanism (not shown) that switches between a high-speed mode and a low-speed mode, which will be described later, and is attached to the front of the main frame 7.

[0027] A portion of the power transmitted from the transmission case 18 to the front wheels 4 and rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the remainder can be transmitted to the rear wheels 5 via the left and right rear wheel gear cases 22. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via axles 131, and these front wheel final cases 13 are driven in response to steering operation of the steering wheel 32, thereby turning the front wheels 4.

[0028] Similarly, rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles 220. Meanwhile, power is transmitted from the transmission case 18 to the seedling planting unit 50 via a planting clutch 500 provided at the rear of the traveling body 2 via a work implement drive shaft (not shown). The planting clutch 500 is operated by a planting clutch motor 510 connected to a controller 150, which will be described in detail later (see Figure 7).

[0029] The engine 10 is located approximately in the center of the traveling body 2 in the left-right direction and protrudes above the floor step 26 on which the operator places his / her feet when getting on the vehicle. The floor step 26 is attached to the main frame 7 and extends between the front of the traveling body 2 and the rear of the engine 10, and a portion of the floor step 26 is lattice-shaped, allowing mud on shoes to be removed into the field. Behind the floor step 26, a rear step 27 is provided, which also serves as a fender for the rear wheel 5. The rear step 27 has an inclined surface that slopes upward as it extends rearward, and is located on each side of the engine 10.

[0030] The engine 10 also protrudes upward from the floor step 26 and rear step 27, and an engine cover 11 that covers the engine 10 is disposed on the portion of the engine 10 that protrudes from the steps 26, 27.

[0031] An operator's seat 28 on which an operator sits is installed above the engine cover 11, and a control unit 30 is provided in front of the operator's seat 28 and in the front center of the traveling body 2. The control unit 30 is disposed in a state where it protrudes upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right parts.

[0032] The control unit 30 is provided with a steering post 315, and a handle 32 that can be steered by an operator is provided on the top of the steering post 315. An instrument panel 33 provided on the steering post 315 is provided with various switches and meters, including a reference point registration switch 83, which will be described later, as shown in FIG. 3. The control unit 30 also has a tablet terminal device 140, which will be described later, detachably attached to the lower part of the steering post 315. A buzzer 215, which is an example of an alarm device 200, is provided at a predetermined position on the control unit 30 (see FIG. 7).

[0033] Furthermore, the control unit 30 is provided with a main speed change lever 81 and an auxiliary speed change lever 82 near the steering post 315. The main speed change lever 81 is provided on the right side of the control unit 30, and the auxiliary speed change lever 82 is provided below the handlebars 32, which are the steering wheels.

[0034] The main speed change lever 81 is a lever that switches between forward and backward movement and driving output of the traveling body 2, and by the operator gripping and operating the grip portion 810 at the tip, the rotation angle of the trunnion (not shown) of the hydraulic continuously variable transmission 16 described later can be adjusted, thereby adjusting the speed of the traveling body 2.

[0035] On the other hand, the sub-speed change lever 82 is a lever that switches the travel mode, which determines the travel speed of the traveling vehicle body 2, between low-speed mode and high-speed mode depending on the travel location. Here, the low-speed mode is a travel mode that is set to a speed range appropriate for the seedling transplanter 1 to perform planting work in a field. On the other hand, the high-speed mode is a travel mode when, for example, the seedling transplanter 1 is moved between fields, and allows the seedling transplanter 1 to travel at a higher speed than in the low-speed mode. These modes are switched by an sub-speed change mechanism provided in the transmission case 18 according to the position of the sub-speed change lever 82.

[0036] An openable front cover 31 is provided at the front of the steering unit 30. A center mascot 350 is attached to the center of the front end of the front cover 31 as an indicator member that serves as a travel guide. Although not shown in Figure 2 for convenience, spare seedling carriers 400, 400 (see Figure 5A) are provided on the left and right front sides of the traveling body 2.

[0037] Fig. 4A is an overall side view of the center mascot 350, and Fig. 4B is a partial front view of the center mascot 350. The center mascot 350 according to this embodiment will be described with reference to Figs. 4A and 4B.

[0038] The center mascot 350 according to this embodiment is attached to the front center of the traveling body 2 and functions as a guide for the direction of travel when the operator sitting in the driver's seat 28 operates the seedling transplanter 1. The center mascot 350 according to this embodiment also functions as an alarm device 200 that notifies the operator of the support status, including whether or not the straight-line support described above can be performed.

[0039] 4A, a plurality of center mascots 350 are arranged side by side in the direction of travel at the center of the front of the traveling vehicle body 2. Specifically, a first support pillar 353a and a second support pillar 353b, each of which has a curved lower portion and an upwardly extending tip, are attached to the front cover 31 so as to be positioned at the center of the front end.

[0040] A first lens unit 351 is provided at the tip of the first support pillar 353a, and a second lens unit 352 is provided at the tip of the second support pillar 353b. A locking bar 356 is provided midway through the second support pillar 353b, so that when the front cover 31 provided at the front of the control unit 30 is opened, it can be locked onto the locking bar 356 to maintain the open state (see FIG. 5A).

