CN115226449A

CN115226449A - Working vehicle

Info

Publication number: CN115226449A
Application number: CN202210866224.5A
Authority: CN
Inventors: 川上修平; 石田智之; 飞田秀平
Original assignee: Iseki and Co Ltd
Current assignee: Iseki and Co Ltd
Priority date: 2017-10-27
Filing date: 2018-10-26
Publication date: 2022-10-25
Also published as: CN109716903B; KR20190047612A; TWI766119B; CN109716903A; JP2019080498A; TW201922551A; KR102687030B1; JP6881233B2

Abstract

The invention provides a work vehicle. The rotation position can be reported at an appropriate timing. The disclosed device is characterized by being provided with: a working device mounted on a traveling vehicle body; a detection unit that detects a travel distance during a period in which work is performed by the work device; a position information acquisition unit that acquires position information of a traveling vehicle body; a rudder angle adjusting unit for adjusting a rudder angle so that a traveling vehicle body automatically travels straight; and a control unit that acquires travel reference data that is a reference for automatic straight travel based on the position information, and controls the steering angle adjustment unit based on the travel reference data, wherein the control unit measures a work travel distance from when the work device is in the work state to when the work device is in the non-work state, registers the work travel distance as a reference work travel distance when automatic straight travel is performed, and reports the turning position of the traveling vehicle body based on the reference work travel distance when automatic straight travel is performed.

Description

Working vehicle

The application is a divisional application of an invention patent application with the application date of 2018, 10 and 26 months and the application number of 201811254886.7 and the name of the invention of a work vehicle.

Technical Field

The present invention relates to a work vehicle.

Background

Conventionally, a work vehicle is known which acquires positional information of a work start position and a work end position of a work implement and generates a reference line based on the acquired positional information (see, for example, patent document 1). Such a work vehicle includes an automatic straight-traveling device that automatically straight-travels the work vehicle along a generated reference line.

In the work vehicle described above, the distance over which the work is performed by the work implement is set as the automatic travel distance when the reference line is generated. When the work vehicle is automatically traveling straight, the timing of performing the swing operation is notified to the operator according to the automatic travel distance.

However, in the step of generating the reference line, an accurate automatic travel distance cannot be set when the working device is stopped. That is, when the automatic straight-ahead operation is performed, the timing of performing the swing operation cannot be accurately notified to the operator.

Patent document 1: japanese patent laid-open publication No. 2016-21890

Disclosure of Invention

The present invention has been made in view of the above circumstances, and an object thereof is to provide a work vehicle that improves workability in automatic straight traveling.

In order to solve the above problems and achieve the object, a work vehicle 1 according to claim 1 includes: a working device 67 attached to the traveling vehicle body 2; a detection unit 195 that detects a travel distance during a period in which work is performed by the work implement 67; a position information acquisition unit 120 that acquires position information of the traveling vehicle body 2; a steering angle adjustment unit 110 that adjusts a steering angle so that the traveling vehicle body 2 automatically travels straight; and a control unit 150 that acquires travel reference data that is a reference for automatic straight traveling based on the position information and controls the control angle adjustment unit 110 based on the travel reference data, wherein the control unit 150 measures a work travel distance from when the working device is in the working state to when the working device is in the non-working state, registers the work travel distance as a reference work travel distance when automatic straight traveling is performed, and reports the turning position of the traveling vehicle body 2 based on the reference work travel distance when automatic straight traveling is performed.

The work vehicle 1 according to claim 2 is the work vehicle 1 according to claim 1, wherein the work vehicle is provided with an operation tool 34 that acquires the travel reference data, the travel reference data is registered by acquiring a first reference point and a second reference point in a field by operating the operation tool 34, the second reference point is acquired when a traveling vehicle body is separated from a position at which the first reference point is acquired by a predetermined distance or more, the acquired first reference point and second reference point are deleted when the operation tool 34 is operated for a predetermined time, and the work travel distance performed in a previous step is registered as a new reference work travel distance when a difference between the work travel distance performed in the previous step and the work travel distance performed in the next step is smaller than a predetermined distance.

Effects of the invention

According to the work vehicle described in claim 1, for example, when the straight assist is performed, the controller 150 can notify the turning position based on the reference travel distance.

According to the work vehicle described in claim 2, the workability in the automatic straight traveling can be improved in addition to the effect of the invention described in claim 1.

Drawings

Fig. 1 is an explanatory view showing an outline of straight traveling assistance of the seedling transplanter of the embodiment.

Fig. 2 is a side view of the seedling transplanter of the embodiment.

Fig. 3 is a schematic view of the steering column as viewed from the front.

Fig. 4 is a schematic diagram of a monitor.

Fig. 5 is a functional block diagram centering on a controller of the seedling transplanter.

Fig. 6 is a flowchart illustrating the reference travel line registration control according to the embodiment.

Fig. 7 is a flowchart illustrating the control for updating the reference travel distance according to the embodiment.

