JP2019047731A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle for preventing an airframe from tipping over by riding on a ridge while keeping straight-ahead automatic steering. SOLUTION: A steering member 35 for steering and operating a traveling device 9, a position information acquisition device 200 for acquiring position coordinates of a traveling vehicle body, and an automatic straight traveling device 205 for operating the steering member 35 to drive the traveling device 9 straight. In a work vehicle provided with a control device 100 for linking and controlling each device, a reference position memory 101 for storing a start reference position and an end reference position for straight-ahead traveling of the machine, an inclination sensor 212 for detecting the inclination of a traveling vehicle body, and automatic operation. An automatic straight-ahead setting member 207 for turning on / off the straight-ahead device 205 is provided, and the control device 100 stores the start reference position and the end reference position in the reference position memory 101 by the on / off operation of the automatic straight-ahead setting member 207, and automatically goes straight. The automatic straight-ahead device 205 can be operated by turning on the setting member 207, and when the tilt sensor 212 detects a tilt of a predetermined danger angle or more, the driving of the traveling device 9 is stopped. [Selection diagram] FIG. 6

Description

  The present invention relates to a work vehicle, and more particularly to a work vehicle that performs work on the ground with a work device attached to a traveling vehicle body traveling in a farmland.

  For a conventional work vehicle traveling in a field, position information of the work start position and the work end position is acquired when the drive of the work device is turned on and off, and a reference line is obtained from the acquired work start position and work end position An automatic steering device is provided which automatically steers the steering wheel along the reference line and causes the vehicle to travel straight (see, for example, Patent Document 1).

Unexamined-Japanese-Patent No. 2016-21890

  The work vehicle described in Patent Document 1 acquires the position where the drive of the work device is turned on and off as the work start position and the work end position, and therefore, there is no need for an operation to newly input the work start position and the work end position. , Has the advantage of good operability.

  However, if the working device is turned on and off while moving to a position where automatic steering is performed, a reference route of the work start position and the work end position of automatic steering is created. In this case, it is necessary to re-operate the drive of the working device at the original automatic steering start position to recreate the reference route, and there is a problem that the operation for automatic steering becomes troublesome.

  In addition, if the operation of the work device is inadvertently turned off during automatic steering, the work end position can not be obtained, and there is a risk that the vehicle will continue to go straight on and go on a heel and tip over.

  SUMMARY OF THE INVENTION In view of the problems of the above-described conventional work vehicle, the present invention has an object to prevent the vehicle from tipping over by riding on a heel with direct automatic steering.

  According to the first aspect of the present invention, a steering member 35 for steering the traveling device 9, a position information acquiring device 200 for acquiring position coordinates of the traveling vehicle body 2, and the steering member 35 are operated to travel the traveling device 9 straightly. In a work vehicle provided with an automatic rectilinear advance device 205 for performing control and a control device 100 for linked control of each device, a reference position memory 101 for storing start reference position A and end reference position B of straight traveling of the machine body, and inclination of traveling vehicle body 2 And an automatic rectilinear advance setting member 207 for turning on and off the automatic rectilinear advance device 205, and the control device 100 performs the start reference position A and the end reference by the on / off operation of the automatic rectilinear advance setting member 207. The position B is stored in the reference position memory 101, and the automatic rectilinear device 205 is enabled by the operation of the automatic rectilinear advance setting member 207, and the inclination sensor 212 Upon detection of a constant critical angle or inclination, and a work vehicle, characterized in that it stops driving of the traveling device 9.

  The second aspect of the present invention is the work vehicle according to the first aspect, wherein the drive of the traveling device 9 is stopped when the predetermined danger angle detection of the inclination sensor 212 continues for a predetermined time.

  The invention according to claim 3 is the work vehicle according to claim 1 or 2, wherein the drive clutch of the working device 4 is disengaged together with the stop of the engine 30 when the driving of the traveling device 9 is stopped.

  The invention according to claim 4 is characterized in that the running device 9 is stopped by driving the continuously variable transmission 14 provided in the power transmission unit from the engine 30 to the running device 9 as a neutral. It was set as the work vehicle of any one term.