[0041] When there is no need to distinguish between the first support pillar 353a and the second support pillar 353b, they may be collectively referred to as the mascot support pillar 353. The base end of the mascot support pillar 353 is attached to the front side of the main frame 7 of the traveling body 2 via a pivot part 355 so as to be tiltable back and forth.

[0042] As shown in Fig. 4B, first lens portion 351 and second lens portion 352 of center mascot 350 are provided with a plurality of lamps 354a to 354e, and are configured to function as display portion 210 (see Fig. 7) constituting notification device 200 by the light emitted by lamps 354a to 354e. Note that the plurality of lamps 354a to 354e will be collectively referred to as lamps 354.

[0043] 4A, the first support pillar 353a is relatively long and located at the front, and the second support pillar 353b, which is shorter than the first support pillar 353a, is disposed in close contact with the rear side of the first support pillar 353a. The first support pillar 353a bends forward halfway and then extends upward at its tip.

[0044] Therefore, the first lens unit 351 and the second lens unit 352, which each emit light and function as the notification device 200 (display unit 210), are arranged at a distance in the front-to-rear direction with a predetermined height difference, which provides good visibility to the worker and eliminates the risk of the worker distinguishing between the light emitted by the first lens unit 351 and the light emitted by the second lens unit 352. Furthermore, by using multiple lens units 351, 352, the notification content can be diversified.

[0045] Here, an example of the function of the notification device 200 will be described. For example, when straight-line driving support is being executed and automatic straight-line driving is possible, the lower lamp 354d provided on the first lens portion 351 of the center mascot 350 flashes, and when automatic straight-line driving is actually being performed, the lower lamp 354d is lit. On the other hand, if straight-line driving support is not available for some reason, the lower lamp 354d is turned off. In this case, the upper lamp 354e may be lit in red, for example, to notify the user that straight-line driving support is not available.

[0046] On the other hand, the second lens unit 352, located below the first lens unit 351, may be configured to use a lamp to indicate the status of the seedling planting unit 50 rather than the status of the straight-line support. For example, although not shown, sensors may be provided to detect the remaining amount of seedlings and fertilizer. When the seedlings in the seedling planting unit 50 fall below a predetermined amount, the left lamp 354a or right lamp 354b on the lower side of the second lens unit 352 may light up or flash depending on the remaining amount. Furthermore, when the amount of fertilizer falls below a predetermined amount, the upper lamp 354c on the second lens unit 352 may light up or flash. Note that, contrary to the above-described notification, the first lens unit 351 may indicate the status of the seedling planting unit 50, and the second lens unit 352 may indicate the status of the straight-line support.

[0047] In this way, the seedling transplanter 1 of this embodiment uses the center mascot 350, which serves as the notification device 200, to not only notify the status of straight-line support, but also information regarding the remaining amount of work materials such as seedlings and fertilizer provided in the seedling planting section 50.

[0048] The center mascot 350 is always within the field of vision of the worker facing forward, allowing the worker to constantly grasp the status of the seedling transplanter 1 without having to take his or her eyes off the road, which greatly contributes to improved safety.

[0049] Furthermore, prior teaching is required to enable the seedling transplanter 1 to perform straight-line support. In the teaching process, for example, a reference travel line L2 is registered in the travel reference registration unit 152 (see FIG. 7) using the receiving antenna 121 in order to perform straight-line support and control straight-line travel.

[0050] That is, the controller 150 (see Figure 7) of the seedling transplanter 1 in this embodiment has a driving reference registration unit 152 that registers a reference driving line L2 (see Figures 1A and 1B) that serves as the reference for straight-line movement of the traveling body 2 in straight-line support.

[0051] The driving reference registration unit 152 acquires the start position and end position of the straight driving support as a reference start point P1 and a reference end point P2, respectively, and registers the line segment connecting the acquired reference start point P1 and reference end point P2 as a reference driving line L2.

[0052] The reference start point P1 and the reference end point P2 can be obtained by operating the reference point registration switch 83 provided on the control unit 30. The reference point registration switch 83 is configured as a so-called bounce switch, and the first operation is the operation to obtain the reference start point P1, and the second operation is the operation to obtain the reference end point P2. If the reference point registration switch 83 is pressed and held, the operation to obtain the reference start point P1 and the reference end point P2 is canceled.

[0053] At this time, the notification device 200, i.e., the center mascot 350, can notify the acquisition status of the reference start point P1 and the reference end point P2 using the display unit 210 composed of lamps 354a to 354e. Also, by making the buzzer 215 of the notification device 200 sound in response to the switch operation, the operation of acquiring the reference start point P1 and the reference end point P2 can be performed while being confirmed visually and audibly. Note that it is advisable to make the buzzer sound longer when a long press operation is performed to cancel the operation of acquiring the reference start point P1 and the reference end point P2.