Detailed Description

Hereinafter, a working vehicle according to an embodiment of the present invention will be described in detail by taking a riding type seedling transplanter 1 as an example, with reference to the drawings. The components of the following embodiments include components that can be easily replaced by one skilled in the art or that are substantially the same, and are within the scope of so-called equivalents. The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention. Hereinafter, the whole of the seedling transplanter 1 may be referred to as a body.

Fig. 1 is an explanatory view showing an outline of straight traveling assistance of the seedling transplanter 1 of the embodiment. The seedling transplanter 1 of the present embodiment includes a traveling vehicle body 2, and the rear portion of the traveling vehicle body 2 is connected to a seedling planting section 50, and includes a pair of left and right front wheels 4 and a pair of left and right rear wheels 5.

In the present embodiment, the straight assist means the following functions: the action of the steering wheel is controlled according to the rudder angle (turning angle) of the steering wheel of the seedling transplanter 1 and the position information of the seedling transplanter 1, thereby assisting the automatic straight traveling of the seedling transplanter 1 in the field F. Here, the steering angle is set to the turning angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 (see fig. 2) may be detected as the steering angle. The positional information of the seedling transplanter 1 is acquired by a GNSS unit 120 (positional information acquiring unit) (see fig. 5) provided in the traveling vehicle body 2. In the following description, the reference of the front-rear and left-right directions of the seedling transplanter 1 is based on the traveling direction of the traveling vehicle body 2 when viewed from the operating seat 28 (see fig. 2) on which the operator can sit.

As shown in the drawing, the seedling transplanter 1 plants seedlings with a predetermined working width (D) while reciprocating in a predetermined working area (G) in a field F. At this time, when the straight traveling assist is executed, the rotation operation may be performed near the field as a manual operation of the operator using the steering wheel 32, and the straight traveling means that the seedling transplanter 1 automatically travels along the automatic straight line L1. In fig. 1, reference symbol L3 shows a rotation line formed at the field by manually operating the seedling transplanter 1. And, reference numeral E shows the advancing and retreating mouths of the seedling transplanter 1 to and from the field F.

Under the straight travel assist, the automatic straight travel line L1 of the seedling transplanter 1 is parallel to a reference travel line (travel reference data) L2 as a reference when the straight travel assist is performed, and the reference travel line L2 is set in advance in the field F in accordance with the planting direction of the seedlings. That is, the travel reference registration unit 152 (see fig. 5) included in the seedling transplanter 1 acquires the start position and the end position of the straight travel assist as a reference start point (hereinafter referred to as "point a") and a reference end point (hereinafter referred to as "point B"), respectively, and registers a line segment connecting the acquired point a and point B as a reference travel line L2.

Hereinafter, a specific structure of the seedling transplanter 1 will be described with reference to fig. 2. Fig. 2 is a side view of the seedling transplanter 1 of the embodiment.

The seedling planting part 50 is installed on the traveling vehicle body 2 of the seedling transplanter 1 in a liftable manner via the seedling planting part elevating mechanism 40 as an elevating device. The traveling vehicle body 2 is a four-wheel drive vehicle in which both the pair of left and right front wheels 4 and the pair of left and right rear wheels 5 are driven, and can travel on the field F or a road between the fields F by turning the steering wheel 32 to steer the front wheels 4 as steered wheels.

The traveling vehicle body 2 further includes: a main frame 7 disposed substantially at the center of the vehicle body; an engine 10 as a prime mover mounted on the main frame 7; and a power transmission device 15 for transmitting the power of the engine 10 to the front wheels 4, the rear wheels 5 and the seedling planting part 50. In the seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used as the engine 10 as a power source, and the generated power is used not only to advance or retreat the traveling vehicle body 2 but also to drive the seedling planting section 50.

The power transmission device 15 further includes: a hydraulic continuously variable transmission (hereinafter referred to as "HST") 16 that changes the speed of a driving force transmitted from the engine 10 and outputs the changed speed; and a power transmission portion 17 that transmits power from engine 10 to HST 16.

The power transmission device 15 has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the HST16 via the power transmission portion 17, and the power shifted by the HST16 is transmitted to the transmission 18. A sub-transmission mechanism (not shown) for switching between a high-speed mode and a low-speed mode, which will be described later, is provided in the transmission case 18, and the transmission case 18 is attached to the front portion of the main frame 7.

Part of the power transmitted from the transmission 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via left and right front final drive cases (final cases) 13, and the remaining part can be transmitted to the rear wheels 5 via left and right rear wheel 5 gear cases 22. The left and right front wheel final gearboxes 13 are disposed on the left and right sides of the gearbox 18, respectively. The left and right front wheels 4 are coupled to left and right front wheel final gearboxes 13 via axles 131, and the front wheel final gearboxes 13 are driven in response to a steering operation of the steering wheel 32, and can steer the front wheels 4.

