JP4654808B2 - Farm work vehicle - Google Patents

Farm work vehicle Download PDF

Info

Publication number
JP4654808B2
JP4654808B2 JP2005210372A JP2005210372A JP4654808B2 JP 4654808 B2 JP4654808 B2 JP 4654808B2 JP 2005210372 A JP2005210372 A JP 2005210372A JP 2005210372 A JP2005210372 A JP 2005210372A JP 4654808 B2 JP4654808 B2 JP 4654808B2
Authority
JP
Japan
Prior art keywords
traveling
steering
speed
aircraft
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2005210372A
Other languages
Japanese (ja)
Other versions
JP2007020518A (en
Inventor
文雄 重松
光 小佐野
建之 大内
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Iseki and Co Ltd
Original Assignee
Iseki and Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Iseki and Co Ltd filed Critical Iseki and Co Ltd
Priority to JP2005210372A priority Critical patent/JP4654808B2/en
Publication of JP2007020518A publication Critical patent/JP2007020518A/en
Application granted granted Critical
Publication of JP4654808B2 publication Critical patent/JP4654808B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Guiding Agricultural Machines (AREA)
  • Transplanting Machines (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Description

本発明は、目標方位に合わせて操向装置の舵角を操作する自律直進操舵制御を行いつつ、田植作業等の圃場作業をする圃場作業車両に関するものである。   The present invention relates to a field work vehicle that performs field work such as rice transplanting work while performing autonomous straight-ahead steering control that operates a steering angle of a steering device in accordance with a target direction.

水田走行が可能な機体に苗植装置等の作業機を備え、機体走行とともに田植作業等の圃場作業を行う圃場作業車両において、特許文献１に示すように、目標方位に合わせて自律直進操舵制御を行うものが知られている。
上記圃場作業車両は、機体が向いている方向を示す方位情報に基づいて別途設定による目標方位に対する機体の方位偏差が小さくなる方向に操向装置の舵角を操作する自律直進操舵制御を行う制御部を備えて構成される。この制御部により、圃場の往復作業走行等において、機体を走行支持する走行部に受ける左右の走行抵抗に差があっても機体方向が目標方位に修正される。したがって、場所により凹凸や土壌の硬さ状況が変動する不均一な圃場環境にあっても、圃場作業車両のオペレータは、所定方位に沿った往復走行のための機体の操舵操作を要することなく、作業機の稼動操作に専念することができる。 As shown in Patent Document 1, autonomous straight-ahead steering control is performed in accordance with a target direction in a field work vehicle that includes a work machine such as a seedling planting device in a machine body capable of running on paddy fields and performs field work such as rice transplanting work together with the machine running. Is known to do.
The field work vehicle performs autonomous straight-ahead steering control for operating the steering angle of the steering device in a direction in which the azimuth deviation of the aircraft with respect to a separately set target azimuth is reduced based on azimuth information indicating the direction in which the aircraft is facing It is configured with a part. This control unit corrects the body direction to the target direction even if there is a difference in the left and right traveling resistance received by the traveling unit that travels and supports the body during reciprocating work traveling on the field. Therefore, even in a non-uniform field environment in which unevenness and soil hardness vary depending on the location, the operator of the field work vehicle does not need a steering operation of the aircraft for reciprocating travel along a predetermined direction, It is possible to concentrate on operating the work equipment.

しかしながら、走行開始時を含め、停止状態に近い低速走行においては、左右の走行部に受ける走行抵抗の変動幅が相対的に大きくなるばかりでなく、その左右差による機体の方向変動に対して制御部が修正操舵しても、時間当たりの走行移動量が小さいことから機体方向の修正効果が時間的に遅れるので、この不安定な操舵制御により機体方向がなおさら悪化して異常走行を招くこととなる。   However, in low-speed driving close to the stop state, including when starting driving, the fluctuation range of the running resistance received by the left and right running parts is not only relatively large, but also controls for fluctuations in the direction of the aircraft due to the left-right difference. Even if the steering is corrected, the amount of travel movement per hour is small, so the effect of correcting the aircraft direction is delayed in time, and this unstable steering control further deteriorates the aircraft direction, leading to abnormal driving. Become.