[0054] Here, we will explain the notification by the center mascot 350. For example, assuming that the second lens unit 352 is used, if the reference start point P1 and the reference end point P2 that define the reference driving line L2 have not been acquired, the two lower left and right lamps 354a, 354b of the second lens unit 352 are both off, and if only the reference start point P1 has been acquired, the left lamp 354a is lit.

[0055] When both the reference start point P1 and the reference end point P2 have been acquired, the left and right lamps 354a, 354b are both lit. In this case, for example, the upper lamp 354c may be made to flash when the teaching operation is being performed and to light up when the teaching operation is completed.

[0056] Of course, the acquisition status of the reference start point P1 and the reference end point P2 may be notified by the first lens unit 351. In that case, for example, if the reference start point P1 and the reference end point P2 have not been acquired, the upper and lower lamps 354e and 354d of the first lens unit 351 are both turned off, and if only the reference start point P1 has been acquired, the upper lamp 354e is turned on. Then, when both the reference start point P1 and the reference end point P2 have been acquired, the upper and lower lamps 354e and 354d are both turned on.

[0057] The reference point registration switch 83 used when registering the reference traveling line L2 (see FIGS. 1A and 1B) as described above is provided on the left side of the operating unit 30, as shown in FIG. 3. That is, the main shift lever 81, which switches between forward and backward travel and the traveling output of the traveling vehicle body 2, and the reference point registration switch 83, which is an operation switch for obtaining the reference start point P1 and the reference end point P2, are provided in positions facing each other across the handlebars 32. In this way, since the main shift lever 81 and the reference point registration switch 83 are arranged facing each other on opposite sides, the risk of an operator mistakenly operating the main shift lever 81, which moves the vehicle forward and backward, and the reference point registration switch 83 is reduced as much as possible, for example, when performing teaching work, which is preparation for straight-line support.

[0058] As shown in Fig. 2, the seedling transplanter 1 according to this embodiment has a GNSS unit 120 with a built-in receiving antenna 121 (see Fig. 7) mounted on the traveling vehicle body 2. This GNSS unit 120 can acquire position information on the Earth at predetermined intervals by acquiring GNSS coordinates at predetermined time intervals using the receiving antenna 121. In addition to the receiving antenna 121, the GNSS unit 120 according to this embodiment also has built-in inertial navigation systems that use gyro sensors and acceleration sensors, and a control board that controls these, although these are not shown.

[0059] Fig. 5A is a front view of the antenna frame provided in the seedling transplanter 1 according to the embodiment, Fig. 5B is a side view of the antenna frame, and Fig. 6 is a perspective view of the antenna frame. As shown in Figs. 2, 5A, and 5B, the GNSS unit 120 is attached to the top of the antenna frame 124, the base end of which is connected to the front end of the traveling body 2, so as to be located directly above the axle 131 of the front wheel 4. In the normal state, the height of the antenna frame 124 is set so that it does not interfere with the head of a typical male standing on the floor step 26.

[0060] As shown in FIG. 6, the antenna frame 124 is made up of left and right front lower frames 124a, 124a, a front upper frame 124b, an upper L-shaped frame 124c, and a rear vertical frame 124d.

[0061] A pair of brackets 127, 127 are provided at the base ends of the left and right front lower frames 124a, 124a, and the front lower frames 124a are attached to the bumper 700 of the vehicle body 2 via these brackets 127, 127.

[0062] The front upper frame 124b is a frame that is roughly U-shaped in plan view and has left and right vertical frames 1241, 1242 whose base ends are rotatably connected to the left and right front lower frames 124a, 124a via rotating connectors 124f, 124f, respectively, and is roughly V-shaped in side view (see Figure 2).

[0063] As shown in Fig. 6, the left and right rotating connectors 124f, 124f are connected and fixed together with knob bolts 128, and as shown in Fig. 2, a reinforcing frame 124e is hung between the rotating connectors 124f, 124f and the front cover 31. In this way, with a simple configuration, rattles of the front lower frames 124a, 124a and the left and right vertical frames 1241, 1242 are prevented.

[0064] As shown in Fig. 5A, the left and right front lower frames 124a, 124a are erected at an angle inward to the extent that their upper ends do not come into contact with the front cover 31. Therefore, a space Q is formed between the control unit 30 and the spare seedling carriers 400, 400 arranged on the left and right sides of the machine body, allowing, for example, a worker to move between the front of the machine body and the floor step 26.

[0065] The GNSS unit 120 is mounted on an aluminum block 122 that spans the upper portions of the left and right vertical frames 1241, 1242. By interposing the aluminum block 122 between the GNSS unit 120 and the steel pipe antenna frame 124 in this way, reception sensitivity is improved compared to when the GNSS unit 120 is directly attached to the receiving antenna 121.

[0066] The upper L-shaped frame 124c has its tip connected to the rear end of the front upper frame 124b, and although not shown in the figure, wiring such as harnesses extending from the GNSS unit 120 is routed along the upper L-shaped frame 124c.