Similarly, the rear wheels 5 are connected to the gear boxes 22 of the left and right rear wheels 5 via axles 220. On the other hand, the transmission case 18 transmits power from a not-shown work implement drive shaft to the seedling planting section 50 via a planting clutch 500 provided at the rear portion of the traveling vehicle body 2. The planting clutch 500 is operated by a planting clutch motor 510 (see fig. 5) connected to the controller 150 (see fig. 5) described later in detail.

The engine 10 is disposed substantially at the center in the left-right direction of the traveling vehicle body 2, and is disposed in a state of protruding upward from a floor pedal 26 on which a foot is placed when an operator is riding the vehicle. The floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10, is attached to the main frame 7, and is partially in a grid shape, whereby mud adhering to the shoes can be dropped into the field F. A rear pedal 27 serving also as a fender for the rear wheel 5 is provided behind the floor pedal 26. The rear step plate 27 has inclined surfaces inclined in the upward direction as it goes rearward, and is disposed on each of the left and right sides of the engine 10.

Engine 10 projects upward from floor pedals 26 and rear pedal 27, and a hood 11 covering engine 10 is disposed at a portion projecting from

pedals

26 and 27.

A manipulation seat 28 on which an operator sits is provided at an upper portion of the engine hood 11, and a manipulation unit 30 is provided at a front center portion of the traveling vehicle body 2 in front of the manipulation seat 28. The operation unit 30 is disposed so as to protrude upward from the floor surface of the floor pedal 26, and divides the front side of the floor pedal 26 into left and right portions.

A steering column 315 is provided in the steering unit 30, and a steering wheel 32 that allows a worker to steer is provided above the steering column 315. As shown in fig. 3, a finger lever 34 is provided to the steering column 315. Fig. 3 is a schematic view of the steering column 315 as viewed from the front. The finger lever 34 is operated by an operator when, for example, points a and B are obtained. The finger lift bar 34 can rotate in the up-down direction.

As shown in fig. 4, a monitor 33 is provided on the steering column 315.

Fig. 4 is a schematic diagram of the monitor 33. The monitor 33 includes, for example, a straight travel assist lamp 331, an a lamp 332, a B lamp 333, and a GPS lamp 334 that are lit when the body performs automatic straight travel by straight travel assist. Further, display lamps other than the lamps are disposed on the monitor 33. Also, the seedling transplanter 1 may have a plurality of monitors.

In the monitor 33, the a lamp 332 is turned on when the a lamp is obtained by the operation of the finger lever 34. When the point B is obtained by the operation of the finger lever 34, the point B lamp 333 is turned on. In the monitor 33, when the body is in a state in which the body can automatically travel straight, the a lighting 332 and the B lighting 333 are simultaneously turned on.

The GPS lamp 334 has three display lamps, and the number of the display lamps to be turned on is changed in accordance with the GPS reception state. The monitor 33 notifies the operator of the GPS reception state by the display method.

A buzzer 215 (see fig. 5) as an example of the notification device 200 is provided at a predetermined position of the manipulation unit 30.

Returning to fig. 2, a main shift lever 81 and a sub-shift lever 82 are provided in the vicinity of a steering column 315 of the operating portion 30. The main shift lever 81 is disposed on the right side of the manipulation portion 30, and the sub-shift lever 82 is disposed below the steering wheel 32.

The main shift lever 81 is an operation lever for switching between forward and reverse movement of the traveling vehicle body 2 and a traveling output, and is operated by an operator to adjust a rotation angle of a trunnion (not shown) of the HST16, thereby adjusting the speed of the traveling vehicle body 2.

The sub-shift lever 82 is a control lever that switches a running mode that defines a running speed of the running vehicle body 2 between a low-speed mode and a high-speed mode according to a running place. The mode switching is performed by a sub-transmission mechanism provided in the transmission case 18 according to the position of the sub-shift lever 82.

A front cover 31 that can be opened and closed is provided in front of the operation unit 30. A Center mark (Center marker) 350 is attached so as to be positioned at the Center of the front end of the front cover 31, and the Center mark 350 is an index member as a travel index. Although not shown in fig. 2 for convenience, preliminary seedling stages (not shown) are provided on the left and right sides of the front side of the traveling vehicle body 2.

The center mark 350 is attached to the front center position of the traveling vehicle body 2, and functions as a reference of the traveling direction when an operator seated on the operation seat 28 drives the seedling transplanter 1. The center indicator 350 of the present embodiment also functions as a notification device 200 that notifies an assistance status including whether or not the aforementioned straight-ahead assistance can be performed.

The seedling transplanter 1 of the present embodiment uses the center indicator 350 as the notification device 200 to notify not only the state of the straight-ahead assist but also information related to the remaining amount of the working material such as seedlings and fertilizer in the seedling planting section 50.

Since the center mark 350 is always present in the forward-facing field of view of the operator, the operator can always grasp the state of the seedling transplanter 1 without having to look away from the front, which contributes to an improvement in safety.

In the seedling transplanter 1 of the present embodiment, a GNSS unit 120 having a receiving antenna 121 (see fig. 5) is disposed in the traveling vehicle body 2. The GNSS unit 120 can acquire the GNSS coordinates at predetermined time intervals by using the receiving antenna 121, thereby acquiring the position information on the earth at the predetermined time intervals.