これを避けるためには、圃場状況や走行速度に応じて制御パラメータを変更するべく適応制御を組み込む必要があり、その実用化のための複雑な取扱い、および、制御部の構成の複雑化による信頼性の問題等を内包している。
特開２００４−３３７０３１号公報 In order to avoid this, it is necessary to incorporate adaptive control in order to change the control parameters in accordance with the field conditions and traveling speed, and the complicated handling for its practical use and the reliability due to the complicated configuration of the control unit It contains sexual issues.
JP 2004-337031 A

解決しようとする問題点は、適応制御のための複雑な取扱いを要することなく、簡易な構成で信頼性の高い制御部により自律直進操舵制御の不安定化を回避して異常走行を確実に防止することができる圃場作業車両を提供することにある。   The problem to be solved is to avoid the instability of autonomous straight-ahead steering control by a highly reliable control unit with a simple configuration without the need for complicated handling for adaptive control, and to reliably prevent abnormal running An object of the present invention is to provide a farm work vehicle that can be used.

請求項１に係る発明は、機体方向を示す機体方位情報に基づき、別途設定の目標方位に対する機体方位の偏差が小さくなる方向に操向装置の舵角を操作する自律直進操舵制御を行う制御部を備える圃場作業車両において、上記制御部には、方位偏差の低減に適する走行速度を基準速度として別途設定し、機体の走行速度情報に基づいて同走行速度が上記基準速度に満たない範囲について上記自律直進操舵制御を強制解除することを特徴とする。
上記構成の制御部により、所定の基準速度に満たない低速走行では、自律直進操舵制御が行われることなく圃場状況に従って走行される。 The invention according to claim 1 is a control unit that performs autonomous straight-ahead steering control that operates the steering angle of the steering device in a direction in which the deviation of the airframe orientation with respect to a separately set target orientation is small, based on the airframe orientation information that indicates the airframe direction. In the field work vehicle provided with the above, the control unit separately sets a traveling speed suitable for reducing the azimuth deviation as a reference speed, and the above-described range of the traveling speed less than the reference speed based on the traveling speed information of the aircraft The autonomous straight-ahead steering control is forcibly canceled.
In the low-speed traveling that does not satisfy the predetermined reference speed, the control unit configured as described above travels according to the field condition without performing autonomous straight-ahead steering control.

本発明の圃場作業車両は以下の効果を奏する。
請求項１の制御部により、所定の基準速度以上の速度範囲に限って自律直進操舵制御による操向装置の舵角操作が可能となり、同基準速度に満たない低速走行では、自律直進操舵制御が行われることなく圃場状況に応じて機体が走行される。したがって、機体方位の偏差低減に適する走行速度を実測等により確定したものを基準速度として設定することにより、圃場状況や走行速度に応じて制御パラメータを変更する適応制御のための複雑な取扱いを要することなく、簡易な構成で信頼性の高い制御部により自律直進操舵制御の不安定化を回避して異常走行を確実に防止することができる。 The field work vehicle of the present invention has the following effects.
The control unit according to claim 1 enables the steering angle operation of the steering device by the autonomous straight-ahead steering control only in a speed range equal to or higher than a predetermined reference speed, and the autonomous straight-ahead steering control is performed at a low speed traveling less than the reference speed. The aircraft is driven according to the field conditions without being performed. Therefore, complicated handling for adaptive control that changes the control parameters according to the field condition and traveling speed is required by setting the traveling speed suitable for reducing the deviation of the aircraft orientation as a reference speed determined by actual measurement. In addition, it is possible to reliably prevent abnormal traveling by avoiding instability of the autonomous straight-ahead steering control by a highly reliable control unit with a simple configuration.

