JP2021166528A - Work vehicle - Google Patents

Abstract

To perform automatic turning by simple control.SOLUTION: A work vehicle includes: travelling wheels installed in a travelling vehicle body; a steering device that adjusts a steering amount of the travelling wheels; a motor for driving the steering device; a position acquisition device that receives positioning information from positioning means and that obtains present positioning information of the body based on the received positioning information; and a control device for controlling the motor. The control device is provided with a second turning motion mode which, during the turning of the body, controls the motor to carry out so that the body reaches a desired direction in a turning travelling route on the basis of the positioning information. The control device is also provided with an automatic straight advancing mode which runs the body along a straight travelling route. When the second turning motion mode for a desired turning ending position completes, the device shifts to the automatic straight advancing mode.SELECTED DRAWING: Figure 5

Description

The present invention relates to a work vehicle.

Conventionally, for a work vehicle that performs work while traveling in a field, position information between a work start position and a work end position is acquired, a reference line is created from the acquired position information, and automatic traveling is performed along the created reference line. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-21890

In the work vehicle as described above, it is conceivable to automatically turn based on the acquired position information. However, in the case of automatic turning, it is necessary to use the position information over the entire turning stroke, which complicates control.

The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle capable of performing automatic turning with simple control.

In order to solve the above-mentioned problems and achieve the object, the work vehicle (1) according to claim 1 includes traveling wheels (10, 11) attached to a traveling vehicle body (2) and the traveling wheels (10). ), The motor (95) that drives the steering device (35), and the positioning means that receive the positioning information, and the current position information of the aircraft based on the received positioning information. The control device (100) includes a position acquisition device (150) for acquiring the above position and a control device (100) for controlling the motor (95). The control device (100) is based on the position information while the vehicle is turning. The control device (100) has a second turning operation mode in which the motor (95) is controlled and executed so that the aircraft reaches a desired position on the turning traveling path (L2), and the control device (100) has a straight traveling path. It has an automatic straight-ahead mode in which the aircraft travels along (L1), and shifts to the automatic straight-ahead mode when the second turning operation mode toward a desired turning end position (P2) is completed.

The work vehicle (1) according to claim 2 is the work vehicle (1) according to claim 1. The control device (100) moves backward by a predetermined distance when the operator shifts gears to the reverse side. After that, the mode shifts to the second turning operation mode.

The work vehicle (1) according to claim 3 is the work vehicle (1) according to claim 1 or 2, and the control device (100) is steered regardless of the position information while the machine body is turning. The first turning operation mode for controlling and executing the motor (95) so that the amount becomes a predetermined value is provided, and the control device (100) executes the first turning operation mode at the start of turning of the airframe. When the first turning operation mode is completed, the second turning operation mode is executed.

The work vehicle (1) according to claim 4 is the work vehicle (1) according to claim 1 or 2, and the control device (100) executes the second turning operation mode at the start of turning of the airframe. When the second turning operation mode ends, the first turning operation mode is executed, and when the first turning operation mode ends, the second turning operation mode is executed.

The work vehicle (1) according to claim 5 is a detection device (90) that detects the rotation speed of the traveling wheel (11) in the work vehicle (1) according to any one of claims 1 to 4. The detection device (90) starts detecting the rotation speed with the start of the first turning operation mode, and the control device (100) starts the detection when the rotation speed reaches a predetermined value. Shift to 2-turn operation mode and
The control device (100) further includes a turning start operation unit (48) that is operated when starting the turning of the airframe, and the control device (100) is from the current position of the airframe based on the position information to a desired turning start position (P1). When the distance is less than or equal to a predetermined distance, the first turning operation mode or the second turning operation mode is executed based on the operation of the turning start operation unit (48), and the current position of the aircraft based on the position information is executed. When the distance to the desired turning start position (P1) exceeds the predetermined distance, the first turning operation mode or the second turning operation mode is not executed even if the turning start operation unit (48) is operated. It is characterized by that.

According to the first aspect of the present invention, when the second turning operation mode ends, the mode shifts to the automatic straight-ahead mode and the automatic straight-ahead mode is started, so that the work can be continuously performed and the workability is improved. Can be done.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, automatic turning by a so-called back with a don, which turns after moving backward by a predetermined distance, becomes possible, and the automatic straight-ahead mode as it is. Since it shifts to and starts automatic straight-ahead, the work can be continuously performed and the workability can be improved.

According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, the first turning operation mode is executed at the start of turning of the airframe, and the second turning operation mode is executed at the end of turning. By doing so, automatic turning can be performed with simpler control.

According to the invention of claim 4, in addition to the effect of the invention of claim 1 or 2, when the aircraft is going straight in the middle of turning after the end of the second turning operation mode executed at the start of turning of the aircraft. Since the first turning operation mode is executed, it is possible to reduce, for example, a running error due to slipping of the traveling wheels in the first turning operation mode, and it is possible to accurately perform automatic turning as a whole of the turning stroke.

According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the detection (counting) of the rotation speed of the traveling wheel with the start of the first turning operation mode. Is started, and when the number of rotations of the traveling wheel reaches a predetermined value, the second turning operation mode is entered. It can be performed. Further, when the distance from the current position of the airframe to the desired turning start position is short, the first turning operation mode or the second turning operation mode is executed when the turning start operation unit is operated. On the other hand, when the distance from the current position of the aircraft to the desired turning start position is long, the first turning operation mode or the second turning operation mode is not executed even if the turning start operation unit is operated. In this way, for example, even if the turning start operation unit is operated at a position other than the turning start position such as near the center of the field, that is, even if it is erroneously operated, the first turning operation mode or the second turning operation mode is not executed. It is possible to prevent erroneous operation.

FIG. 1 is a side view showing an example of a work vehicle. FIG. 2 is a plan view showing an example of a work vehicle. FIG. 3 is a block diagram showing a control system centered on a control device. FIG. 4 is an explanatory diagram of autonomous driving of a work vehicle in a field. FIG. 5 is an explanatory diagram of automatic turning control according to the first embodiment. FIG. 6 is a flowchart showing a processing procedure of automatic turning control according to the first embodiment. FIG. 7 is a flowchart showing a control processing procedure for starting automatic turning control. FIG. 8 is a flowchart showing a control processing procedure for shifting from the first turning operation mode to the second turning operation mode. FIG. 9 is an explanatory diagram of automatic turning control according to the second embodiment. FIG. 10 is a flowchart showing a processing procedure of automatic turning control according to the second embodiment. FIG. 11 is an explanatory diagram of automatic turning control according to the third embodiment. FIG. 12 is a flowchart showing a processing procedure of automatic turning control according to the third embodiment.

Hereinafter, embodiments of the work vehicle disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

<Overview of work vehicle>
First, an outline of the work vehicle (1) according to the embodiment will be described with reference to FIGS. 1 and 2.

FIG. 1 is a side view (left side surface) showing the work vehicle (1). FIG. 2 is a plan view showing the work vehicle (1).

In the following description, the front-rear direction is the traveling direction when the work vehicle (1) is traveling straight, and the front side of the traveling direction is defined as "front" and the rear side is defined as "rear". The traveling direction of the work vehicle (1) is the direction from the driver's seat (41) to the steering wheel (35) when traveling straight (see FIGS. 1 and 2).