  According to the invention of claim 1, based on the start reference position A acquired by the entry operation of the automatic rectilinear advance setting member 207, the traveling device 9 is automatically rectilinear toward the end reference position B stored in the reference position memory 101 by the automatic rectilinear device 205. As a result, it is not necessary for the operator to operate the steering member 35 to maintain straight traveling, and the labor of the operator is reduced. Further, when the inclination sensor 212 detects an inclination equal to or greater than a predetermined danger angle of the traveling vehicle body 2 while traveling straight ahead automatically, the control device 100 stops the driving of the traveling device 9, so that the traveling vehicle body 2 is further inclined and falls. It can be prevented.

  According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, the traveling device 9 does not stop immediately even if the traveling vehicle body 2 is momentarily inclined by passing the unevenness of the field. Work on the ground can be continued.

  According to the invention of claim 3, in addition to the effect of any one of claims 1 or 2, even if the traveling vehicle body 2 rides on the heel and the traveling device 9 stops and retreats, Since the drive clutch of the working device 4 linked to the device 9 is disconnected, the reverse rotation of the traveling device 9 causes the working device 4 to be reversely driven and is not damaged.

  According to the invention of claim 4, in addition to the effect of any one of claims 1 to 3, there is no risk of the operator riding on the work vehicle being shaken off by the inertia shock due to the rapid stop of the traveling device 9. Do.

Side view of seedling transplanter Top view of seedling transplanter Main part plan view of the traveling vehicle Rear view of the main part of the control unit including the steering wheel (A): Rear view of the main part showing the configuration of the automatic steering device for the steering wheel, (b): Side view of the main part showing the configuration of the automatic steering device for the steering wheel Block diagram showing members related to various controls A flowchart showing control for correcting the acquired position coordinates in accordance with the inclination of the vehicle etc. Flow chart showing automatic straight ahead control by the automatic steering device Flowchart showing acquisition of first and second reference positions by operation of automatic straight advance setting member and turning on and off of automatic straight advance control Flow chart showing the erasing operation of the first reference position and the second reference position Flow chart showing control for deleting the first reference position by the handle operation after acquiring the first reference position A schematic diagram of an operation showing a first reference position, a second reference position, a reference line, and a target position Flow chart showing operation of notification device and automatic deceleration control when stop operation of automatic steering device is not performed after operation of notification device A flowchart showing control for erasing the first reference position, the second reference position, and the reference line by headland traveling in the field Top view of the control panel of the control unit

  Embodiments of the present invention will be described based on the drawings.

  As shown in FIGS. 1 and 2, the riding type rice transplanter shown as one embodiment of the work vehicle according to the present invention takes seedlings from the seedling tank 53 via the lift link device 3 on the rear side of the traveling vehicle body 2. Although the working device 4 is constituted by a seedling planting unit of eight-row planting for planting seedlings in a field with a plurality of planting planters 55, it may be rice planters with different numbers of planting streaks. In addition, the fertilizer tank of the fertilization apparatus 5 is arrange | positioned at the traveling body 2 rear upper side of this rice transplanter.

  In addition, the work vehicle of the present invention may have a configuration in which the work vehicle 4 such as a sowing device for sowing seeds and a rotary for cultivating a field is mounted on the traveling vehicle body 2.

  First, the main frame 15 that constitutes the traveling vehicle body 2 of the riding type rice transplanter will be described.

  As shown in FIG. 3, the main frame 15 includes a front beam frame 16 at the front of the vehicle body, a rear beam frame 17 at the rear of the vehicle body, and a central beam frame between the front beam frame 16 and the rear beam frame 17. The front beam frame 16 and the central beam frame 18 are connected by a pair of left and right front connection frames 19 and 19, and the central beam frame 18 and the rear beam frame 17 are connected to the left and right rear connection frames 20, 20. Connect with

  The front beam frame 16, the central beam frame 18, and the rear beam frame 17 have a longitudinal direction as the left-right direction, and the front connecting frame 19 and the rear connecting frame 20 have a longitudinal direction as the front-rear direction.