本発明の実施の形態について、以下に図面に基づいて詳細に説明する。
本発明の圃場作業車両の一例である田植機の側面図および平面図をそれぞれ図１、図２に示す。田植機１は、操向車輪２、２と後輪３、３とによって四輪駆動可能に機体が走行支持され、旋回操作用の操舵ハンドル４、機体走行および作業機を操作するための操作具を配した操縦席５、機体走行および作業機の動力を供給するエンジン６、機体後部に昇降可能に取付けられた作業機として圃場に苗を植え付ける苗植機７等を備えるほか、操舵ハンドル４の脇に第１の操作パネル８ａ、操縦席５の後方に第２の操作パネル８ｂ、機体上部に方位センサ９、機体走行を含む各種機器を制御する制御部等を備えて構成される。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
A side view and a plan view of a rice transplanter as an example of a field work vehicle of the present invention are shown in FIGS. 1 and 2, respectively. The rice transplanter 1 is supported by the steering wheels 2 and 2 and the rear wheels 3 and 3 so that the vehicle can be driven by four wheels, and the steering handle 4 for turning operation, the vehicle running, and the operating tool for operating the working machine. Is equipped with a pilot seat 5, an engine 6 that supplies power to the aircraft traveling and working machine, a seedling planting machine 7 for planting seedlings in the field as a working machine attached to the rear of the machine so as to be able to be raised and lowered, and a steering handle 4 The first operation panel 8a is provided on the side, the second operation panel 8b is provided behind the cockpit 5, the azimuth sensor 9 is provided on the upper part of the fuselage, and a control unit for controlling various devices including the running of the fuselage.

苗植機７は、機体後部の昇降機構１１を介して昇降可能に取付けた作業機であり、図示せぬ植付クラッチを介して機体の走行に合わせて多条植え動作するほか、植付け動作と連動して苗を順次送り出す苗送出部１３、均平用のフロート１５…等を備える。苗の植付け作業は、苗植機７を下げて直線走行しつつ植付けをし、畦際で苗植機７を上げるとともに機体を旋回した後、再度、苗植機７を下げて隣接領域について復行の植付け走行を繰り返すことにより行う。   The seedling planting machine 7 is a working machine that is mounted so as to be able to be lifted and lowered via a lifting mechanism 11 at the rear of the machine body. A seedling sending unit 13 that sequentially feeds seedlings in conjunction with each other, a float 15 for leveling, and the like are provided. For seedling planting, planting while lowering the seedling planter 7 while running in a straight line, raising the seedling planter 7 at the edge and turning the aircraft, then lowering the seedling planter 7 again to restore the adjacent area. This is done by repeating row planting.

制御部２１の入出力構成は、図３の入出力信号系統図に示すように、走行データ入力指示および自動開始用のティーチングスイッチ２２、自律直進操舵制御を解除する自動切スイッチ２３、設定方向微調節用の左右のトリムスイッチ２４、車速センサ２５、進行方位センサ９、ハンドル切れ角センサ４ａ等の入力信号のほか、各種のスイッチ、センサの信号を受け、また、前輪操舵電磁油圧弁２ｖ、警報を含む表示ランプ類として目標方位ランプ２６ａ、自動ランプ２３ａ、異常ランプ２６ｂ、方位修正ランプ２４ａ、音声警報装置２６ｃ、ブザー２６ｄの制御動作を出力する。   As shown in the input / output signal system diagram of FIG. 3, the input / output configuration of the control unit 21 includes a travel data input instruction and automatic start teaching switch 22, an automatic turn-off switch 23 for canceling the autonomous straight-ahead steering control, In addition to the input signals of the left and right trim switches 24 for adjustment, the vehicle speed sensor 25, the traveling direction sensor 9, the steering angle sensor 4a, etc., various switch and sensor signals are received, and the front wheel steering electromagnetic hydraulic valve 2v, alarm The control operation of the target azimuth lamp 26a, the automatic lamp 23a, the abnormal lamp 26b, the azimuth correction lamp 24a, the sound alarm device 26c, and the buzzer 26d is output as the display lamps including

上記制御部２１により所定の条件を満たす場合に限定して自律直進操舵制御を可能とする。すなわち、自律直進操舵制御は、機体方向を示す方位情報に基づいて別途設定による目標方位に対する機体の方位偏差が小さくなる方向に操向装置の舵角を操作する。機体の方位情報は、進行方位センサ９の信号による。目標方位は、ティーチングスイッチ２２がオンの状態で機体走行した際の方位として別途設定される。   The control unit 21 enables autonomous straight-ahead steering control only when a predetermined condition is satisfied. That is, in the autonomous straight-ahead steering control, the steering angle of the steering device is operated in a direction in which the azimuth deviation of the aircraft with respect to a separately set target azimuth is reduced based on the azimuth information indicating the aircraft direction. The direction information of the aircraft is based on the signal from the traveling direction sensor 9. The target azimuth is separately set as the azimuth when the aircraft travels with the teaching switch 22 turned on.