The left-right direction is a direction that is horizontally orthogonal to the front-back direction, and defines left-right toward the "front" side. That is, when the operator (also referred to as an operator) is seated in the driver's seat (41) and faces forward, the left hand side is "left" and the right hand side is "right".

The vertical direction is the vertical direction. The front-back direction, the left-right direction, and the up-down direction are orthogonal to each other. Each direction is defined for convenience of explanation, and the present invention is not limited to these directions.

Further, in the following description, the work vehicle 1 may be referred to as an "airframe". In the embodiment, the work vehicle will be described as a riding type seedling transplanting machine (1) provided with a seedling planting section (4) as a working device and accepting seedlings in a field. As shown in FIGS. 1 and 2, the seedling transplanting machine (1) has an elevating and elevating seedling planting portion (which allows seedlings to be planted in the field via an elevating link mechanism (3) on the rear side of the traveling vehicle body (2). 4) Provided (working device).

The main body portion of the fertilizer application device (5) is arranged on the upper rear side of the traveling vehicle body (2). If the work vehicle is not the seedling transplanting machine (1), a seeding device or the like for supplying seeds may be provided as the work device.

The traveling vehicle body (2) is a four-wheel drive vehicle including left and right front wheels (10) and rear wheels (11), which are traveling wheels and driving wheels. The front side of the main frame (15) that constitutes the body frame of the traveling vehicle body (2) is supplied from a mission case (13) that transmits driving force to a seedling planting portion (4) and the like, and an engine (30). A driving force, that is, a hydraulic continuously variable transmission (14) (main speed change mechanism) that outputs the rotation generated by the engine (30) to the transmission case (13) is provided.

The continuously variable transmission (14) is a so-called HST (Hydro Static Transmission) hydrostatic continuously variable transmission. Hereinafter, the case where the continuously variable transmission is HST (14) will be described.

The transmission case (13) is provided with an auxiliary transmission mechanism (16) for switching the traveling mode of the traveling vehicle body (2) when traveling on the road in the high-speed mode or when planting seedlings in the low-speed mode.

Front wheel final cases (10a) are provided on the left and right sides of the mission case (13), and the left and right front wheel final cases (10a) project outward from the front wheel support portions whose steering directions can be changed. The front wheels (10) are attached to the front axle (10b).

Further, on the rear side of the main frame (15), rear wheel gear cases (11a) are attached to the left and right sides of the rear frame (22) (see FIG. 2) provided in the lateral direction of the fuselage, and the rear wheel gear case (11a) is attached. The rear wheels (11) (running wheels) are attached to the left and right rear axles (11b) protruding outward from 11a), respectively.

Further, on the upper part of the rear frame (22), left and right link support frames (23) for supporting the elevating link mechanism (3) are projected upward. A pair of left and right lower link arms (24) are provided on the lower side of the left and right link support frames (23) and between the left and right. An elevating cylinder (25) (elevating device) operated by flood control is provided between the left and right of the left and right lower link arms (24).

An upper link arm (26) is provided above the elevating cylinder (25) to form an elevating link mechanism (3) which is a parallel link mechanism. The left and right lower link arms (24), the elevating cylinder (25), and the other end side of the upper link arm (26), one end of which is connected to the traveling vehicle body (2) side, are seedling planting portions. It is attached to the front part of (4).

An engine (30) is mounted on the main frame (15). The rotational power of the engine (30) is transmitted to the mission case (13) via the belt transmission device (21) and the HST (14). The rotational power transmitted to the transmission case (13) is divided into running power and external extraction power after being changed by the auxiliary transmission mechanism (16) in the mission case (13).

Further, the rotational power of the engine (30) is transmitted to a hydraulic pump (not shown). The flood pressure generated by the hydraulic pump is supplied to the HST (14), the power steering mechanism (88) (see FIG. 3) of the handle (35), the elevating cylinder (25), and the like.

The external extraction power extracted from the rotational power transmitted to the mission case (13) is transmitted to the planting clutch case (27) provided at the rear of the traveling vehicle body (2), and is planted from the planting clutch case (27). It is transmitted to the seedling planting part (4) by the transmission shaft (67).

On the other hand, left and right drive shafts (42) are provided at the rear of the mission case (13). The rotational power from the engine (30) is transmitted to the left and right rear wheel gear cases (11a) via the transmission case (13) and the drive shaft (42).

A side clutch (44) (see FIG. 3) for turning on / off the power transmission to the left and right drive shafts (42) is arranged on the side superior to the left and right drive shafts (42) in the transmission direction. As shown in FIG. 1, a side clutch pedal (43a) for turning on / off the left and right side clutches (44) is provided on the lower front side of the driver's seat (41) and on the left and right sides.

Of the left and right side clutch pedals (43a), when the side clutch pedal (43a) on the inner side of the turn is depressed to disengage the side clutch (44) and then the steering wheel (35) is operated to run the turn, the rear side on the inner side of the turn The drive rotation of the wheel (11) can be completely cut off.

As a result, the turning radius can be made smaller than that of the turning running by operating the handle (35) alone, and the work start position of the work strip suitable for the field condition can be appropriately selected, and the work accuracy is improved.

In this way, the transmission to the rear wheel (11) on the inside of the turn can be stopped at the time of turning, the turning radius can be reduced, and the working position before turning and the working position after turning can be prevented from being separated. The operation of re-adjusting the work start position later becomes unnecessary, and work efficiency and work accuracy are improved.

In the embodiment, in the automatic turning control described later, when the traveling vehicle body (2) is turned by operating the steering wheel (35), the side clutch (44) located inside the turning is turned off and the inside of the turning is turned off. It is configured to stop the transmission to the rear wheel (11).

A bonnet (39) on which a control panel (38) for operating each part is arranged on the upper part of the front side of the traveling vehicle body (2) is provided. The control panel (38) is provided with an automatic turning switch (48) for switching whether or not to perform automatic turning control, which will be described later, a monitor (86) (see FIG. 3), and the like.

Further, on the bonnet (39), a handle (35) for steering the machine body, a speed change operating lever (36) for operating the HST (14) and the seedling planting portion (4), and a sub transmission mechanism (16) for operating the auxiliary speed change mechanism (16). A shift operation lever (37) and the like are provided.

Further, a front cover (40) that can be opened and closed is provided on the front side of the bonnet (39). Inside the front cover (40), an interlocking mechanism for rotating the lower side of the left and right front wheels (10) and the left and right front wheel final cases (10a) is provided for steering the fuel tank, the battery, and the steering wheel (35).

An engine cover (30a) covering the upper portion and the side portion of the engine (30) is provided at a position rearward of the fuselage and above the engine (30) with respect to the bonnet (39), and the upper portion of the engine cover (30a). Is provided with a driver's seat (41) in which the driver is seated.

A fertilizer application device (5) is provided on the rear side of the driver's seat (41) and on the rear end side of the main frame (15). The driving force of the fertilizer application device (5) is transmitted by a fertilizer application transmission mechanism provided so as to face the fertilizer application device (5) from the left and right sides of the left and right rear wheel gear cases (11a).