Returning to fig. 2, the seedling planting part 50 and other structures will be explained. The seedling planting part 50 is installed to the rear part of the traveling vehicle body 2 in a liftable manner via the seedling planting part elevating mechanism 40. The seedling planting part elevating mechanism 40 includes an elevating link device 41, and the elevating link device 41 includes a parallel link mechanism for connecting the rear part of the traveling vehicle body 2 to the seedling planting part 50. The parallel link mechanism includes an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably connected to a link base frame 43 that is erected at a rear end of the main frame 7 and has a door shape in rear view. The other end sides of the links 41a and 41b are rotatably connected to the seedling planting part 50. In this way, the seedling planting part 50 is coupled to the traveling vehicle body 2 so as to be able to rise and fall.

The seedling planting part lifting mechanism 40 has a hydraulic lifting cylinder 44 which is hydraulically extended and retracted, and the seedling planting part 50 can be lifted and lowered by the extension and retraction of the hydraulic lifting cylinder 44. The hydraulic lift cylinder 44 is driven by the HST16, and the seedling planting part 50 can be raised to a non-working position or lowered to a ground working position (planting position) by the lifting operation of the seedling planting part lifting mechanism 40.

Also, the seedling-planting part 50 can be planted in a plurality of sections or in a plurality of rows within a range where seedlings are planted. For example, a so-called 6-row seedling planting part 50 in which seedlings are planted in 6 sections can be employed.

The seedling planting unit 50 includes a seedling planting device 60, a seedling placing table 51, and a carriage 47 (48, 49). The seedling placing table 51 is a seedling placing member for placing a plurality of seedlings on the rear part of the traveling vehicle body 2, and has a number of seedling placing surfaces 52 corresponding to the number of seedlings to be planted, which are spaced apart in the left-right direction of the traveling vehicle body 2, and can place blanket-shaped seedlings with soil on each seedling placing surface 52.

The seedling planting device 60 is a device which is disposed below the seedling placing table 51 on which seedlings are placed, and which takes out seedlings from the seedling placing table 51 and plants the seedlings in the field F, and is supported by a planting support frame 55 disposed on the front surface side of the seedling placing table 51. The seedling planting device 60 includes a planting transmission case 64 and a planting body 61, the planting body 61 is configured to be able to take out a seedling from the seedling placing table 51 and plant the seedling in the field F, and the planting transmission case 64 is able to supply a driving force to the planting body 61.

The planting transmission case 64 is configured to be able to supply power transmitted from the engine 10 to the seedling planting part 50 to the planting body 61, and the planting body 61 is rotatably coupled to the planting transmission case 64. The planting body 61 includes: a planting bar 62 for taking out seedlings from the seedling placing tables 51 and planting them on the field F; and a rotation box 63 rotatably supporting the planting bar 62 and rotatably connected to the planting transmission box 64.

The rotation case 63 incorporates a variable speed transmission mechanism (not shown) which can rotate the planting bar 62 while changing the rotation speed when the planting bar 62 is rotated by the driving force transmitted from the planting transmission case 64. Thus, when the planting body 61 rotates, the planting bar 62 can rotate while changing the rotation speed according to the rotation angle with respect to the rotation box 63.

The seedling planting devices 60 thus constructed are arranged in a manner of 1 per two rows. That is, a plurality of seedling planting devices 60 are respectively assigned to the planting rows. Further, each planting gear box 64 includes the planting bodies 61 corresponding to two rows on the premise that the planting bodies 61 can be rotated, with respect to the planting bodies 61. That is, 2 rotary boxes 63 are connected to 1 planting transmission box 64 on both sides in the left-right direction of the machine body.

The carriage 47 slides on the field surface as the traveling vehicle body 2 moves, and has a center carriage 48 positioned at the center of the seedling planting section 50 in the lateral direction of the traveling vehicle body 2, and side carriages 49 positioned at both sides of the seedling planting section 50 in the lateral direction.

The center carriage 48 in the present embodiment is provided with a carriage potentiometer 154 (see fig. 5), and the carriage potentiometer 154 functions as a hydraulic pressure sensitive mechanism for vertically moving the seedling planting part 50 in accordance with the state of the field F. The carriage potentiometer 154 can change the range of sensitivity for detecting the vertical movement of the center carriage 48.

For example, if the sensitivity is sensitive, even a small vertical movement of the center rest 48 can be detected, and a detection signal is transmitted to the controller 150. On the other hand, if the sensitivity is set to be slow, the small vertical movement of the center saddle 48 is not detected, and only vertical movement with a certain amplitude or more is detected, and a detection signal is transmitted to the controller 150.

A rotor 67 for soil preparation of the field F is provided on the front side of the lower side position of the seedling-growing part 50. The rotor 67 is configured to be rotatable by an output from the engine 10 transmitted through the gear case 22 of the rear wheel 5, and is configured to be movable up and down by a rotor motor 165 (see fig. 5) which is an electric motor.