また、機体方位の偏差低減に適する走行速度を圃場走行の実測等によって確定した上でこれを基準速度として制御部２１に別途設定する。例えば、作業走行速度が略１ｍ／ｓｅｃの田植え走行の場合において、直線走行として許容される限界速度を実車走行で確認し、または、経験則に基づいて基準速度を０．１ｍ／ｓｅｃとし、また、圃場条件等により、略０．３ｍ／ｓｅｃまでの範囲で定められる。   Further, after determining a traveling speed suitable for reducing the deviation of the machine direction by actually measuring the field traveling, this is separately set in the control unit 21 as a reference speed. For example, in the case of rice planting traveling where the working traveling speed is approximately 1 m / sec, the limit speed allowed for linear traveling is confirmed by actual vehicle traveling, or the reference speed is set to 0.1 m / sec based on empirical rules, Depending on the field conditions and the like, it is determined in a range up to about 0.3 m / sec.

上記構成の制御部２１による制御処理について、図４のフローチャートにより詳細に説明する。
ティーチングスイッチ２２がオンの場合は、走行データが記録されてティーチング処理を行い、オンでない場合は、ティーチング処理の記録データに基づいて直進進行方位を算出する（Ｓ１，Ｓ２ａ，Ｓ２ｂ）。 The control process by the control unit 21 having the above configuration will be described in detail with reference to the flowchart of FIG.
When the teaching switch 22 is on, the travel data is recorded and teaching processing is performed. When the teaching switch 22 is not on, the straight traveling azimuth is calculated based on the recording data of teaching processing (S1, S2a, S2b).

次いで、自律直進操舵制御の条件（Ｓ３〜Ｓ６）が満たされている場合に限って進行方位を制御（Ｓ７）する。自律直進操舵制御の条件は、植付「入」で、進行方位が一定範囲内に所定時間維持され、車速が所定値以上で、自動走行解除スイッチ２３がオンでない場合である。   Next, the traveling direction is controlled (S7) only when the conditions (S3 to S6) for autonomous straight-ahead steering control are satisfied. The conditions for the autonomous straight steering control are when planting is “ON”, the traveling direction is maintained within a certain range for a predetermined time, the vehicle speed is equal to or higher than a predetermined value, and the automatic travel release switch 23 is not turned on.

進行方位が所定時間維持されている場合は、ティーチングスイッチ２２をオフにして自動走行の開始操作を要することなく、自動走行のための１条件を満たすものとして取扱うことにより、操作性を向上することができる。
そのほか、常時ティーチングを前提としてティーチングスイッチ２２のオン操作により、その直前のデータに基づいて自律直進操舵制御を開始するように構成することもできる。 When the traveling direction is maintained for a predetermined time, the operability is improved by turning off the teaching switch 22 and handling it as satisfying one condition for automatic driving without requiring an automatic driving start operation. Can do.
In addition, on the premise of regular teaching, it is also possible to start autonomous straight-ahead steering control based on data immediately before by turning on the teaching switch 22.

一方、車速条件が欠けている場合は、警告ランプと警告音の組み合わせや音声出力の警報（Ｓ５ａ）によりオペレータに知らせて自動操舵を解除し、手動操舵に戻す処理を行う。これにより、自動走行中の停止の際の異常修正のまま再出発したときの蛇行を防止して安全を確保することができる。
同様に、走行開始時の取扱いについても、一定速度以上にならないと自律直進操舵制御を行わないようにすることにより、低速時の異常修正による出発時の蛇行を防止して安全性を向上することができる。
上記警報処理については、音声出力とすることにより、警告ランプと警告音の組み合わせより安価に構成することができる。 On the other hand, if the vehicle speed condition is missing, the operator is notified by a combination of a warning lamp and a warning sound or a voice output warning (S5a) to cancel the automatic steering and return to manual steering. As a result, it is possible to prevent the meandering when the vehicle is restarted with the abnormality corrected at the time of stopping during automatic traveling, thereby ensuring safety.
Similarly, regarding the handling at the start of driving, autonomous straight-ahead steering control is not performed unless the speed exceeds a certain speed, thereby preventing meandering at the time of departure due to abnormal correction at low speed and improving safety. Can do.
The alarm processing can be configured at a lower cost than a combination of a warning lamp and a warning sound by using voice output.