By the way, substantially horizontal floor steps (33) are formed on both left and right sides in the lower portion of the engine cover (30a) and the bonnet (39). As shown in FIG. 2, the floor step (33) is partly in a grid pattern. For example, even if the mud on the shoes of the operator walking on the floor step (33) falls, the fallen mud or the like falls on the field. Fall.

Further, as shown in FIG. 2, a rear step (330) is connected behind the floor step (33). It is preferable that the surface of the rear step (330) is subjected to anti-slip processing in which, for example, a plurality of protrusion patterns are formed so that the foot does not slip easily during work.

Further, on the front side of the traveling vehicle body (2) and on both the left and right sides, a plurality of spare seedling frames (52) are arranged on the seedling frame columns (51) at intervals in the vertical direction (50). ) Are provided, and work materials such as seedlings and fertilizer bags to be replenished can be placed in the seedling planting section (4).

Further, at the rear end of the elevating link mechanism (3), a seedling tank (53) for loading seedlings to be planted in the field is attached together with a sliding mechanism that slides in the left-right direction. In the seedling tank (53), seedling partition fences (54) long in the vertical direction are arranged at predetermined intervals in the horizontal direction. Below the seedling tank (53), a seedling planting device (55) for scraping the loaded seedlings and planting them in the field is arranged.

The seedling planting device (55) has the same number of planting work rows as the number of planting work rows separated by the seedling partition fence (54), that is, eight rows are planted at the same time, and the planting transmission case (56) is the seedling tank (53). Four planting rotary (57) are mounted on the left and right sides of the planting transmission case (56), and the seedlings are taken by the planting rod (58) and planted in the field. NS.

In the fertilizer application device (5), the fertilizer hopper (70) for storing fertilizer is partitioned into the same number of work rows as the number of working rows of the seedling planting portion (4) (8 rows in the example shown in FIG. 2). Since the fertilizer hopper (70) for 8 rows is long in the left-right direction, the convenience of putting in and taking off fertilizer is reduced. There may be.

At the lower part of the fertilizer application hopper (70), a feeding device (71) for supplying a set amount of fertilizer is provided for each article. Below the feeding device (71), ventilation ducts (72) through which the transport air for moving fertilizer passes are provided in the left-right direction of the machine body. Below the feeding device (71), a fertilizer application hose (73) for guiding fertilizer is provided in the vicinity of the seedling planting position of the seedling planting portion (4). Further, at one end of the body of the ventilation duct (72), a blower (74) that is operated by an electric motor (76) for a blower to generate a transport wind is provided.

As shown in FIGS. 1 and 2, below the seedling planting portion (4), there are a center float (62C) that slides in contact with the field scene and two side floats (62L, 62R) on each side. Is rotatably provided around the axis. The center float (62C) and the left and right side floats (62L, 62R) may be collectively referred to as a float (62).

Further, below the seedling planting portion (4), a ground leveling rotor (63) for leveling the unevenness of the field scene is provided on the front side of the machine body with respect to the float (62). For example, the driving force is transmitted from the rear wheel gear cases (11a) on the left and right sides to the ground leveling rotor (63) via the rotor transmission shaft (63a).

Further, as shown in FIG. 1, on the left and right sides of the seedling planting portion (4), either the left or right side is in contact with the field scene, and grooves are provided as a guideline for running in the next work line (next step). Each of the line drawing markers (65) to be formed is provided. The left and right line drawing markers (65) are separated upward when one side is in contact with the ground, and when the seedling planting portion (4) is raised during turning, both the left and right sides are separated upward, and the seedling planting portion (65) is separated after turning. When 4) descends, one side on the left and right is separated upward and the other side touches the ground.

Further, as shown in FIGS. 1 and 2, a center mascot (66) that is long in the vertical direction is provided at the center left and right of the traveling vehicle body (2) and in front of the bonnet (39). By aligning the center mascot (66) with the groove formed in the field by the left and right line drawing markers (65), it is possible to run according to the work position of the immediately preceding work line, improving work accuracy and non-work. It is possible to prevent the occurrence.

Depending on the soil quality of the field, the guide line formed by the left and right line drawing markers (65) may be immediately buried, and the guideline for going straight may disappear. In such a case, it is preferable to use the left and right side markers (19) provided on the front side of the machine body rather than the left and right line drawing markers (65). That is, by moving the left and right side markers (19) toward the outside of the machine body and locating the side markers (19) above the planted seedlings, the planting work can be performed according to the planting of the seedlings in the previous work line. It will be possible.

Further, as shown in FIG. 1, the seedling transplanting machine (1) is provided with a position acquisition device (150). The position acquisition device (150) receives positioning information from positioning means such as GPS (Global Positioning System) and GNSS (Global Navigation Satellite System), and creates and acquires the current position information of the aircraft based on the received positioning information. do. The position acquisition device (150) is attached to, for example, the attachment stay (59) and is arranged above the traveling vehicle body (2).

The straight-ahead control program and the turning control program created based on the position information by the position acquisition device (150) are stored in different places from each other. The straight-ahead control program is stored in, for example, a straight-ahead control ECU (Electronic Control Unit) (100a) in the position acquisition device (150), and the turning control program is stored in, for example, a bonnet (39). It is stored in the ECU (100b). The straight-ahead control ECU (100a) and the turning control ECU (100b) are included in the control device (100) (see FIG. 3) described later.

<Control system for work vehicle>
Next, the control system C of the seedling transplanting machine (1) will be described with reference to FIG. FIG. 3 is a block diagram showing a control system C centered on the control device (100) in the seedling transplanting machine (1). The seedling transplanting machine (1) can control each part by electronic control, and includes a control device (hereinafter, referred to as a controller) (100) for controlling each part.

The controller (100) is provided with a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, and these are mutually provided. They are connected and can pass signals to each other. A computer program or the like for controlling the seedling transplanting machine (1) is stored in the storage unit. The controller (100) exerts each function by reading a computer program or the like stored in the storage unit.

The controller (100) includes, for example, actuators such as a throttle motor (80), a hydraulic control valve (81, 82), a planted clutch operating solenoid (83), a side clutch operating solenoid (84), and an HST motor (85). , Draw marker lifting motor (87), steering motor (95), etc. are connected.

The throttle motor (80) increases or decreases the number of revolutions of the output shaft of the engine (30) by operating the throttle that adjusts the intake amount of the engine (30). The hydraulic control valve (81) controls the expansion / contraction operation of the elevating cylinder (25). The hydraulic control valve (82) controls the power steering mechanism (88). The planting clutch operating solenoid (83) operates the planting clutch (27a).

The side clutch operating solenoid (84) operates the side clutch (44) that switches the power transmission state to the rear wheels (11). The side clutches (44) are provided on the left and right rear wheels (11), respectively, and two side clutch operating solenoids (84) are provided corresponding to the side clutches (44).

The HST motor (85) changes the inclination angle of the swash plate of the HST (14) by changing the rotation angle of the trunnion of the HST (14). The steering motor (95) drives a steering wheel (35), which is a steering device that adjusts the steering amount (steering angle) of the front wheels (10) (see FIG. 1), which are traveling wheels, when automatic turning control is performed. It is a motor. The steering motor (95) rotates the steering wheel (35). The drawing marker elevating motor (87) raises and lowers the drawing marker (65).