[0067] The lower end of the rear vertical frame 124d is connected to the rear step 27 at the rear side of the operator's seat 28. Storage hoppers 71, 71 of the fertilizer applicator 70 are disposed on the left and right behind the operator's seat 28, but since the rear vertical frame 124d is positioned between the left and right storage hoppers 71, 71, there is no interference when opening or closing the storage hoppers 71.

[0068] In this way, the antenna frame 124 for mounting the GNSS unit 120 is connected at the front to the bumper 700 and the front cover 31 and at the rear to the rear step 27, providing a structurally stable three-point support, so it can be attached to the traveling vehicle body 2 in an extremely stable state.

[0069] A connecting portion 125 that detachably connects the other end of the upper L-shaped frame 124c is provided at the upper end of the rear vertical frame 124d, thereby detachably connecting the upper L-shaped frame 124c. The connecting portion 125 may be configured, for example, by pin insertion holes (not shown) formed at the connecting ends of the upper L-shaped frame 124c and the rear vertical frame 124d, and fastening pins (not shown) that can be inserted and removed into the pin insertion holes. In this way, the upper L-shaped frame 124c and the rear vertical frame 124d can be detachably connected with a simple configuration.

[0070] In this way, the height of the antenna frame 124 can be lowered by the simple operation of detaching the upper L-shaped frame 124c from the rear vertical frame 124d and rotating the front upper frame 124b and the upper L-shaped frame 124c rearward and downward relative to the front lower frames 124a, 124a using the rotating connectors 124f, 124f, as shown in Figure 5B (see Figure 5B).

[0071] Therefore, for example, when transporting the seedling transplanter 1 or storing it in a barn, if the thickness of the GNSS unit 120 becomes a height hindrance, the overall vehicle height can be lowered without removing the GNSS unit 120.

[0072] Furthermore, the antenna frame 124 (front upper frame 124b and upper L-shaped frame 124c) has a simple configuration in which the rotation connector 124f is provided, which suppresses increases in cost and minimizes rattle of the entire antenna frame 124. Moreover, it is convenient because the rotation operation can be performed with a single action.

[0073] In this embodiment, a frame holder 126 formed in a substantially Y shape is provided near the upper end of the rear vertical frame 124d, as shown in Fig. 6. Therefore, when the antenna frame 124 is folded to reduce its height, the upper L-shaped frame 124c can be locked onto the frame holder 126 to stably hold it.

[0074] Returning to FIG. 2, the seedling planting unit 50 and other components will now be described. As shown in FIG. 2, the seedling planting unit 50 is attached to the rear of the traveling body 2 via a seedling planting unit lifting mechanism 40 so that it can be raised and lowered. The seedling planting unit lifting mechanism 40 is equipped with a lifting link device 41, which in turn has a parallel link mechanism that connects the rear of the traveling body 2 to the seedling planting unit 50. The parallel link mechanism has an upper link 41a and a lower link 41b, which are rotatably connected to a link base frame 43 (viewed from the rear) that is erected at the rear end of the main frame 7. The other ends of the links 41a and 41b are rotatably connected to the seedling planting unit 50. In this way, the seedling planting unit 50 is connected to the traveling body 2 so that it can be raised and lowered.

[0075] The seedling planting unit lifting mechanism 40 also has a hydraulic lifting cylinder 44 that expands and contracts hydraulically, and the seedling planting unit 50 can be raised and lowered by the expansion and contraction movement of the hydraulic lifting cylinder 44. The hydraulic lifting cylinder 44 is driven by the hydraulic continuously variable transmission 16 described above, and the raising and lowering movement of the seedling planting unit lifting mechanism 40 can raise the seedling planting unit 50 to a non-working position or lower it to a ground work position (planting position).

[0076] The seedling planting unit 50 can also plant seedlings in multiple sections or multiple rows. For example, the seedling planting unit 50 can plant seedlings in six sections, a so-called six-row seedling planting unit. The seedling planting unit 50 includes a seedling planting device 60, a seedling placement platform 51, and floats 47 (48, 49). The seedling placement platform 51 is provided at the rear of the traveling body 2 as a seedling placement member for loading multiple rows of seedlings. It has seedling placement surfaces 52 partitioned on the left and right of the traveling body 2, the number of which corresponds to the number of planting rows, and mats of seedlings with soil can be placed on each seedling placement surface 52.

[0077] The seedling planting device 60 is disposed below the seedling placing table 51 and is supported by a planting support frame 55 disposed in front of the seedling placing table 51. The seedling planting device 60 is a device that removes seedlings placed on the seedling placing table 51 from the seedling placing table 51 and plants them in a field, and has a planting transmission case 64 and a planting body 61. The planting body 61 is configured to be able to remove seedlings from the seedling placing table 51 and plant them in a field, and the planting transmission case 64 can supply driving force to the planting body 61.