自律直進操舵制御においては、トリムスイッチの操作に応じて進行方位を修正中である旨の音声出力（Ｓ８，Ｓ８ａ）を行う。この音声出力により、方向修正が僅かで確認が困難なことから勘違いによるスイッチの誤操作を防止することができる。
このようにして、自律直進操舵制御の条件（Ｓ３〜Ｓ６）を満たす場合に限り、所定角度以上のハンドル操作（Ｓ９）がされるまでの間、自律直進操舵制御が継続される。 In the autonomous straight-ahead steering control, a sound output (S8, S8a) indicating that the traveling direction is being corrected is performed according to the operation of the trim switch. This voice output can prevent misoperation of the switch due to misunderstanding because the direction correction is slight and difficult to confirm.
In this way, only when the autonomous straight-ahead steering control conditions (S3 to S6) are satisfied, the autonomous straight-ahead steering control is continued until the steering wheel operation (S9) of a predetermined angle or more is performed.

上記構成の制御部２１により、所定の基準速度以上の速度範囲に限って自律直進操舵制御により操向装置の舵角操作が行われ、同基準速度に満たない低速走行では、自律直進操舵制御が行われることなく圃場状況に応じた走行となる。したがって、機体方位の偏差低減に適する走行速度を実測等により確定した上でこれを基準速度として設定することにより、圃場状況や走行速度に応じて制御パラメータを変更する適応制御のための複雑な取扱いを要することなく、簡易な構成で信頼性の高い制御部により自律直進操舵制御の不安定化を回避して異常走行を確実に防止することができる。   The control unit 21 configured as described above performs the steering angle operation of the steering device by the autonomous straight-ahead steering control only in a speed range equal to or higher than the predetermined reference speed. It will run according to the field conditions without being performed. Therefore, complex handling for adaptive control that changes the control parameters according to the field condition and traveling speed by determining the traveling speed suitable for reducing the deviation of the aircraft orientation by actual measurement and setting it as the reference speed Therefore, it is possible to reliably prevent abnormal traveling by avoiding instability of autonomous straight-ahead steering control by a highly reliable control unit with a simple configuration.

また、走行途中から自律直進操舵制御に移行する場合においては、図５のフローチャートに示すように、一定速以下で自動スイッチを押すと、自律直進操舵制御を行うことなく、警告音および異常ランプを点滅させることにより警報出力を行う（Ｓ１１〜Ｓ１３）。このようにして、低速における異常修正による蛇行を防止し、そのような状況を警報出力によりオペレータに知らせることができる。上記警報出力は、音声出力することにより、具体的な状況をオペレータに明確に通報することができる。   Further, when shifting to the autonomous straight-ahead steering control from the middle of traveling, as shown in the flowchart of FIG. 5, when the automatic switch is pressed at a constant speed or less, the warning sound and the abnormal lamp are generated without performing the autonomous straight-ahead steering control. Alarm output is performed by blinking (S11 to S13). In this manner, meandering due to abnormality correction at low speed can be prevented, and such a situation can be notified to the operator by an alarm output. The alarm output can be clearly reported to the operator by outputting a voice.