Further, the controller (100) is connected to a detection device such as a rotation speed sensor (90), a steering amount sensor (91), and an inclination sensor (92). Two rotation speed sensors (90) are provided corresponding to the left and right rear wheels (11), which are traveling wheels, and detect the rotation speeds of the left and right rear wheels (11), respectively. The rotation speed sensor (90) may detect the rotation speed of the left and right front wheels (10).

The steering amount sensor (91) detects the operating amount of the steering wheel (35), that is, the steering amount (steering angle) of the front wheels (10). The steering amount is detected in each of the left and right directions with reference to the case where the operation amount of the steering wheel (35) is zero, that is, with reference to the straight running time of the traveling vehicle body (2). The tilt sensor (92) detects the tilt angle, which is the tilt of the traveling vehicle body (2).

Further, on the controller (100), as operation signals, a shift operation lever (36), an auxiliary shift operation lever (37), a planting portion automatic elevating switch (47), an automatic swivel switch (48), and a line drawing marker automatic elevating switch A signal is input from (49) or the like.

The planting portion automatic elevating switch (47) switches whether or not to automatically elevate the seedling planting portion (4) in conjunction with the operation amount of the handle (35), that is, the steering amount of the front wheels (10). It is a switch. When the planting portion automatic raising / lowering switch (47) is “ON”, control for automatically raising / lowering the seedling planting portion (4) is executed in conjunction with the steering amount. On the other hand, when the planting portion automatic raising / lowering switch (47) is “OFF”, the control for automatically raising / lowering the seedling planting portion (4) in conjunction with the steering amount is not executed.

The draw marker automatic lift switch (49) is a switch for switching whether or not to automatically raise and lower the draw marker (65) in accordance with the operation amount of the handle (35), that is, the steering amount of the front wheels (10). .. When the draw marker automatic elevating switch (49) is “ON”, control is executed to automatically elevate the draw marker (65) in conjunction with the steering amount. On the other hand, when the draw marker automatic lift switch (49) is "OFF", the control for automatically raising and lowering the draw marker (65) in conjunction with the steering amount is not executed.

The automatic swivel switch (48) is a rebound switch with a lamp, and is a switch for switching whether to start or stop the automatic swivel. The automatic turning switch (48) is turned on while the operator turns it "ON" and the automatic turning is performed, and when the automatic turning is completed, the automatic turning switch (48) is turned "OFF" and turned off. Further, the automatic turning switch (48) is turned "OFF" by the operator during automatic turning, and turns off when the automatic turning is stopped. As a result, the operator can recognize whether or not the vehicle is automatically turning.

Further, the current position information of the aircraft is input to the controller (100) from the position acquisition device (150). The controller (100) executes an autonomous driving mode in which the aircraft automatically travels while performing work based on the position information. The automatic swivel switch (48), rotation speed sensor (90), steering amount sensor (91), steering motor (95), steering wheel (35) and position acquisition device (150) will be described later with the controller (100) at the center. The control system (C) of the automatic turning mode is configured.

<Autonomous driving mode>
Here, with reference to FIG. 4, the automatic traveling (autonomous traveling) including the automatic turning in the field by the seedling transplanting machine (1) will be described. FIG. 4 is an explanatory diagram of autonomous driving in a field of a work vehicle (seedling transplanter (1)). The controller (100) (see FIG. 3) controls the steering motor (95) (see FIG. 3) while feeding back the steering amount of the front wheels (10) (see FIG. 1) to control the steering wheel (35) (see FIG. 3). It has an autonomous driving mode to operate. The autonomous driving mode includes an automatic straight-ahead mode and an automatic turning mode.

As shown in FIG. 4, in the autonomous traveling mode, the seedling transplanting machine (1) automatically performs the seedling planting work in the field (F) while repeating straight movement and turning along the planned traveling route. As described above, the controller (100) acquires the current position information of the seedling transplanting machine (1) by the position acquisition device (150) arranged above the traveling vehicle body (2).

The seedling transplanting machine (1) plants seedlings while reciprocating within a predetermined work area in the field (F). In this case, for straight-ahead travel, the controller (100) executes the automatic straight-ahead mode to automatically travel along the set straight-ahead travel route (L1). Further, regarding the turning running, the controller (100) executes the automatic turning mode to automatically turn along the set turning running path (L2).

The straight traveling route (L1) is parallel to the reference line (L0) which is the traveling reference. The reference line (L0) is set in the field (F) according to the planting direction of the seedlings. The controller (100) acquires the start position and the end position of the straight running as the reference start point (point A) and the reference end point (point B), respectively, and registers the line segment connecting the points A and B as the reference line (L0). do.

Further, the controller (100) has a first turning operation mode and a second turning operation mode as the automatic turning mode. The controller (100) executes as an automatic turning mode by combining the first turning operation mode and the second turning operation mode. The controller (100) executes the automatic turning mode when the automatic turning switch (48) is turned "ON" by the operator.

In the first turning operation mode, the controller (100) controls the steering motor (95) so that the steering amount of the handle (35) becomes a predetermined value while the seedling transplanting machine (1) is turning. In this case, the controller (100) executes the process regardless of the position information acquired by the position acquisition device (150).

In the second turning operation mode, the controller (100) makes any desired position on the turning traveling path (L2) based on the position information acquired by the position acquisition device (150) during the turning of the seedling transplanting machine 1. The steering motor (95) is controlled so that the seedling transplanter (1) reaches.

As described above, since the controller (100) has the first turning operation mode and the second turning operation mode and executes the first turning operation mode which is not the operation mode based on the position information during the turning of the aircraft, it is automatic. It is not necessary to use the position information for all the controls related to turning. Therefore, the control using the position information during the automatic turning is partially improved, and the automatic turning can be performed with simple control.

In the automatic turning mode, the controller (100) is a position acquisition device (150) when the seedling transplanting machine (1) is turning (large turn or small turn) while deviating from the turning travel path (L2). ) Is corrected based on the acquired position information.

<Automatic turning mode according to the first embodiment>
Next, the automatic turning mode according to the first embodiment will be described with reference to FIGS. 5 to 8. FIG. 5 is an explanatory diagram of automatic turning control (automatic turning mode) according to the first embodiment. FIG. 6 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the first embodiment.

Further, FIG. 7 is a flowchart showing a control processing procedure for starting the automatic turning control (automatic turning mode). FIG. 8 is a flowchart showing a control processing procedure for shifting from the first turning operation mode to the second turning operation mode.

As shown in FIG. 5, in the automatic turning mode according to the first embodiment, the seedling transplanting machine 1 that has progressed in the automatic straight-ahead mode has a desired turning start position (agricultural machine such as the seedling transplanting machine 1) set in advance. In this case, when the operator presses the automatic turning switch (48) (see FIG. 3) at a position close to P1 (which is also the work end position in Article 1), the automatic turning is started.

When the automatic turning is started, the seedling transplanting machine (1) starts the progress in the first turning operation mode. In the first turning operation mode, the seedling transplanter (1) advances along the turning traveling path (L2), and at the ending position (mode end position) P3 on the turning traveling path (L2), the first turning operation mode is used. End the process. When the seedling transplanting machine (1) finishes the progress in the first turning operation mode, the seedling transplanting machine (1) starts the progress in the second turning operation mode.