In the seedling transplanter 1 of the present embodiment, the controller 150 performs the straight-ahead assist on the condition that the land preparation rotor 67 is grounded. That is, the controller 150 performs the straight traveling assistance only when the soil preparation rotor 67 is in the on state and the seedling planting work is performed.

In the seedling transplanter 1, the controller 150 can acquire the points a and B on the condition that the rotor 67 for soil preparation is grounded. That is, the controller 150 can obtain the points a and B only when the soil preparation rotor 67 is in the on state and the seedling planting work is performed.

The seedling planting part 50 is provided with marking markers 68 on both left and right sides thereof for forming a line as a reference in the traveling direction on the next planting row. When the seedling transplanter 1 advances straight in the field F, the marking marker 68 marks the field F by marking when the seedling transplanter 1 advances straight after the ridge of the field F rotates.

Fig. 5 is a functional block diagram centering on the controller 150 of the seedling transplanter 1. The seedling transplanter 1 of the present embodiment can control each part by electronic control, and the seedling transplanter 1 includes a controller 150 as a control part for controlling each part. The controller 150 includes a Processing Unit such as a CPU (Central Processing Unit), a storage Unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output Unit, which are connected to each other so that signals can be exchanged. A computer program for controlling the seedling transplanter 1 is stored in the storage unit.

As shown in the drawing, various actuators, sensors for acquiring information of each part, and the like are connected to the controller 150.

The controller 150 is connected to actuators such as a throttle motor 100 for adjusting the intake air amount of the engine 10, a rotor motor 165 for raising and lowering the land preparation rotor 67, and a planting clutch motor 510 for operating the planting clutch 500. Although not shown, a trunnion drive motor that changes the rotation angle of the trunnion of the HST16 is also connected to the controller 150.

The controller 150 is connected to various other sensors including a steering angle sensor 130, an azimuth sensor 160, an attitude sensor 170, an inclination sensor 180, a seating sensor 190, a rotation sensor (detecting unit) 195, a lever sensor (not shown) for detecting an operation amount of the main shift lever 81 or the sub-shift lever 82 in accordance with a tilt angle, a vehicle speed sensor (not shown) for detecting a vehicle speed of the traveling vehicle body 2, and the like.

The steering angle sensor 130 is a sensor that detects a steering angle when the front wheels 4, which are steered wheels, are steered by operating the steering wheel 32. The rudder angle sensor 130 may also detect the rudder angle from the turning angle of the steering wheel 32.

The orientation sensor 160 is a sensor for detecting the orientation of the body. The controller 150 can derive the actual traveling direction of the body from the value acquired by the orientation sensor 160.

The attitude sensor 170 is for detecting how much the attitude of the running vehicle body 2 is inclined with respect to the automatic straight line L1, and is configured by a gyro sensor or the like.

The inclination sensor 180 detects the inclination of the running vehicle body 2. The inclination sensor 180 detects the inclination in the front-rear direction and the left-right direction of the traveling vehicle body 2. The inclination sensor 180 may be constituted by a plurality of sensors. The inclination sensor 180 is, for example, an acceleration sensor.

The seating sensor 190 is a sensor including a load sensor, a pressure-sensitive film sensor, or the like provided in the manipulation seat 28, and is capable of detecting that an operator is seated on the manipulation seat 28.

The rotation number sensor 195 detects the rotation number of the rotor 67 for land preparation. The rotation number sensor 195 detects the rotation number when the rotor 67 for land preparation contacts the field F and rotates.

Further, when the straight travel assist of the seedling transplanter 1 is stopped due to some trouble or the like, it is possible to control the operation to improve safety or prevent an operation error in the future as follows: when the straight assist is resumed, if the conditions such as the lowering of the seedling planting part 50, the storage of the preliminary seedling stage, and the engagement of the planting clutch 500 are not satisfied, the straight assist is not resumed.

The controller 150 is connected to the notification device 200, for example, with a monitor 33 and a buzzer 215 for giving an alarm or the like.

The controller 150 can notify the assist status including execution, stop, and the like of the straight assist using the buzzer 215 and the monitor 33. Therefore, the operator can easily recognize whether or not the forward-tilted state of the body, the steering angle after turning the body, the posture of the body, and the like at the present time are conditions according to the execution of the straight-ahead assist. Therefore, for example, the operability of switching from the swing operation to the straight assist can be improved.

The controller 150 may notify an operator of an abnormality of the power transmission device 15 (such as gear disengagement of the clutch mechanism) using the buzzer 215 and the monitor 33. In the present embodiment, the monitor 33 and the buzzer 215 are provided in advance in the running vehicle body 2, but the same function can be provided to a tablet terminal device (not shown) that can be brought in from the outside.

The seedling transplanter 1 further includes a steering angle adjusting unit 110 and a GNSS unit 120 that can be controlled by the controller 150, and the steering angle adjusting unit 110 and the GNSS unit 120 are connected to the controller 150.