また、別の方向調節方法として、操縦席にオペレータの着座を検出する着座スイッチを設け、かつ、ハンドルに角度位置センサを設けた上で、図６のフローチャートに示すように、着座スイッチがオンで、ハンドル角度位置センサがオンの場合に限り、進行方位を修正（Ｓ２１〜Ｓ２３）するように構成する。これにより、左右のトリムスイッチでは押すタイミングの確認ができないという問題を解消するとともに、着座スイッチがオンであれば通常の手動植え付け作業と同様に自動走行中のハンドル操作により方向修正が可能となる。   As another direction adjusting method, a seating switch for detecting the operator's seating is provided in the cockpit, and an angle position sensor is provided in the handle, and the seating switch is turned on as shown in the flowchart of FIG. Only when the steering wheel angular position sensor is on, the traveling direction is corrected (S21 to S23). This eliminates the problem that the left and right trim switches cannot confirm the timing of pressing, and if the seating switch is on, the direction can be corrected by operating the steering wheel during automatic traveling as in the normal manual planting operation.

操作パネル８ａ，８ｂは、図７の構成図に示すように、ティーチングスイッチ２２、「自動」表示ランプ２３ａを伴う自動切スイッチ２３、左右で１組のトリムスイッチ２４を中心に、放射状配置のランプによる「目標方位」ランプ群２６ａ、「方位修正」ランプ２４ａ、「異常」ランプ２６ｂを配置して構成し、これをステアリングハンドル４の周辺および操縦席５の後方中央部もしくはその近傍に配置する。特に操縦席５後方に配置することにより、自動走行中の苗継ぎ時に後方を見ながらスイッチ操作ができるので、操作性を向上することができる。   As shown in the configuration diagram of FIG. 7, the operation panels 8a and 8b are composed of a teaching switch 22, an automatic turn-off switch 23 with an "automatic" display lamp 23a, and a set of trim switches 24 on the left and right. The “target heading” lamp group 26a, the “heading correction” lamp 24a, and the “abnormal” lamp 26b are arranged in the vicinity of the steering handle 4 and the rear center of the cockpit 5 or in the vicinity thereof. In particular, by arranging it behind the cockpit 5, the switch operation can be performed while looking at the back during seedling joining during automatic traveling, so that the operability can be improved.

本発明の圃場作業車両の一例の側面図である。It is a side view of an example of a field work vehicle of the present invention. 図１の圃場作業車両の平面図である。It is a top view of the agricultural field working vehicle of FIG. 制御部の入出力系統図である。It is an input-output system diagram of a control part. 自律直進操舵制御のフローチャートである。It is a flowchart of autonomous straight-ahead steering control. 走行途中の操作処理のフローチャートである。It is a flowchart of the operation process in the middle of traveling. 別の方向調節処理のフローチャートである。It is a flowchart of another direction adjustment process. 操作パネルの構成図である。It is a block diagram of an operation panel.

符号の説明Explanation of symbols

１ 田植機（圃場作業車両）
２ 操向車輪
３ 後輪
４ 操舵ハンドル
４ａ ハンドル切れ角センサ
５ 操縦席
６ エンジン
７ 苗植機（作業機）
９ 進行方位センサ（機体方位情報）
２１ 制御部
２５ 車速センサ（車速情報） 1 Rice transplanter (field work vehicle)
2 Steering wheel 3 Rear wheel 4 Steering handle 4a Steering angle sensor 5 Pilot seat 6 Engine 7 Seedling machine (work machine)
9 Traveling direction sensor (aircraft direction information)
21 Control unit 25 Vehicle speed sensor (vehicle speed information)

Claims (1)

機体方向を示す機体方位情報に基づき、別途設定の目標方位に対する機体方位の偏差が小さくなる方向に操向装置の舵角を操作する自律直進操舵制御を行う制御部を備える圃場作業車両において、
上記制御部には、方位偏差の低減に適する走行速度を基準速度として別途設定し、機体の走行速度情報に基づいて同走行速度が上記基準速度に満たない範囲について上記自律直進操舵制御を強制解除することを特徴とする圃場作業車両。
In a field work vehicle including a control unit that performs autonomous straight-ahead steering control that operates a steering angle of a steering device in a direction in which a deviation of an aircraft orientation with respect to a separately set target orientation is reduced based on aircraft orientation information that indicates an aircraft orientation.
In the control unit, a traveling speed suitable for reducing the heading deviation is separately set as a reference speed, and the autonomous straight-ahead steering control is forcibly canceled for a range where the traveling speed does not satisfy the reference speed based on the traveling speed information of the aircraft. A farm work vehicle characterized by:
JP2005210372A 2005-07-20 2005-07-20 Farm work vehicle Active JP4654808B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2005210372A JP4654808B2 (en) 2005-07-20 2005-07-20 Farm work vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005210372A JP4654808B2 (en) 2005-07-20 2005-07-20 Farm work vehicle