[0078] The planting transmission case 64 is configured to be able to supply power transmitted from the engine 10 to the seedling planting unit 50 to the planting body 61, and the planting body 61 is rotatably connected to the planting transmission case 64. The planting body 61 also has a planting rod 62 that picks up seedlings from the seedling placing table 51 and plants them in the field, and a rotary case 63 that rotatably supports the planting rod 62 and is rotatably connected to the planting transmission case 64. The rotary case 63 is equipped with a variable speed transmission mechanism (not shown) that can vary the rotational speed of the planting rod 62 when it is rotated by the driving force transmitted from the planting transmission case 64. As a result, when the planting body 61 rotates, the planting rod 62 can rotate at a speed that varies depending on the rotation angle relative to the rotary case 63.

[0079] The seedling planting device 60 configured in this manner is provided for every two rows. That is, each of the multiple seedling planting devices 60 is assigned to a planting row. Also, each planting transmission case 64 is provided with two planting bodies 61 that can rotate. That is, two rotary cases 63 are connected to one planting transmission case 64 on both the left and right sides of the machine body.

[0080] In addition, the float 47 glides over the field to level the ground as the running body 2 moves, and has a center float 48 located in the center of the seedling planting section 50 in the left-right direction of the running body 2, and side floats 49 located on both sides of the seedling planting section 50 in the left-right direction.

[0081] The center float 48 is provided with a float potentiometer 154 (see FIG. 7) as a hydraulic sensitivity mechanism that raises and lowers the seedling planting section 50 in accordance with the conditions of the field.

[0082] Furthermore, ground leveling rotors 67, 67 for leveling the field are provided on the front side below the seedling planting section 50. These ground leveling rotors 67 are rotatable by the power output from the engine 10 transmitted via the rear wheel gear case 22. In the seedling transplanter 1 according to this embodiment, the controller 150 (described later) executes straight-line support on the condition that the ground leveling rotors 67, 67 are in contact with the ground. In other words, straight-line support is executed only when seedling planting work is being performed.

[0083] In addition, line-drawing markers 68 are provided on both the left and right sides of the seedling planting section 50 to form lines that serve as a guide for the direction of travel on the next planting row. The line-drawing markers 68 draw lines on the field to guide the seedling transplanter 1 as it moves forward in a straight line within the field, turning at the edge of the field ridge. However, because the seedling transplanter 1 according to this embodiment can provide straight-line support using the Global Positioning System (GNSS), the line-drawing markers 68 can be eliminated.

[0084] A fertilizer applicator 70 is mounted behind the driver's seat 28 on the traveling vehicle body 2. The fertilizer applicator 70 includes left and right storage hoppers 71, 71 for storing fertilizer, a feeding device 72 that feeds a set amount of fertilizer supplied from the storage hoppers 71, 71, a fertilizer application hose 74 that serves as a fertilizer application passage for supplying the fertilizer fed by the feeding device 72 to the field, and a blower 73 that supplies conveying air to the fertilizer application hose 74. The blower 73 transfers the fertilizer in the fertilizer application hose 74 toward the seedling planting section 50. The fertilizer applicator 70 also includes a fertilizer application guide 75 to which the fertilizer is transferred by the fertilizer application hose 74, and a furrow former 76 that drops the fertilizer transferred by the fertilizer application hose 74 into a fertilizer application furrow formed near the side of the seedling planting row.

[0085] FIG. 7 is a functional block diagram of the seedling transplanter 1, focusing on the controller 150. The seedling transplanter 1 according to this embodiment is capable of controlling each part electronically, and the seedling transplanter 1 is equipped with the controller 150 as a control unit that controls each part. The controller 150 is provided with a processing unit having a central processing unit (CPU) and other components, a memory unit such as a read-only memory (ROM) and a random access memory (RAM), and an input / output unit, all of which are interconnected to allow signals to be exchanged between them. The memory unit stores a computer program that controls the seedling transplanter 1.

[0086] As shown in the figure, the controller 150 is connected to a tablet terminal device 140, various actuators, sensors for acquiring information from various parts, etc. In this embodiment, the controller 150 and the tablet terminal device 140 are connected wirelessly using a predetermined wireless communication standard.

[0087] The controller 150 is connected to actuators such as a throttle motor 100 that adjusts the intake volume of the engine 10, a trunnion drive motor 165 that changes the rotation angle of the trunnion of the hydraulic continuously variable transmission 16, and a planting clutch motor 510 that operates the planting clutch 500.

[0088] In addition, various other sensors 199 are connected to the controller 150, including a steering angle sensor 130, a direction sensor 160, a posture sensor 170, a tilt sensor 180, and a seating sensor 190, as well as lever sensors that detect the amount of operation of the main shift lever 81 and the sub-shift lever 82 in terms of tilt angle.

[0089] The steering angle sensor 130 is, for example, a sensor that detects the rotation angle of the steering wheel 32, which is a steering wheel, or a sensor that detects the turning angle when the front wheels 4, which are steered wheels, are steered by operating the steering wheel 32. The controller 150 stores the value detected by the steering angle sensor 130 in the RAM of the storage unit.

[0090] The orientation sensor 160 is a sensor that detects the orientation of the aircraft, and is generally used in car navigation systems, etc. The controller 150 can derive the actual traveling direction of the aircraft based on the value acquired from the orientation sensor 160.