In the second turning operation mode, the seedling transplanting machine 1 is set to the next desired turning end position (which is also the work start position in the next article in the case of an agricultural machine such as the seedling transplanting machine (1)) P2 set in advance. The vehicle advances (straight ahead) while gradually correcting the position along the straight traveling path (L1) of the article, and when the progress in the second turning operation mode is completed, the progress in the next article starts in the automatic straight traveling mode.

As shown in FIG. 6, in the first embodiment, the controller (100) determines whether or not the automatic swivel switch (48) has been "ON" operated (step S101). When the automatic swivel switch (48) is operated "ON" (step S101: Yes), the controller (100) determines whether or not the seedling transplanter (1) has reached the swivel start position (P1) (step S101: Yes). Step S102). When the controller (100) determines that the turning start position (P1) has been reached (step S102: Yes), the controller (100) starts executing the first turning operation mode (step S103).

If the automatic swivel switch (48) is not "ON" operated in the process of (step 101) (step S101: No), the controller (100) repeats the process until it is "ON" operated. Further, the controller (100) reaches the turning start position (P1) when the seedling transplanting machine (1) has not reached the turning start position (P1) in the process of (step 102) (step S102: No). Repeat the process that takes up to.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the end position (mode end position) (P3) of the first turning operation mode (step S104). When the controller (100) reaches the mode end position (P3) (step S104: Yes), the controller (100) ends the execution of the first turning operation mode (step S105), and starts executing the second turning operation mode (step S104: Yes). S106).

When the seedling transplanter (1) does not reach the mode end position (P3) in the process of (step 104) (step S104: No), the controller (100) performs such a process until it reaches the mode end position (P3). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the turning end position (P2), which is also the ending position of the second turning operation mode (step S107). When the controller 100 reaches the turning end position (P2) (step S107: Yes), the controller 100 ends the execution of the second turning operation mode (step S108), and ends the turning operation mode.

Here, in the first turning operation mode, the controller (100) has a steering motor (95) so that, for example, the direction of the airframe is 70 degrees on either the left or right side with 0 degrees as the straight running. 3) is controlled. The controller (100) controls the steering motor (95) so that when the orientation of the aircraft reaches 70 degrees, it starts to return to straight running, that is, the orientation of the aircraft becomes 90 degrees.

When the controller (100) shifts from the first turning operation mode to the second turning operation mode, the direction of the aircraft is set to be within the range of 0 to 20 degrees with respect to the straight traveling path (L1) of the next article, for example. Controls the steering motor (95). The controller (100) acquires the position acquisition device (150) (see FIG. 3) in the second turning operation mode by keeping the orientation of the aircraft within the range of 0 to 20 degrees at the start of the second turning operation mode. Based on the position information to be performed, the direction of the aircraft is corrected so as to follow the straight traveling path (L1), and the turning operation is completed.

When the seedling transplanting machine 1 does not reach the turning end position P2 in the process of (step S107) (step S107: No), the controller (100) repeats such a process until it reaches the turning end position (P2). When the controller (100) ends the turning operation mode, the controller (100) starts executing the automatic straight-ahead mode.

Further, as shown in FIG. 7, the controller (100) seedlings based on the position information acquired by the position acquisition device (150) during the process in the process of (step S101) shown in FIG. It is determined whether or not the distance from the current position of the transplanting machine (1) to the turning start position (P1) is equal to or less than a predetermined distance D (step S1011). The controller (100) calculates the mileage based on the positioning information, and determines whether or not the distance from the current position of the seedling transplanting machine (1) to the turning start position (P1) is a predetermined distance D or less. .. The controller (100) may calculate the mileage based on the number of rotations of the traveling wheels.

The controller (100) makes the above determination based on the mileage in the previous step, which is the planting step immediately before the planting step in the straight running this time.

It can be predicted that the turning start position (P1) in the present planting process is in the vicinity of the advance by the mileage in the previous process in the present planting process. For example, it can be predicted that the position where the turning is actually started in the present planting process is within a range of about ± 5 m with respect to the mileage in the previous process.

Therefore, the controller (100) predicts the turning start position (P1) based on the mileage in the previous process. Specifically, the controller (100) predicts that the distance traveled straight in the current planting process is the mileage in the previous process as the turning start position (P1), and the current position of the seedling transplanter (1). When the distance from to the turning start position (P1) is equal to or less than a predetermined distance D, it is determined that the distance is near the turning position, that is, at the ridge.

The turning start position (P1) may be recognized by the coordinates based on the positioning information.

When the distance to the turning start position (P1) is equal to or less than the predetermined distance D (step S1011: Yes), the controller (100) operates the first turning operation when the automatic turning switch (48) is "ON" operated. The mode is executed (step S1012).

When the distance to the turning start position (P1) exceeds the predetermined distance D (step S1011: No) in the process of (step S1011), the controller (100) operates the automatic turning switch (48) to "ON". Also, the automatic straight-ahead mode is continued without executing the first turning operation mode (step S1013).

Further, the end position (P3) of the first turning operation mode is set based on the rotation speed of the rear wheels (11) (see FIG. 1) detected (counted) by the rotation speed sensor (90) (see FIG. 3). Will be done. As shown in FIG. 8, when the controller (100) starts executing the first turning operation mode in the process of (step S103) shown in FIG. 6, the rotation speed of the rear wheels (11) is counted accordingly. (Step S1031), and it is determined whether or not the rotation speed of the rear wheel (11) has reached a predetermined value (count value) (step S1032).

When the rotation speed of the rear wheels (11) reaches a predetermined count value (step S1032: Yes), the controller (100) determines that the end position (P3) has been reached, and executes the first turning operation mode. Upon completion, the second turning operation mode is executed (step S1033). If the rotation speed of the rear wheel (11) is not a predetermined count value in the process of (step S1032) (step S1032: No), the controller (100) repeats the process until the count value is reached.

According to the first embodiment described above, the first turning operation mode is executed at the start of turning of the seedling transplanting machine 1, and the second turning operation mode is executed at the end of turning, so that automatic turning can be performed with simpler control. It can be carried out.

Further, the number of rotations of the rear wheels (11) is counted with the start of the first turning operation mode, and when the number of rotations of the rear wheels (11) reaches a predetermined count value, the mode shifts to the second turning operation mode. Control using position information during automatic turning is partially improved, and automatic turning can be performed with simple control.

Further, when the distance from the current position of the seedling transplanting machine (1) to the turning start position (P1) is short, the first turning operation mode is executed when the automatic turning switch (48) is operated to "ON". On the other hand, when the distance from the current position of the seedling transplanter (1) to the turning start position (P1) is long, the first turning operation mode is not executed even if the automatic turning switch (48) is operated. In this way, for example, even if the automatic turning switch (48) is operated (that is, erroneous operation) at a position other than the turning start position (P1) such as near the center of the field, the first turning operation mode is not executed to prevent erroneous operation. can do.

Further, when the second turning operation mode toward the turning end position (P2) is completed, the mode shifts to the automatic straight-ahead mode and the automatic straight-ahead starts, so that the work can be continuously performed and the workability is improved. Can be done.

In the first embodiment, the first turning operation mode is executed and then the second turning operation mode is executed. As a modification, for example, the second turning operation mode is executed and then the first turning operation mode is executed. It may be executed to reach the turning end position (P2).