  The left and right intervals of the left and right front connection frames 19 and 19 and the rear connection frames 20 and 20 are substantially the same. The left and right lengths of the central beam frame 18 and the rear beam frame 17 are longer than the left and right lengths of the front beam frame 16. Since the left and right front connection frames 19 and 19 and the rear connection frames 20 and 20 are welded at the lower part of the central beam frame 18, the left and right front connection frames 19 and 19 and the rear connection frames 20 and 20 are You may comprise by the integral metal square bar.

  The driving force is transmitted to the left and right front wheels 10 and 10, the rear wheels 11 and 11, the work device 4 and the like in the space formed by the front beam frame 16, the central beam frame 18, and the left and right front connecting frames 19 and 19. A transmission case 13 and a hydraulic continuously variable transmission (HST) 14 for outputting the driving force supplied from the engine 30 to the transmission case 13 are provided.

  The left and right lifting frames 21 and 21 are provided at the rear of the rear beam frame 18 at intervals narrower than the left and right distance between the left and right rear connection frames 20 and 20 and are projected rearward. The rear support frame 22 is attached to the lower part of the upper frames 21, 21.

  Rear wheel transmission cases 11a and 11a for respectively driving the left and right rear wheels 11 and 11 of the traveling vehicle body 2 are provided on the left and right sides of the rear support frame 22, and the elevating link mechanism is provided on the upper portion of the rear support frame 22. The left and right link frames 23, 23 supporting the three are provided upward.

  The elevating link mechanism 3 is provided with a pair of lower link arms 24, 24 on the lower side of the left and right link frames 23, 23 between the left and right, and an elevating cylinder 25 between the left and right of the lower link arms 24, 24. And the upper link arm 26 is provided above the elevating cylinder 25. The ends of the lower link arms 24, 24, the lifting cylinder 25 and the upper link arm 26 opposite to the traveling vehicle body 2 are attached to the front side of the working device 4.

  Furthermore, front transmission cases 10a, 10a are provided respectively for transmitting to the left and right front wheels 10, 10 of the traveling vehicle body 2 on the left and right outsides of the left and right end portions of the central beam frame 18 and left and right front connection frames 19, 19, respectively. The left and right ends of the central beam frame 18 and the rear beam frame 17 are connected by the left and right extension frames 27 and 27, respectively. The left and right extension frames 27, 27 have the longitudinal direction as the longitudinal direction.

  Further, a central connecting frame 28 in the front-rear direction is provided under the central beam frame 18, the rear beam frame 17 and the rear support frame 22, and the left and right rear portions between the front and rear of the central beam frame 18 and the rear beam frame 17 Between the left and right of the connection frames 20, 20, front and rear support plates 29, 29 for supporting the engine 30 are provided.

  The front and rear support plates 29, 29 are respectively provided with receiving plates 29a... For receiving the engine 30 on the left and right sides of the central connection frame 28.

  The left and right auxiliary frames 31, 31 are provided on the left and right sides of the front and rear support plates 29, 29 so as to pass through the lower part of the rear beam frame 17 and project rearward, and the rear portions of the left and right auxiliary frames 31, 31. Are connected by the rear auxiliary frame 32 in the left-right direction. The rear end portions of the left and right auxiliary frames 31, 31 are connected to the left and right rear wheel transmission cases 11a, 11a.

  The main frame 15 is configured as described above. A floor on which a worker rides the front and rear width from the front side beam frame 16 to the rear side beam frame 17 and the left and right width of the left and right front side connecting frames 19 and 19 and the rear side connecting frames 20 and 20. Cover at step 33. The floor step 33 is integrally formed to improve the strength or reduce the number of parts, or to be divided into the front and rear sides and the left and right sides to facilitate attachment and detachment.

  In the above, as shown in FIG. 3, the periphery of the left and right side end portions of the central beam frame 18 and the rear beam frame 17 and the left and right extension frames 27, 27 are not covered by the floor step 33 and exposed. At this time, the floor step 33 may be enlarged to cover the whole of the main frame 15, but the floor step 33 may be shared in order to share the floor step 33 between machines having different sizes and numbers of rows of planting work. The left and right extension steps 34, 34 are respectively disposed on the left and right sides of the.

  With the above configuration, the main frame 15 is configured by connecting a plurality of frame structures, so that the strength can be improved as compared with the conventional case.