[0091] Therefore, if the steering angle detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, or if the direction detected by the orientation sensor 160 or the attitude detected by the attitude sensor 170 is not a value indicating a straight-ahead direction, the controller 150 can prohibit straight-ahead support. This makes it possible to prevent the planting attitude of the seedlings from being disturbed immediately after starting the seedling planting work, thereby preventing any adverse effects on the growth of the seedlings.

[0092] The attitude sensor 170 according to this embodiment detects the degree to which the attitude of the traveling vehicle body 2 is inclined with respect to the traveling direction L1, and is composed of a gyro sensor or the like.

[0093] The tilt sensor 180 according to this embodiment detects the tilt of the vehicle body 2 in the up-down direction, that is, the degree of forward or backward tilt, and is configured using an acceleration sensor or the like.

[0094] The seating sensor 190 is a sensor provided in the pilot's seat 28 and configured with a load cell, a pressure-sensitive film sensor, or the like, and is capable of detecting that an operator is seated in the pilot's seat 28.

[0095] Furthermore, the controller 150 is connected to the alarm device 200, for example, a display unit 210 consisting of a first lens unit 351 and a second lens unit 352 provided on the center mascot 350, and a buzzer 215 that issues an alarm or the like. Note that, in this embodiment, the display unit 210 and the buzzer 215 are provided in advance on the traveling vehicle body 2, but similar functions can also be imparted to a tablet terminal device 140 that can be brought in from outside.

[0096] The controller 150 can notify the operator of the implementation status, including whether straight driving support is being performed or stopped, using the buzzer 215 and the display unit 210. Therefore, the operator can easily recognize whether the rudder angle after turning the vehicle, the attitude of the vehicle, and the like are appropriate for performing straight driving support, improving the operability of switching from turning operation to straight driving support. Note that the controller 150 can also notify the operator of an abnormality in the power transmission device 15 (such as a gear disengagement in the clutch mechanism) using the buzzer 215 and the display unit 210, for example.

[0097] The seedling transplanter 1 also includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 120 that is a position information acquisition device, and a tablet terminal device 140 that is an information processing terminal device, all of which are connected to the controller 150.

[0098] The steering device 110 includes a steering wheel 32 and a transmission mechanism (not shown) that is interlocked with the steering wheel 32, as well as a straight-line support mechanism 310 that applies any rotational force to the steering wheel 32, enabling automatic steering by the controller 150. The transmission mechanism includes a steering motor 112 (see FIG. 7) that rotates the steering wheel 32. For example, when a straight-line support switch (not shown) is operated, the controller 150 can maintain the traveling vehicle body 2 in a straight-line direction by automatically steering the steering wheel 32 via the straight-line support mechanism 310 based on position information acquired by the GNSS unit 120.

[0099] While such straight-line support is being performed, the controller 150 prohibits straight-line support if the steering angle θ detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-line state, or if the attitude of the traveling vehicle body 2 detected by the attitude sensor 170 is an oblique attitude with respect to the traveling direction.

[0100] The GNSS unit 120 has a receiving antenna 121 (see Figure 1) that receives signals from artificial satellites used in GNSS, acquires position information (coordinate information) of the seedling transplanter 1 on the Earth, and transmits the acquired position information to the controller 150.

[0101] The controller 150 can also derive the actual speed of the seedling transplanter 1 from the machine position data acquired by the GNSS unit 120. In other words, the actual traveling speed can be successively calculated from the amount of movement of the machine within a certain period of time. Therefore, even if the front wheels 4 and rear wheels 5 slip, for example, the controller 150 can acquire the actual vehicle speed of the seedling transplanter 1 regardless of the amount of rotation of the rear wheels 5.

[0102] The tablet terminal device 140 is configured to enable wireless connection between a built-in terminal communication unit 144 and a vehicle communication unit 151 connected to the controller 150, and is equipped with the control unit 141, a touch panel 142 that serves both as a display unit for displaying information and an input operation unit for performing various input operations, and a memory unit 143 for storing information. Map information of one or more fields, as well as various programs and data necessary for controlling the seedling transplanter 1, are stored in this memory unit 143.

[0103] The tablet terminal device 140 has a so-called map function, and the seedling transplanter 1 of this embodiment can superimpose the vehicle position on the touch panel 142 on map information of the field including the work area based on the position information of the traveling vehicle body 2 obtained by the GNSS unit 120.

[0104] The controller 150 can also cause the tablet terminal device 140 to notify the support status, including whether straight-line support can be performed, on the touch panel 142. In addition to the support status, the controller 150 can also notify information regarding the remaining amount of seedlings, fertilizer, etc., provided in the seedling planting unit 50. That is, as a modified example of this embodiment, the notification device 200 can be configured to include the touch panel 142 or a tablet terminal device 140 equipped with the touch panel 142.

[0105] The seedling transplanter 1 also includes a reference point registration switch 83, a float potentiometer 154, and various switches 153 mainly provided in the control unit 30, which are connected to the controller 150.