<Automatic turning mode according to the second embodiment>
Next, the automatic turning mode according to the second embodiment will be described with reference to FIGS. 9 and 10. FIG. 9 is an explanatory diagram of the automatic turning control (automatic turning mode) according to the second embodiment. FIG. 10 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the second embodiment.

As shown in FIG. 9, in the automatic turning mode according to the second embodiment, the seedling transplanting machine (1) which has proceeded in the automatic straight-ahead mode, as in the first embodiment described above, starts a desired turning set in advance. When the automatic turning switch (48) (see FIG. 3) is pressed by the operator at a position close to the position (P1), the automatic turning is started.

When the automatic turning is started, the seedling transplanting machine (1) starts the progress in the second turning operation mode (first time) and proceeds along the turning traveling path (L2). The seedling transplanting machine (1) ends the progress in the first second turning operation mode at the ending position (mode ending position) (P4) on the turning traveling path (L2).

When the seedling transplanting machine (1) finishes the progress in the first second turning operation mode, the seedling transplanting machine (1) starts the progress in the first turning operation mode. The seedling transplanting machine (1) ends the progress in the first turning operation mode at the mode ending position (P5) on the turning traveling path (L2). When the seedling transplanting machine (1) finishes the progress in the first turning operation mode, the seedling transplanting machine (1) starts the progress in the second turning operation mode (second time) again.

In the second second turning operation mode, the seedling transplanting machine (1) gradually corrects the position along the straight running path (L1) of the next article at the desired turning end position (P2) set in advance. While proceeding (straight ahead), when the progress in the second second turning operation mode is completed, the progress in the next article is started in the automatic straight-ahead mode.

As shown in FIG. 10, in the second embodiment, the controller (100) determines whether or not the automatic swivel switch (48) has been "ON" operated (step S201). When the automatic swivel switch (48) is operated "ON" (step S201: Yes), the controller (100) determines whether or not the seedling transplanter (1) has reached the swivel start position (P1) (step S201: Yes). Step S202). When the controller (100) determines that the turning start position (P1) has been reached (step S202: Yes), the controller (100) starts executing the second turning operation mode (first time) (step S203).

If the automatic swivel switch (48) is not "ON" operated in the process of (step 201), the controller (100) repeats the process until it is "ON" operated (step S201: No). Further, the controller (100) reaches the turning start position (P1) when the seedling transplanting machine (1) has not reached the turning start position (P1) in the process of (step 202) (step S202: No). Repeat the process that takes up to.

Next, the controller (100) determines whether or not the seedling transplanting machine (1) has reached the end position (mode end position) (P4) of the first second turning operation mode (step S204). When the controller (100) reaches the mode end position (P4) (step S204: Yes), the controller (100) ends the execution of the first second turning operation mode (step S205), and starts the execution of the first turning operation mode. (Step S206).

When the seedling transplanter (1) does not reach the mode end position (P4) in the process of (step 204) (step S204: No), the controller (100) performs such a process until it reaches the mode end position (P4). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the end position (mode end position) (P5) of the first turning operation mode (step S207). When the controller (100) reaches the mode end position (P5) (step S207: Yes), the controller (100) ends the execution of the first turning operation mode (step S208), and executes the second turning operation mode (second time). Start (step S209).

When the seedling transplanter (1) does not reach the mode end position (P5) in the process of (step 207) (step S207: No), the controller (100) performs such a process until it reaches the mode end position (P5). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the turning end position (P2), which is also the ending position of the second second turning operation mode (step S210). When the controller (100) reaches the turning end position (P2) (step S210: Yes), the controller (100) ends the execution of the second second turning operation mode (step S211), and ends the turning operation mode.

When the seedling transplanter (1) does not reach the turning end position (P2) in the processing of (step S210) (step S210: No), the controller (100) performs such processing until it reaches the turning end position (P2). repeat. When the controller (100) ends the turning operation mode, the controller (100) starts executing the automatic straight-ahead mode.

Here, when the controller (100) shifts from the first turning operation mode to the second second turning operation mode, the direction of the aircraft is, for example, 0 to 20 with respect to the straight traveling path (L1) of the next article. The steering motor (95) is controlled so as to be within the range. The controller (100) keeps the orientation of the aircraft within the range of 0 to 20 degrees at the start of the second second turning operation mode, so that the position acquisition device (150) (150) in the second second turning operation mode Based on the position information acquired by (see FIG. 3), the direction of the aircraft is corrected so as to follow the straight traveling path (L1), and the turning operation is completed.

Further, also in the second embodiment, as in the first embodiment, the controller (100) is in the process of the process shown in FIG. 10 (step S201) in the automatic straight-ahead mode, and the position acquisition device (150) (FIG. 3). Based on the position information acquired by (see), it is determined whether or not the current position of the seedling transplanting machine (1) is equal to or less than the predetermined distance (D) to the turning start position (P1).

When the distance to the turning start position (P1) is equal to or less than the predetermined distance (D), the controller (100) operates the automatic turning switch (48) “ON” to perform the first second turning operation mode. To execute.

When the distance to the turning start position (P1) exceeds the predetermined distance (D), the controller (100) does not execute the first turning operation mode even if the automatic turning switch (48) is operated "ON". , Continue the automatic straight-ahead mode.

Further, also in the second embodiment, as in the first embodiment, the end position (P5) of the first turning operation mode is the rear wheel (11) (see FIG. 3) counted by the rotation speed sensor (90) (see FIG. 3). It is set based on the rotation speed (see FIG. 1). When the controller (100) starts executing the first turning operation mode in the process shown in FIG. 10 (step S206), the controller (100) starts counting the number of rotations of the rear wheels (11), and the rear wheels (11) start counting. It is determined whether or not the rotation speed of 11) has reached a predetermined count value.

When the rotation speed of the rear wheels (11) reaches a predetermined count value, the controller (100) determines that the mode end position (P5) has been reached, ends the execution of the first turning operation mode, and the second time. The second turning operation mode of is executed. If the number of rotations of the rear wheels (11) is not a predetermined count value, the controller (100) repeats such a process until it reaches a predetermined count value.

According to the second embodiment described above, the first turning operation mode is executed at the start of turning of the seedling transplanting machine 1, and the second turning operation mode is executed at the end of turning, so that automatic turning can be performed with simpler control. It can be carried out.

Further, since the first turning operation mode is executed when the aircraft goes straight during the turning after the end of the first second turning operation mode, the running error due to the slip of the rear wheels (11) in the first turning operation mode is reduced. Therefore, the automatic turning can be performed accurately as a whole of the turning stroke.

Further, the number of rotations of the rear wheels (11) is counted with the start of the first turning operation mode, and when the number of rotations of the rear wheels (11) reaches a predetermined count value, the second turning operation mode is entered. Therefore, the control using the position information during the automatic turning becomes better in some parts, and the automatic turning can be performed by the simple control.