  In addition, the central connection frame 28 is disposed below the front and rear support plates 29 and 29 on which the engine 30 is mounted, and the front and rear support plates 29 and 29 are connected to the left and right rear auxiliary frames 32 and 32. The engine 30 can be held firmly.

  In FIG. 1 and FIG. 2 showing the entire construction of a riding type rice transplanter, a steering wheel (steering member) 35 for steering the vehicle body to the upper part, the continuously variable transmission 14 and the working device 4 are operated on the front side of the traveling vehicle body 2. A bonnet 39 is provided at the upper portion with a control panel 38 provided with a shift control lever 36, an auxiliary shift control lever 37 for operating an auxiliary shift switching device (not shown) for switching travel transmission of the traveling vehicle body 2, and switches for operating each part of the machine body. Provide A front cover 40 which can be opened and closed is provided on the front side of the bonnet 39. Inside the front cover 40, the lower part of the left and right front wheel transmission cases 10a and 10a is turned by steering of the fuel tank and battery and the handle 35. Install the interlocking mechanism (not shown).

  FIG. 15 shows a control panel 38, which includes an engine key 73, an oil pressure sensitivity dial 74, a shift control lever 36, an auxiliary shift control lever 37, a planting start adjustment dial 75, a Z turn switch 76, an automatic left / right changeover switch 77, and a pitter shift switch. An electric seedling rail telescopic switch 79 and the like are provided.

  Planting clutch switches 80, 81, 82, 83 provided at the lower part of the control panel 38 are switches for turning on / off the second planting device 55, and also have a function of inputting a password when the engine 30 is started. After the engine key 73 is turned on, the start panel 85 displays a number that increases each time the planting clutch switch 80, 81, 82, 83 is pressed, and password verification is performed by pressing the pitter pull switch 78. If it is correct, the start-up panel 85 displays the start-up and the engine 30 is started. If not, the buzzer sounds and the engine 30 can not be started due to the display of incorrect input. If an error is input, a lock is applied and activation of the engine 30 with the engine key 73 is not possible, and an alert notification is given by e-mail or the like to the mobile phone of the machine owner.

  After the engine 30 is started, the planting clutch switches 80, 81, 82, 83 have a function of turning on / off the seedling planting device 55 every two rows.

  Further, in front of the front cover 40, various information such as the working condition of the working device 4 and the reduction of working materials consumed at the time of operation and the operation and non-operation of the automatic steering device 205 described later A center mascot 70 to be displayed is provided. The center mascot 70 is composed of a work display unit 71 disposed on the lower side of the machine body and the rear side of the machine body and an automatic rectilinear display unit 72 disposed on the machine body upper side and the front side of the machine body in side view.

  An engine cover 30a is provided on the rear side of the bonnet 39 and above the engine 30 to cover the upper side and the side of the engine 30, and a control seat 41 on which an operator is seated above the engine cover 30a. Provide

  Furthermore, the fertilizing device 5 is loaded on the rear side of the control seat 41, specifically on the rear end side of the main frame 15. The driving force of the fertilization device 5 is transmitted by a fertilization transmission mechanism disposed toward the fertilization device 5 from one of the left and right sides of the left and right rear wheel transmission cases 11a.

  A front transmission shaft (not shown) for transmitting to the left and right front wheel transmission cases 10a and 10a on the front side of the transmission case 13 and a transmission to the rear wheel transmission cases 11a and 11a for the rear part of the transmission case 13 Left and right drive shafts 42, 42 are provided. Side clutch mechanisms 43, 43 (FIG. 3) are disposed on the transmission direction upper side of the left and right drive shafts 42, 42 for transmitting and receiving power to the left and right drive shafts 42, 42. When the traveling vehicle body 2 is turned by turning off, the side clutch mechanism 43 located inside the turning is turned off, and transmission to the rear wheel 11 inside the turning is stopped.

  As shown in FIG. 3, left and right clutch on / off shafts 44, 44 are provided vertically in the vicinity of the left and right center on the rear side of the transmission case 13, and the upper side of the left and right clutch on / off shafts 44, 44 The clutch on / off arms 45 are provided respectively. Further, on the lower front side of the steering seat 41 and on one side, left clutch pedals 43a, 43a are provided for turning on and off the left and right side clutch mechanisms 43, 43.