The steering angle adjustment unit 110 includes a transmission mechanism (not shown) linked to the steering wheel 32, and a straight assist mechanism 310 that applies an arbitrary rotational force to the steering wheel 32, and is capable of performing automatic steering by the controller 150. The transmission mechanism includes a steering motor 112 that turns the steering wheel 32.

When the straight-ahead assist is executed, the controller 150 automatically steers the steering wheel 32 via the straight-ahead assist mechanism 310 based on the position information acquired by the GNSS unit 120, thereby maintaining the traveling vehicle body 2 in the straight-ahead direction.

The GNSS unit 120 has a receiving antenna 121 that receives a signal from an artificial satellite 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.

Various switches such as the finger lift lever 34, the carriage potentiometer 154, and the direct drive assist on/off switch 210 are connected to the controller 150.

The finger lift 34 receives an operation related to the straight assist by the operator. The finger lever 34 is operated by the operator when the points a and B are obtained. The finger lift lever 34 is operated when the reference travel line L2 is cancelled.

The carriage potentiometer 154 is provided on the center carriage 48 that moves up and down in accordance with the unevenness of the field F, and senses the up and down movement of the center carriage 48, that is, the depth of the field F. The controller 150 raises and lowers the seedling planting part 50 according to the sensed unevenness of the field F.

When the operation of obtaining the point a is performed (S10; yes), the controller 150 determines whether the soil preparation rotor 67 is grounded, that is, whether the seedling planting work is being performed (S11).

When the land preparation rotor 67 is grounded (on state) (S11; yes), the controller 150 acquires a point a (S12) and starts counting the number of revolutions of the land preparation rotor 67 (S13).

When the rotor 67 for land preparation is not grounded (off state) (S11; no), the controller 150 notifies that the point a cannot be obtained (S14). For example, the controller 150 notifies that point a cannot be obtained by sounding the buzzer 215.

After acquiring point a, the controller 150 determines whether the soil preparation rotor 67 is maintained in a grounded state (on state) (S15).

When the rotor 67 for leveling is not in a state of being grounded (S15; no), the controller 150 cancels the acquired point a (S16), stops counting the number of revolutions of the rotor 67 for leveling (S17), and reports the result (S18). For example, the controller 150 notifies that the point a is cancelled and the count of the rotation number of the rotor 67 for land preparation is stopped by sounding the buzzer 215.

When the rotor 67 for land preparation is kept in a grounded state (S15; yes), the controller 150 determines whether or not an operation for obtaining point B has been performed (S19). Specifically, the controller 150 determines whether the finger lift lever 34 is pressed downward for less than 2 seconds.

If the operation to obtain point B is not performed (S19; no), the controller 150 determines whether the rotor 67 for land preparation remains in the grounded state (on state) (S15).

When the operation of obtaining point B is performed (S19; yes), the controller 150 obtains point B (S20), and ends the counting of the number of rotations of the rotor 67 for land preparation (S21).

The controller 150 sets the reference travel line L2 based on the acquired point a and point B, and registers the reference travel line L2 with the travel reference registration unit 152 (S22).

The controller 150 calculates a reference travel distance from the counted number of revolutions of the land preparation rotor 67, and registers the reference travel distance in the travel reference registration unit 152 (S23).

Next, the reference travel distance update control according to the embodiment will be described with reference to fig. 7. Fig. 7 is a flowchart illustrating the control for updating the reference travel distance according to the embodiment. Here, it is assumed that the straight travel assist on/off switch 210 is turned on, and the reference travel line L2 and the reference travel distance are registered in the travel reference registration unit 152. Then, the traveling vehicle body 2 is rotated in accordance with a rotation operation performed by an operator.

The controller 150 determines whether or not the running vehicle body 2 is turning (S30). Specifically, the controller 150 determines whether or not the steering angle is within a predetermined steering angle range by the steering wheel operation of the operator. The predetermined steering angle range is a range in which the traveling vehicle body 2 can be determined to be turning, and is set in advance. The controller 150 determines that the vehicle is turning when the steering angle is larger than the predetermined steering angle range. When the steering angle is within the predetermined steering angle range, the controller 150 determines that the turning is finished.

If the swing is in progress (S30; yes), the controller 150 ends the processing of this time.

When the rotation is not in progress, that is, when the rotation is completed (S30; no), the controller 150 starts the seedling planting work (S31). Thereby, the land preparation rotor 67 is lowered and grounded.

The controller 150 starts the straight assist (S32) and starts counting the number of revolutions of the rotor 67 for land preparation (S33).

The controller 150 determines whether or not the swing is started (S34). Specifically, the controller 150 determines whether or not the steering angle is larger than a predetermined steering angle range by the steering wheel operation of the operator. When the steering angle is larger than the predetermined steering angle range, the controller 150 determines that the turning is started. When the steering angle is within the predetermined steering angle range, the controller 150 determines that the turning is not started.

If the swing is not started (S34; no), the controller 150 continues the straight assist until the swing is started (S35).