[0106] As shown in FIG. 3, the reference point registration switch 83 is provided on the left side of the instrument panel 33 and functions as an operation switch for obtaining the reference start point P1, which is the starting position of the straight-line support, and the reference end point P2, which is the end position.

[0107] The float potentiometer 154 is attached to the center float 48, which moves up and down in accordance with the unevenness of the field. By sensing the up and down movement of the center float 48, the seedling planting section 50 can be raised and lowered in accordance with the unevenness of the field.

[0108] The seedling transplanter 1 according to this embodiment has the above-described configuration, and the following describes an example of the straight movement support performed by the seedling transplanter 1. Figure 8 is a flowchart showing an example of the straight movement support.

[0109] As shown in Fig. 8, when straight-line support is started by, for example, a switch operation (step S110), the controller 150 determines whether the vehicle is turning or not until it is determined that the vehicle is turning (step S120). That is, the controller 150 determines whether the vehicle is turning or not based on the detection results of the steering angle sensor 130, the direction sensor 160, the attitude sensor 170, etc. Note that, in order to detect that the vehicle is turning, it is also possible to detect, for example, the speed at which the steering wheel 32 is turning and determine that the vehicle is turning if the speed is equal to or greater than a predetermined speed. Alternatively, it is also possible to determine that the vehicle is turning if the steering angle of the steering wheel 32 is equal to or greater than 180 degrees, or if the steering angle θ (turning angle) of the front wheels 4 is equal to or greater than 30 degrees.

[0110] If it is determined that the aircraft is turning (step S120: Yes), the controller 150 determines whether the aircraft has finished turning (step S130). The controller 150 repeats this detection process until the aircraft has finished turning. If it is determined that the aircraft has finished turning (step S130: Yes), the controller 150 determines whether the angle detected by the rudder angle sensor 130 is greater than a predetermined angle α (step S140). Here, the predetermined angle α, which serves as the threshold value for the rudder angle θ, is expressed as the absolute value of the rudder angle θ, and is set to 5 degrees here, but is not limited to this value, and the threshold value can be determined appropriately through experimentation.

[0111] If the controller 150 determines that the detected angle, that is, the steering angle θ, is greater than the predetermined angle α (step S140: Yes), it performs a straight running control prohibition process (step S160), that is, it stops the execution of the straight running support.

[0112] On the other hand, in step S140, if the controller 150 determines that the detected angle, i.e., the steering angle θ, is not greater than the predetermined angle α (step S140: No), it determines whether or not the traveling vehicle body 2 is tilted by a predetermined angle or more with respect to the traveling direction (step S150). That is, the controller 150 determines, based on the detection value of the orientation sensor 160, whether or not the traveling vehicle body 2 is tilted by a predetermined angle or more with respect to the traveling direction L1 (see FIG. 1) based on a previously set and registered reference traveling line L2 (see FIG. 1).

[0113] If it is determined that the vehicle is not tilted by a predetermined angle or more (step S150: No), the controller 150 terminates the straight-line driving support process. On the other hand, if it is determined that the vehicle is tilted by a predetermined angle or more (step S150: Yes), the controller 150 moves the process to step S160, performs straight-line driving control prohibition processing, and then terminates the straight-line driving support process.

[0114] Here, a procedure for registering a reference driving line L2 that serves as a reference when performing the above-mentioned straight driving support will be described with reference to Fig. 9. Fig. 9 is an explanatory diagram showing the procedure for registering a reference driving line L2 in straight driving support.

[0115] As shown in FIG. 9, first, the reference start point P1 is acquired (step S210). That is, the seedling transplanter 1 is stopped in the field along the direction of travel of the machine when planting seedlings, and the machine is turned in a straight-ahead direction. Then, by operating the reference point registration switch 83, that position is acquired as the reference start point P1, which is the starting position for straight-ahead support. At this time, the notification device 200 issues a first notification indicating that acquisition of the reference start point P1 has been completed (step S220). Here, as described above, the notification is issued by illuminating the lamps 354a to 354e of the display unit 210 provided on the center mascot 350.

[0116] Next, the reference end point P2 is acquired (step S230). After acquiring the reference start point P1, the seedling transplanter 1 is driven straight for the distance required for the straight support, stopped, and the reference point registration switch 83 is operated. The second operation of the reference point registration switch 83 is the acquisition operation for the reference end point P2, which is the end position of the straight support. At this time, the notification device 200 issues a second notification indicating that acquisition of the reference end point P2 has been completed (step S240). Here too, notification is given by illuminating the lamps 354a to 354e of the display unit 210 provided on the center mascot 350.

[0117] When the acquisition of the reference start point P1 and the reference end point P2 is completed, the driving reference registration unit 152 of the controller 150 generates a line segment connecting the acquired reference start point P1 and the reference end point P2 as a reference driving line L2 (step S250). This makes it possible to specify the straight driving direction when performing straight driving support.

[0118] Then, when the generated reference driving line L2 is registered, the notification device 200 performs a third notification indicating that the reference driving line L2 has been registered (step S260). This notification is also performed by emitting light from the lamps 354a to 354e of the display unit 210.