  A transmission mechanism from the transmission case 13 to the front wheels 10 and 10 and the rear wheels 11 and 11 is generically referred to as a traveling device 9 for the convenience of the following description.

  In addition, as shown in FIGS. 1 and 2, a center float 62C and a left and right side float 62L, 62R are provided below the working device 4 to be in contact with the overhead scene and the center float 62C and the left and right side floats. A ground leveling rotor 63 is provided in front of the floats 62L and 62R in order to level the unevenness of the boat scene. The driving force to the ground leveling rotor 63 is transmitted by the ground leveling transmission shaft 65 provided on the rear wheel transmission case 11a on one side. Further, on the rear wheel transmission case 11a on the left and right sides, a ground leveling clutch for turning on and off transmission to the ground leveling rotor 63 is provided.

  The center float 62C is provided with a rotation potentiometer 64 (FIG. 6) for detecting the rotation angle of the center float 62C, and when the rotation angle of the rotation potentiometer 64 changes by a predetermined angle or more, the depth of the field changes It is determined that the control device 100 extends and retracts the elevating cylinder 25 to rotate the elevating link mechanism 3 up and down, so that the vertical height of the working device 4, that is, the working position corresponds to the depth of the field.

  When performing work such as planting of seedlings and sowing of seeds using the working device 4 or additional fertilization and weeding after growth of seedlings in the field, the traveling vehicle body 2 from one side to the other side of the field It is common to drive straight ahead. However, the traveling vehicle body 2 may move gradually in the direction of deviation when the wheel is directed in the direction deviated from the straight advance direction due to the unevenness of the cultivation board of the field or the viscosity of the topsoil. Further, depending on the operator's control technology, the traveling vehicle body 2 may not be aligned in the straight direction, and may be moved in a direction deviated from the straight direction.

  As a result, work trajectories such as planting and sowing of seedlings, weeding and additional fertilization become diagonal directions, and a place where planting and sowing of seedlings can be originally becomes an empty space, and workers can manually plant them later. It is necessary to sow, causing extra labor for workers, and the space between planting and seeding lines of the seedlings becomes narrower than regular lines, causing poor ventilation and causing pests and diseases. is there. Alternatively, when working on post-planting and sowing post-planting work such as weeding work and additional fertilization work, the planting may be crushed, which may lead to a decrease in the yield, and carefully maneuvering at low speed so as not to collapse the planting. As a result, problems may occur that lower the work efficiency.

  In order to solve these problems, it is effective to mount a so-called automatic straight-ahead system which automatically steers the traveling vehicle body 2 and maintains a straight traveling posture, not by the hand of the operator, which will be described next.

  First, as shown in FIGS. 1 and 2, an antenna frame 201 for mounting a GPS (GNSS) antenna 200 is provided on a traveling vehicle body 2. The antenna frame 201 mounts the left and right bases to the left and right antenna stays 202 provided on the front side of the main frame 15. The front view of the portal front frame 201a and the left and right center parts of the front frame 201a The rear frame 201 b is configured to be directed to the rear and to the left and right central portions on the rear side of the traveling vehicle body 2. The bonnet 39 and the control seat 41 are located behind the space portion of the front frame 201a of the portal shape.

  Further, the height of the antenna frame 201 is the highest in the airframe. The upper end portion of the antenna frame 201 is located about 2.5 to 3.5 m from the ground surface in order to prevent the operator from hitting the head while standing on the floor step 33 and to improve the reception accuracy. It shall be.

  As a result, the worker can easily move on the floor step 33, the working efficiency is improved, and the GPS antenna 200 can be separated upward from the ground, so that the receiving accuracy can be improved.

  The GPS antenna 200 is mounted in the vicinity of the connection between the front frame 201a and the rear frame 201b. The connection between the front frame 201 a and the rear frame 201 b is close to the front and back of the bonnet 39 and the steering seat 41, and is near the central portion in the front-rear direction of the traveling vehicle body 2.

  As described above, since the mounting position of the GPS antenna 200 is in the vicinity of the center in the front and rear and left and right directions of the airframe, acquired coordinates of the airframe are unlikely to be distant from the actual airframe position. Setting is appropriate and work accuracy is improved.