When the rotation is started (S34; YES), the controller 150 ends the straight traveling assist (S36) and ends the seedling planting work (S37). Thereby, the land preparation rotor 67 is raised and no longer grounded.

The controller 150 finishes counting the number of revolutions of the land preparation rotor 67 (S38), and calculates the travel distance in the present straight assist (S39).

The controller 150 determines whether or not a distance difference between a travel distance in the preceding straight assist (preceding step) and a travel distance in the current straight assist (current step) is smaller than a predetermined distance (S40). The travel distance in the previous straight-ahead assist is registered (stored) in the travel reference registration unit 152, for example. The travel distance in the present straight-ahead assist is registered (stored) in, for example, the travel reference registration unit 152. The travel distance in the preceding straight assist is deleted by registering the travel distance in the straight assist at this time. The distance difference is an absolute value of a difference between the travel distance in the preceding straight assist and the travel distance in the current straight assist. The predetermined distance is a preset distance.

When the distance difference is smaller than the predetermined distance (S40; yes), the controller 150 updates the reference travel distance (S41). Specifically, the controller 150 registers the travel distance in the present straight assist as the new reference travel distance.

When the distance difference is equal to or greater than the predetermined distance (S40; no), the controller 150 ends the current process. That is, the controller 150 does not update the registered reference travel distance.

When the straight travel assist is being performed, the controller 150 notifies the turning position based on the reference travel distance. For example, when the traveling vehicle body 2 travels the turning distance by the straight-line assist after turning, the controller 150 sounds the buzzer 215. The turning distance is set to a distance shorter than the reference running distance by a preset distance amount.

In this way, the timing of reporting the turning position is set based on the reference travel distance. Therefore, when the reference travel distance is set to a fixed value, the timing of reporting the turning position may not be an appropriate timing when the length of the field (F) is not fixed.

For example, when the length of the field F is long, the notification is performed at a timing earlier than the appropriate turning position. On the other hand, when the length of the field F is short, the notification is not made even when the appropriate turning position is reached. In the present embodiment, the reference travel distance is updated, and therefore the turning position can be reported at an appropriate timing even when the length of the field is not fixed.

In the straight assist, the controller 150 may end the straight assist when the vehicle speed of the running vehicle body 2 is lower than the detectable vehicle speed at a position of, for example, 0.5km/h, for example, for 2 seconds. This can suppress the execution of the direct travel assistance in a state where the position detection accuracy of the GNSS unit 120 is low.

In the straight assist, the controller 150 may end the straight assist when the vehicle speed of the traveling vehicle body 2 continues for, for example, 2 seconds in a state of being lower than the assist traveling end vehicle speed of, for example, 0.4 km/h. Thus, when it is predicted that the traveling vehicle body 2 will stop, the straight assist can be terminated regardless of the operation of the operator, and the work of the operator can be omitted.

The controller 150 may terminate the straight-ahead assist when an abnormality in communication with the GNSS unit 120 or the like, an abnormality in the steering angle adjustment unit 110, or the like is detected during the straight-ahead assist. This can suppress the straight assist from being performed in a state where the accuracy of the straight assist is low.

When the running mode of the subtransmission mechanism is the high speed mode, the controller 150 may display on the monitor 33 that the running mode of the subtransmission mechanism is the high speed mode. This enables the operator to recognize that the condition for performing the straight assist is not satisfied.

The controller 150 may end the display when the display of the condition for executing the straight assist is not satisfied, for example, 5 seconds, or when the running mode of the subtransmission mechanism is the low speed mode.

When the height of the rotor 67 is equal to or greater than a predetermined fixed value, the controller 150 may display on the monitor 33 that the height of the rotor 67 is equal to or greater than the predetermined fixed value. This enables the operator to recognize that the condition for performing the straight-ahead assist is not satisfied.

The controller 150 ends the display when the display of the condition for executing the straight assist is not satisfied, for example, for 5 seconds, or when the height of the rotor 67 is lower than a predetermined fixed value.

The seedling transplanter 1 of the above embodiment measures the operation travel distance from the on state where the rotor 67 for soil preparation as the operation means is grounded to the off state where the rotor 67 for soil preparation is not grounded. When the difference between the travel distance in the preceding straight-traveling assist and the operation travel distance in the current straight-traveling assist is smaller than the predetermined distance, the seedling transplanter 1 registers the operation travel distance in the current straight-traveling assist as the reference travel distance and updates the reference travel distance.

Thus, when the turning position is notified based on the reference travel distance when the straight assist is performed, the turning position can be notified at an appropriate timing by updating the reference travel distance. Therefore, for example, even when the length of the field F is not fixed, the turning position can be notified at an appropriate timing. Therefore, the workability and safety during the straight assist can be improved.

The seedling transplanter 1 obtains points a and B for setting the reference travel line L2 when the soil preparation rotor 67 is in the on state. This makes it possible to accurately set the reference travel line L2, which is a reference for performing the straight travel assist, in accordance with the actual planting work. Therefore, the workability in the straight assist can be improved.