[0119] The following seedling transplanter 1 is realized from the above-described embodiment.

[0120] (1) A seedling transplanter 1 comprising a running body 2 having front wheels 4, 4 steered by a steering device 110 and capable of connecting a seedling planting unit 50 to the rear, a GNSS unit 120 for acquiring position information of the running body 2, a steering angle sensor 130 for detecting the steering angle θ of the front wheels 4, 4, and a controller 150 for controlling the steering device 110 based on the position information acquired by the GNSS unit 120 to provide straight-line support to assist the running body 2 in automatic straight-line driving, wherein the controller 150 prohibits straight-line support if the steering angle θ detected by the steering angle sensor 130 after the running body 2 has turned is not a value indicating a straight-line state.

[0121] (2) In the above (1), the seedling transplanter 1 is provided with an attitude sensor 170 that detects the attitude of the traveling body 2, and the controller 150 prohibits straight-line support when the attitude of the traveling body 2 detected by the attitude sensor 170 after the traveling body 2 has turned is at an angle to the direction of travel.

[0122] (3) In the above (1) or (2), the seedling transplanter 1 is provided with an alarm device 200 that notifies the support status including whether or not straight support can be performed.

[0123] (4) In the seedling transplanter 1 described above in (3), the traveling body 2 is provided with a center mascot 350 that serves as a guide for the direction of travel, and the center mascot 350 functions as the alarm device 200.

[0124] (5) In (4) above, the center mascot 350 is a plurality of seedling transplanters 1 arranged side by side in the direction of travel at the front center position of the traveling body 2.

[0125] (6) In the above (4) or (5), the central mascot 350 is provided with a plurality of lamps 354, and functions as the alarm device 200 by the light emitted by each lamp 354.

[0126] (7) In any one of the above (3) to (6), the notification device 200 notifies information on the remaining amount of work materials provided in the seedling planting unit 50 in addition to the support status.

[0127] (8) In any of (3) to (7) above, the seedling transplanter 1 has a driving reference registration unit 152 that registers a reference driving line L2 that serves as a reference for the straight-line movement of the traveling body 2 during straight-line support, and the driving reference registration unit 152 acquires the start position and end position of the straight-line support as a reference start point P1 and a reference end point P2, and registers the line segment connecting the acquired reference start point P1 and reference end point P2 as the reference driving line L2, and the notification device 200 notifies the acquisition status of the reference start point P1 and the reference end point P2.

[0128] (9) In the above (8), the seedling transplanter 1 is provided with a main speed change lever 81 for controlling the forward and backward movement of the traveling body 2, and a reference point registration switch 83 for performing the operation of acquiring the reference start point P1 and the reference end point P2, and the main speed change lever 81 and the reference point registration switch 83 are arranged in positions opposite each other across the handle 32.

[0129] The above-described embodiment is merely an example and is not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, substitutions, combinations, and modifications can be made without departing from the spirit of the invention. Furthermore, the specifications of each configuration, shape, and display element (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) can be appropriately changed and implemented. [Explanation of symbols]

[0130] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4 Front wheels (steerable wheels) 32 Steering wheel (steering wheel) 50 Seedling Planting Section (Ground Work Section) 81 Main gear shift lever 83 Reference point registration switch 110 Steering gear 120 GNSS unit (location information acquisition device) 130 Steering angle sensor (steering angle detection unit) 150 Controller (control unit) 152 Driving Standards Registration Department 170 Attitude sensor (attitude detection unit) 200 Alarm device 350 Center mascot (index member) 354 Lamp L1 Direction of travel L2 Reference running line P1 Reference start point P2 Reference end point θ Rudder angle

Claims

1. a traveling vehicle body (2) to which a ground work unit (50) can be connected at the rear and which has steerable wheels (4) steered by a steering device (110); a position information acquisition device (120) for acquiring position information of the traveling vehicle body (2); The vehicle is provided with a control unit (150) that controls the steering device (110) based on the position information acquired by the position information acquisition device (120) to perform straight-line support to support the automatic straight-line driving of the traveling vehicle body (2), and a posture detection unit (170) that detects whether the traveling direction of the traveling vehicle body (2) deviates from the direction that is the reference for the straight-line driving of the traveling vehicle body (2) in the straight-line support, which is the original traveling direction, The control unit (150) is capable of using the straight-line support in a ground work-enabled state in which the ground working unit (50) performs work in a lowered state, a notification device (200) that notifies that the straight-line support is available when the posture of the traveling vehicle body (2) detected by the posture detection unit (170) is traveling in a posture along the original traveling direction, A detection unit for detecting the steering state of the traveling vehicle body (2), When the steering state detected by the detection unit is not a state that causes the traveling vehicle body (2) to travel straight, the notification device (200) notifies that the straight traveling support is unavailable, A work vehicle characterized in that the traveling body (2) is provided with an indicator member that serves as a guide for the original traveling direction, and the indicator member functions as the notification device.

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

Images