  Further, by positioning the control seat 41 behind the space portion of the front frame 201a, it is possible to prevent the antenna frame 201 from blocking the operator's view, so the visibility is improved and the positioning before going straight ahead is accurate. As a result, the field condition and obstacles in front of the machine can be found early, so it is possible to switch to a manual operation by the operator to safely shift the working position.

  The GPS antenna 200 may be a single positioning method, a DGPS (relative positioning) method, an RTK (interference positioning) method, or the like, which is suitable for an area where work is to be performed.

  However, when the ground height of the GPS antenna 200 fluctuates due to the influence of the tilt or vibration of the airframe, the coordinate position different from the actual airframe position is measured, the reception accuracy decreases, and the airframe travels in the direction deviated from straight ahead. Problems will arise.

  In order to prevent this, as shown in FIG. 6, in addition to the GPS antenna 200, an IMU (inertial measurement device) 203 is provided. The IMU 203 is acquired by the GPS antenna 200 based on the difference between the height from the ground surface when the traveling vehicle body 2 is inclined to the GPS antenna 200 and the height from the ground surface when the vehicle body 2 is not inclined to the GPS antenna 200. The position coordinates are corrected by the control device 100.

  The height from the ground surface to the GPS antenna 200 is determined by measuring the behavior such as the inclination of the traveling vehicle body 2 with a three-axis acceleration sensor and an angular velocity sensor built in the IMU 203.

  In addition to this, in order to make the control device 100 more reliably determine whether the traveling direction of the vehicle by the automatic rectilinear system is correct, the orientation sensor 204 is provided.

  The correction of the position coordinates at this time is as shown in steps S1 to S5 of the flowchart shown in FIG.

  Thereby, since the course of the aircraft can be determined by the measured azimuth, the accuracy of straight running can be further improved.

  The position information acquired by the GPS antenna 200 is corrected by the control device 100 based on the information detected by the IMU 203 and the azimuth sensor 204. Then, the control device 100 compares the current position information with the position information acquired earlier, and if the difference in the position information exceeds the allowable range, the left and right front wheels 10 are returned to return the vehicle to the straight traveling position. , 10 in the correction direction.

  In order to automate the steering of the left and right front wheels 10, 10 or the pivoting of a crawler or the like, an automatic steering device 205 is provided which rotates the steering wheel 35 by means of a steering actuator 206. The automatic steering device 205, as shown in steps S6 to S9 of the flowchart shown in FIG. 8, the X coordinate of the current position information calculated by the control device 100 and the X position of the reference position information obtained earlier. Based on the difference in coordinates, the operation amount of the steering actuator 206 is varied to turn the steering wheel 35 to the left and right in order to direct the machine to the straight traveling position, and stop the steering actuator 206 when coming to the straight traveling position. The automatic steering of the steering wheel 35 is stopped.

  The steering actuator 206 is composed of an electric or hydraulic motor or cylinder.

  According to the above configuration, the steering wheel 35 is automatically steered according to the difference of the X coordinate of the calculated position information, and the machine body can be automatically aligned to the straight traveling position, so that the working position by the working device 4 is in the left-right direction. Misalignment is prevented, and it becomes difficult to generate places where work is not performed in the field. As a result, it is not necessary to manually perform the work at the place where the work was not performed, and the labor of the worker is reduced.

  In addition, since it is possible to prevent overlapping of the work position of the previous work bar and the current work bar, it is possible to prevent extra consumption of working materials such as seedlings, seeds and fertilizers, and work costs can be reduced. At the same time, the occurrence of growth defects due to excessive supply of working materials is prevented.

  In addition, the tractor equipped with a cultivator as the working device 4, the seedling transplanting machine and the seeding machine travel to the end of the field of the work bar, and rotate about 180 degrees to move to the next work bar. If the automatic rectilinear system is in operation during turning, it is determined that the vehicle deviates from the position to be traveled straight, and the steering actuator 206 may be operated to disturb the turning locus. Therefore, the automatic rectilinear system needs to be configured to be turned off when turning the vehicle. It is conceivable that the automatic rectilinear movement system is turned off when the steering wheel 35 is turned, but the operator turns the steering wheel 35 in order to avoid the obstacle or the traveling direction of the aircraft largely deviates depending on the condition of the field etc. Since the automatic straight-ahead system is turned off when the operation is larger than the operation, the operator must turn on the automatic steering system while going straight on, which increases the labor of the worker and the automatic straight-ahead system It does not notice that it has been turned off, and the machine travels with the work position shifted, causing a problem that the work accuracy is lowered.