In the seedling transplanter 1 of the modified example, even when the planting work is started without obtaining the points a and B, the reference travel distance is calculated from the number of revolutions of the land preparation rotor 67 and registered in the travel reference registration unit 152 when the land preparation rotor 67 is grounded. This enables the reference travel distance to be registered as soon as possible. Therefore, for example, even when the reference travel distance cannot be calculated when the reference travel line L2 is registered, the turning position can be notified based on the registered reference travel distance at the time of the straight travel assist in the next step.

Further, the seedling transplanter 1 of the modified example may start counting the rotation number of the soil preparation rotor 67 when the seedling planting part 50 is lowered and the planting clutch 500 is in the engaged state, that is, the connected state. Further, when the seedling planting part 50 is raised and the planting clutch 500 is in the off state, i.e., the release state, the count of the number of rotations of the rotor 67 for soil preparation may be ended.

When the vehicle speed is equal to or higher than the predetermined vehicle speed, the seedling transplanter 1 of the modified example turns off the planting clutch 500 even when a planting switch (not shown) for switching whether or not to plant seedlings is turned on (on). Therefore, the planting operation can be inhibited from being carried out under the condition of large vehicle speed, and the plant spacing can be inhibited from increasing. In addition, the rotation of the planting lever 62 can be suppressed in a state where the vehicle speed is high, and the degradation of the planting body 61 can be suppressed.

In the seedling transplanter 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, the planting clutch 500 is disengaged until the main shift lever 81 is in the neutral position even when the planting switch is turned on. Therefore, the planting operation can be inhibited from being carried out under the condition of a large vehicle speed, and the situation that the planting distance is increased is inhibited. In addition, rotation of the planting lever 62 can be suppressed in a state where the vehicle speed is high, and deterioration of the planting body 61 can be suppressed.

In the seedling transplanter 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, the planting clutch 500 is turned off until the trunnion of the HST16 is at the neutral position even when the planting switch is turned on. Therefore, the planting operation can be prevented from being carried out under the condition that the vehicle speed is large, and the planting distance is prevented from increasing. In addition, the rotation of the planting lever 62 can be suppressed in a state where the vehicle speed is high, and the deterioration of the planting body 61 can be suppressed.

In the seedling transplanter 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, the planting clutch 500 is turned off even when the planting switch is turned on until the vehicle speed reaches zero or a predetermined low vehicle speed near zero. Therefore, the planting operation can be inhibited from being carried out under the condition of large vehicle speed, and the plant spacing is inhibited from increasing. In addition, rotation of the planting lever 62 can be suppressed in a state where the vehicle speed is high, and deterioration of the planting body 61 can be suppressed.

In the seedling transplanter 1 of the modified example, when the vehicle speed is equal to or higher than the predetermined vehicle speed, the planting clutch 500 is turned off even when the planting switch is turned on until the main shift lever 81 is in the neutral position, the trunnion of the HST16 is in the neutral position, and the vehicle speed becomes zero or a predetermined low vehicle speed. Therefore, the planting operation can be prevented from being carried out under the condition of a large vehicle speed, and the plant spacing is prevented from increasing. In addition, the rotation of the planting bar 62 can be suppressed in a state where the vehicle speed is high, and the degradation of the planting body 61 can be suppressed.

Further, the seedling transplanter 1 of the modified example may sound the buzzer 215 while the planting clutch 500 is kept in the off state as described above. Further, the monitor 33 and the like may be blinked. This makes it possible to notify the operator that the planting clutch 500 is restricted to the off state.

Claims

1. A work vehicle is characterized by comprising:

a working device (67) attached to the traveling vehicle body (2);

a detection unit (195) that detects the travel distance during a period in which work is performed by the work device (67);

a position information acquisition unit (120) that acquires position information of the traveling vehicle body (2);

a steering angle adjustment unit (110) that adjusts the steering angle so that the traveling vehicle body (2) automatically travels straight; and

a control unit (150) for acquiring travel reference data serving as a reference for automatic straight travel on the basis of the position information, and controlling the steering angle adjustment unit (110) on the basis of the travel reference data,

a control unit (150) measures a work travel distance from when the work device is in the work state to when the work device is in the non-work state, registers the work travel distance as a reference work travel distance in the case of performing automatic straight travel,

when the vehicle is automatically driven straight, the turning position of the traveling vehicle body (2) is reported based on the reference working travel distance.

2. The work vehicle according to claim 1,

the work vehicle is provided with an operating element (34) for acquiring the travel reference data,

acquiring a first reference point and a second reference point in a field by operating the operating element (34) to register the travel reference data,

the second reference point can be acquired when the traveling vehicle body is separated from the position where the first reference point is acquired by a predetermined distance or more,

when the operating element (34) is operated for a predetermined time, the acquired first reference point and second reference point are deleted,

when the difference between the work travel distance performed in the previous step and the work travel distance performed in the current step is smaller than the predetermined distance, the work travel distance performed in the current step is registered as a new reference work travel distance.