Publications (2)

Publication Number Publication Date
JP2007020518A JP2007020518A (en) 2007-02-01
JP4654808B2 true JP4654808B2 (en) 2011-03-23

Family

ID=37782108

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005210372A Active JP4654808B2 (en) 2005-07-20 2005-07-20 Farm work vehicle

Country Status (1)

Country Link
JP (1) JP4654808B2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021036920A (en) * 2020-12-08 2021-03-11 株式会社クボタ Paddy field working machine

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7433186B2 (en) * 2020-06-30 2024-02-19 株式会社クボタ agricultural machinery
JP2022152455A (en) * 2021-03-29 2022-10-12 株式会社小松製作所 Steering control system for working machine and steering control method for working machine

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5786509U (en) * 1980-11-19 1982-05-28
JPS61132106A (en) * 1984-11-30 1986-06-19 有限会社　信田農機 Steering mechanism of tractor
JP2001161112A (en) * 1999-12-10 2001-06-19 Bio Oriented Technol Res Advancement Inst Steering controller for farm working machine
JP2002186309A (en) * 2000-12-19 2002-07-02 Yanmar Agricult Equip Co Ltd Working vehicle for agriculture
JP2002196819A (en) * 2000-12-25 2002-07-12 Japan Aviation Electronics Industry Ltd Autonomous straight advance device
JP2004116441A (en) * 2002-09-27 2004-04-15 Iseki & Co Ltd Farm working machine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5786509U (en) * 1980-11-19 1982-05-28
JPS61132106A (en) * 1984-11-30 1986-06-19 有限会社　信田農機 Steering mechanism of tractor
JP2001161112A (en) * 1999-12-10 2001-06-19 Bio Oriented Technol Res Advancement Inst Steering controller for farm working machine
JP2002186309A (en) * 2000-12-19 2002-07-02 Yanmar Agricult Equip Co Ltd Working vehicle for agriculture
JP2002196819A (en) * 2000-12-25 2002-07-12 Japan Aviation Electronics Industry Ltd Autonomous straight advance device
JP2004116441A (en) * 2002-09-27 2004-04-15 Iseki & Co Ltd Farm working machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021036920A (en) * 2020-12-08 2021-03-11 株式会社クボタ Paddy field working machine

Also Published As

Publication number Publication date
JP2007020518A (en) 2007-02-01

Similar Documents

Publication Publication Date Title
JP2007110921A (en) Field work vehicle
US9526199B2 (en) Work vehicle coordinating system
WO2017047181A1 (en) Work vehicle support system
JP5070776B2 (en) Control device for work vehicle
JP2016011024A (en) Planting and seeding system farm field working machine
US11758833B2 (en) Work vehicle
US20220183211A1 (en) Automatic Travel System
JP2008067606A5 (en)
JP2019136039A (en) Work vehicle support system
JP2018116607A (en) Automatic travel working vehicle
JP4654808B2 (en) Farm work vehicle
JP2017135995A (en) Agricultural work vehicle
JP2007252320A (en) Riding type seedling transplanter
JP2010119363A (en) Turning/interlocking control type work vehicle
JP2011207407A (en) Drive device for automatically steering running vehicle
JPH05158537A (en) Running control system for moving agricultural machine
JP4710396B2 (en) Riding type work machine
JP2005080549A (en) Control system for combine harvester
US11917933B2 (en) Working vehicle
JP6999471B2 (en) Field work machine
JP2005218351A (en) Farm working vehicle
JP2005333998A (en) Working machine controller
JP2021083392A (en) Harvester
JP3097087B2 (en) Mobile farm machine direction control device
JP2006333724A (en) Transplanter

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20080707

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20101108

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20101124

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20101207

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20140107

Year of fee payment: 3

R150 Certificate of patent or registration of utility model

Ref document number: 4654808

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

Free format text: JAPANESE INTERMEDIATE CODE: R150