Further, when the distance from the current position of the seedling transplanting machine (1) to the turning start position (P1) is short, the first turning operation mode is executed when the automatic turning switch (48) is operated to "ON". On the other hand, when the distance from the current position of the seedling transplanter (1) to the turning start position (P1) is long, the first turning operation mode is not executed even if the automatic turning switch (48) is operated. In this way, for example, even if the automatic turning switch (48) is operated (that is, erroneous operation) at a position other than the turning start position (P1) such as near the center of the field, the first turning operation mode is not executed to prevent erroneous operation. can do.

Further, when the second second turning operation mode toward the turning end position (P2) is completed, the mode shifts to the automatic straight-ahead mode and the automatic straight-ahead starts, so that the work can be continuously performed and the workability is improved. Can be improved.

In the second embodiment, the second turning operation mode is executed, the first turning operation mode is executed, and the second turning operation mode is executed again. As a modification, for example, the first turning operation mode is used. After the execution, the second turning operation mode may be executed, and the first turning operation mode may be executed again to reach the turning end position (P2).

Further, the automatic turning mode may be set in which the first turning operation mode and the second turning operation mode are executed twice or more.

<Automatic turning mode according to the third embodiment>
Next, the automatic turning mode according to the third embodiment will be described with reference to FIGS. 11 and 12. FIG. 11 is an explanatory diagram of the automatic turning control (automatic turning mode) according to the third embodiment. FIG. 12 is a flowchart showing a processing procedure of the automatic turning control (automatic turning mode) according to the third embodiment.

As shown in FIG. 11, the third embodiment is an automatic turning mode in the case of a so-called back turning with a don, in which the seedling transplanting machine (1) advances to the ridge, moves backward by a predetermined distance, and then turns.

In the automatic turning mode according to the third embodiment, in the seedling transplanting machine (1) that has advanced to the ridge in the automatic straight-ahead mode, the speed change operation lever (referred to as HST lever) (36) (see FIG. 3) is set to the reverse side by the operator. When operated to, the work line (turning travel path (L2) and straight traveling route (L1) of the next article) in the next article is acquired, and automatic turning including the reverse operation is started.

When the automatic turning is started, the seedling transplanting machine (1) starts traveling in the second turning operation mode (first time) after moving backward by a predetermined distance, and proceeds along the turning traveling path (L2). The seedling transplanting machine (1) ends the progress in the first second turning operation mode at the ending position (mode ending position) (P6) on the turning traveling path (L2).

When the seedling transplanting machine (1) finishes the progress in the first second turning operation mode, the seedling transplanting machine (1) starts the progress in the first turning operation mode. The seedling transplanting machine (1) ends the progress in the first turning operation mode at the mode ending position (P7) on the turning traveling path (L2). When the seedling transplanting machine (1) finishes the progress in the first turning operation mode, the seedling transplanting machine (1) starts the progress in the second turning operation mode (second time) again.

In the second second turning operation mode, the seedling transplanting machine (1) gradually corrects the position along the straight running path (L1) of the next article at the desired turning end position (P2) set in advance. While proceeding (straight ahead), when the progress in the second second turning operation mode is completed, the progress in the next article is started in the automatic straight-ahead mode.

As shown in FIG. 12, in the third embodiment, the controller (100) determines whether or not the HST lever (36) has been operated to the “backward” side (step S301). When the HST lever (36) is operated to the "backward" side (step S301: Yes), the controller (100) starts the backward movement of the seedling transplanter (1) (step S302).

The controller (100) determines whether or not the seedling transplanting machine (1) has reached the turning start position (P1) (step S303). When the controller (100) determines that the turning start position (P1) has been reached (step S303: Yes), the controller (100) ends the reverse movement of the seedling transplanting machine (1) (step S304), and the second turning operation mode (first time). Is started (step S305).

If the HST lever (36) is not operated to the "backward" side in the process of (step 301) (step S301: No), the controller (100) repeats the process until it is operated to the "backward" side. Further, the controller (100) reaches the turning start position (P1) when the seedling transplanting machine (1) has not reached the turning start position (P1) in the process of (step 303) (step S303: No). Repeat the process that takes up to.

Next, the controller (100) determines whether or not the seedling transplanting machine (1) has reached the end position (mode end position) (P6) of the first second turning operation mode (step S306). When the controller (100) reaches the mode end position (P6) (step S306: Yes), the controller (100) ends the execution of the first second turning operation mode (step S307), and starts the execution of the first turning operation mode. (Step S308).

When the seedling transplanter (1) does not reach the mode end position (P5) in the process of (step 306) (step S306: No), the controller (100) performs such a process until it reaches the mode end position (P6). repeat.

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the end position (mode end position) (P7) of the first turning operation mode (step S309). When the controller (100) reaches the mode end position (P7) (step S309: Yes), the controller (100) ends the execution of the first turning operation mode (step S310), and executes the second turning operation mode (second time). Start (step S311).

When the seedling transplanter (1) does not reach the mode end position (P7) in the process of step 309 (step S309: No), the controller (100) repeats the process until it reaches the mode end position (P7).

Next, the controller (100) determines whether or not the seedling transplanter (1) has reached the turning end position (P2), which is also the ending position of the second second turning operation mode (step S312). When the controller (100) reaches the turning end position (P2) (step S312: Yes), the controller (100) ends the execution of the second second turning operation mode (step S313), and ends the turning operation mode.

When the seedling transplanter (1) does not reach the turning end position (P2) in the process of (step S312) (step S312: No), the controller (100) performs such a process until it reaches the turning end position (P2). repeat. When the controller (100) ends the turning operation mode, the controller (100) starts executing the automatic straight-ahead mode.

Here, when the controller (100) shifts from the first turning operation mode to the second second turning operation mode, the direction of the aircraft is, for example, 0 to 20 with respect to the straight traveling path (L1) of the next article. The steering motor (95) is controlled so as to be within the range. The controller (100) keeps the orientation of the aircraft within the range of 0 to 20 degrees at the start of the second second turning operation mode, so that the position acquisition device (150) (150) in the second second turning operation mode Based on the position information acquired by (see FIG. 3), the direction of the aircraft is corrected so as to follow the straight traveling path (L1), and the turning operation is completed.

Further, also in the third embodiment, as in the first and second embodiments, the end position (P7) of the first turning operation mode is the rear wheel (see FIG. 3) counted by the rotation speed sensor (90) (see FIG. 3). 11) It is set based on the rotation speed of (see FIG. 1). When the controller (100) starts executing the first turning operation mode in the process shown in FIG. 12 (step S308), the controller (100) starts counting the number of rotations of the rear wheels (11), and the rear wheels (11) start counting. It is determined whether or not the rotation speed of 11) has reached a predetermined count value.

When the rotation speed of the rear wheels (11) reaches a predetermined count value, the controller (100) determines that the mode end position (P7) has been reached, ends the execution of the first turning operation mode, and the second time. The second turning operation mode of is executed. If the number of rotations of the rear wheels (11) is not a predetermined count value, the controller (100) repeats such a process until it reaches a predetermined count value.

The controller (100) determines whether or not the turning start position (P1) has been reached based on the number of rotations of the rear wheels (11), which are running wheels, even in the reverse running at the initial stage of the turning operation.

According to the third embodiment described above, as in the first and second embodiments, the first turning operation mode is executed at the start of turning of the seedling transplanting machine (1), and the second turning operation mode is executed at the end of turning. By doing so, automatic turning can be performed with simpler control.

Further, since the first turning operation mode is executed when the aircraft goes straight during the turning after the end of the first second turning operation mode, the running error due to the slip of the rear wheels (11) in the first turning operation mode is reduced. Therefore, the automatic turning can be performed accurately as a whole of the turning stroke.

Further, the number of rotations of the rear wheels (11) is counted with the start of the first turning operation mode, and when the number of rotations of the rear wheels (11) reaches a predetermined count value, the second turning operation mode is entered. Therefore, the control using the position information during the automatic turning becomes better in some parts, and the automatic turning can be performed by the simple control.

Further, when the second second turning operation mode toward the turning end position (P2) is completed, the mode shifts to the automatic straight-ahead mode and the automatic straight-ahead starts, so that the work can be continuously performed and the workability is improved. Can be improved.

Also in the third embodiment, as a modification, for example, the first turning operation mode is executed, the second turning operation mode is executed, the first turning operation mode is executed again, and the turning end position (P2). May be reached.

Further, the automatic turning mode may be set in which the first turning operation mode and the second turning operation mode are executed twice or more.

In the first to third embodiments, it is preferable that the controller (100) limits the vehicle speed by setting an upper limit value for the traveling speed of the seedling transplanting machine 1 in the automatic turning mode. As a result, the turning operation is stable and safety can be ensured. Further, when the controller (100) determines that the turning is completed based on the position information from the position acquisition device (150), the vehicle speed limitation is released and the vehicle speed according to the position of the speed change operation lever (HST lever) (36) is released. And.

Further, in the first to third embodiments, the controller (100) sets the rotation speed of the rear wheels (11) to be changeable. Further, the controller (100) releases each mode when the assist lever is "raised" by the operator during execution of the automatic straight-ahead mode or the automatic turning mode.

Further, in the first to third embodiments, the controller (100) cancels the automatic turning mode when the operator is operated to turn the Z turn "OFF" during the execution of the automatic turning mode. Further, the controller (100) cancels the automatic turning mode when the drawing marker automatic raising / lowering switch (49) (see FIG. 3) is operated by the operator while the automatic turning mode is being executed.

Further, in the first to third embodiments, in the controller (100), the HST lever (shift operation lever) (36) (see FIG. 3) is operated by the operator to the "reverse" side while the automatic turning mode is being executed. If so, the automatic turning mode is canceled. Further, the controller (100) cancels the automatic turning mode when the steering wheel (35) (see FIG. 3) is operated by the operator while the automatic turning mode is being executed.

Further, in the first to third embodiments, when the seedling transplanting machine (1) is stopped or the engine (30) (see FIG. 1) is stopped, the controller (100) is in the process of executing the automatic turning mode. Suspend (hold) the automatic turning mode. Further, the controller (100) may be controlled to stop the automatic turning mode when the seedling transplanting machine (1) is stopped or the engine (30) is stopped during the execution of the automatic turning mode.

Further, in the first to third embodiments, when the ridge alarm release switch is pressed, the controller (100) releases the ridge stop when the ridge alarm is activated. Further, the controller (100) may display on the monitor (86) (see FIG. 3) whether or not automatic turning is possible. The controller (100) may display an alert on the monitor (86), for example, when automatic turning is not possible.

Further, in the third embodiment, the controller (100) does not stop the automatic turning mode even if the seedling transplanting machine (1) stops while moving backward. As a result, even if the vehicle stops when moving backward due to an accident such as connecting seedlings, the automatic turning can be continued.

Further, in the first to third embodiments, the automatic turning mode (in the third embodiment, the operation of the automatic turning mode excluding the reverse movement) may be configured to be completed only in the first turning operation mode. Alternatively, it may be configured to be completed only in the second turning operation mode.

Further, in the first to third embodiments, the start of automatic turning may be the timing at which the "raising operation" of the raising / lowering operation of raising / lowering the seedling planting portion (4) is performed. That is, the automatic swivel switch (48) may be a switch that raises the seedling planting portion (4) by the operation of the operator, detects the rise of the seedling planting portion (4), or raises the seedling planting portion (4). It may be a detection unit that detects the start of control for raising 4).

Further, the start of automatic turning is the timing when the power transmission to the seedling planting device (55) is "cut", the timing when the feeding device (71) of the fertilizer application device (5) is stopped, and the ground leveling rotor (63). It may be the timing when the power transmission to is turned off.

As described above, the timing for starting the automatic turning may be the timing at which the drive of the field work device such as the seedling planting portion (4) is "cut".

Further, the work vehicle (1) may be a tractor. In this case, the field work device is a rotary or the like. The above-mentioned turning control can also be applied to the turning of the tractor.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 Seedling transplanter (working vehicle)
2 Traveling vehicle body 10 Front wheels (traveling wheels)
35 steering wheel (steering device)
48 Automatic swivel switch (swivel start operation unit)
90 rpm sensor (detector)
95 Steering motor (motor)
100 controller (control device)
150 Position acquisition device L1 Straight running path L2 Turning running path P1 Turning start position P2 Turning end position

Claims (5)

The running wheels attached to the running body and
A steering device that adjusts the steering amount of the traveling wheels, and
The motor that drives the steering device and
A position acquisition device that receives positioning information from the positioning means and acquires the current position information of the aircraft based on the received positioning information.
A control device for controlling the motor is provided.
The control device has a second turning operation mode in which the motor is controlled and executed so that the machine reaches a desired direction on the turning traveling path based on the position information while the machine is turning. ,
The control device has an automatic straight-ahead mode in which the aircraft travels along a straight-ahead traveling path, and shifts to the automatic straight-ahead mode when the second turning operation mode toward a desired turning end position ends. Work vehicle to do. The work vehicle according to claim 1, wherein when the operator shifts gears to the reverse side, the control device moves backward by a predetermined distance and then shifts to the second turning operation mode. The control device includes a first turning operation mode in which the motor is controlled and executed so that the steering amount becomes a predetermined value regardless of the position information while the aircraft is turning.
The first or second aspect of the present invention, wherein the control device executes the first turning operation mode at the start of turning of the airframe, and executes the second turning operation mode when the first turning operation mode ends. Work vehicle. The control device executes the second turning operation mode at the start of turning of the airframe, executes the first turning operation mode when the second turning operation mode ends, and executes the first turning operation mode when the first turning operation mode ends. 2. The work vehicle according to claim 1 or 2, wherein the turning operation mode is executed. Further equipped with a detection device for detecting the number of rotations of the traveling wheel,
The detection device starts detecting the rotation speed with the start of the first turning operation mode.
When the rotation speed reaches a predetermined value, the control device shifts to the second turning operation mode, and the control device shifts to the second turning operation mode.
Further equipped with a turning start operation unit that is operated when starting turning of the aircraft,
When the distance from the current position of the aircraft based on the position information to the desired turning start position is equal to or less than a predetermined distance, the control device may perform the first turning operation mode or the first turning operation mode based on the operation of the turning start operation unit. When the second turning operation mode is executed and the distance from the current position of the aircraft based on the position information to the desired turning start position exceeds the predetermined distance, the first turning operation unit is operated even if the turning start operation unit is operated. The work vehicle according to any one of claims 1 to 4, wherein the turning operation mode or the second turning operation mode is not executed.

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