  It is also conceivable to turn on the automatic straight advance system by turning the handle 35 back to straight from turning, but when returning straight from turning to straight, in order to bring the machine to the straight position on the next work strip, It is necessary to perform steering operation. If the control device 100 determines that the machine deviates from the straight traveling position if the automatic steering system is turned on during this operation, the steering actuator 206 is activated and the position of the machine is aligned with the position where the straight traveling should be performed. There is a problem that can not be

  An automatic rectilinear system capable of preventing the occurrence of this problem and allowing the machine body to travel rectilinearly in an appropriate direction and operating in an appropriate section will be described using FIGS. 6 and 8 to 11.

  Here, position coordinates in the forward and reverse direction of the traveling vehicle body 2 are taken as Y coordinates, and position coordinates in a direction perpendicular to the forward and backward direction of the traveling vehicle body 2, that is, left and right direction, are taken as X coordinates.

  First, the automatic vehicle movement setting member 207 causes the traveling vehicle body 2 to acquire the coordinates of one side of the field which is the start point of the automatic straight advance and the other side of the field which is the end point of the automatic straight movement. Provide The automatic rectilinear advance setting member 207 mounts at least one member operable in at least two directions such as vertical and horizontal directions, and a pushing state and a returning state, or mounts two or more operating members. .

  In the present application, as shown in FIG. 4, a finger up lever operable in the vertical direction is mounted as the automatic rectilinear advance setting member 207, but a toggle switch, a push switch, a joystick, or the like may be used.

  As a result, the number of parts can be reduced, and the acquisition operation of the reference position (first reference position A, second reference position B) and the on / off operation of the automatic steering device 205 are automatically performed with one hand on the same side. Since the straight advance setting member 207 may be operated, operability is improved.

  As shown in FIG. 4, when the automatic rectilinear advance setting member 207 is operated in the first direction W1 and the upper direction of the machine, position information of the GPS antenna 200 is acquired at the operated position, and detection of the IMU 203 and the azimuth sensor 204 The position coordinates calculated by the control device 100 using the result are recorded in the field map data. The operation in the first direction W1 of the automatic rectilinear advance setting member 207 corresponds to the operation of the reference position acquisition member.

  When the automatic rectilinear advance setting member 207 is operated, if there is no record of other position coordinates in the field map data, the calculated position coordinates are recorded as a first reference point A, and the first reference point A is recorded. When there is, the calculated position coordinate is recorded as the second reference point B. When the automatic rectilinear advance setting member 207 is operated when the first reference point A and the second reference point B are recorded, position coordinates are not recorded.

  In addition, since it is necessary to reacquire the first reference point A and the second reference point B when, for example, automatic straight advance can not be performed accurately while working in the farm, as shown in the flowchart shown in FIG. At this time, when the automatic rectilinear advance setting member 207 is operated in the first direction W1 for a predetermined time (for example, 2 to 3 seconds), the first reference point A and the second reference point B recorded are erased. It is good to be set. Alternatively, a recording and erasing button (not shown) may be provided, in which the first reference point A and the second reference point B are deleted when operated.

  The first reference point A and the second reference point B, which are reference positions for straight running of the automatic straight ahead system, have smaller X coordinate deviation as the distance is shorter, but use automatic straight ahead if the distance between the two points is short It is possible to travel straight ahead without the need. In addition, when the distance between the two points becomes short, the operator may unintentionally touch the automatic rectilinear setting member 207, and the second reference point B may be acquired.

  In order to prevent the occurrence of this problem, when acquiring the second reference point B by operating the automatic rectilinear advance setting member 207, the distance from the position at which the first reference point A is acquired is less than a predetermined distance, for example, 8 to 12 m. When it is less than, the control device 100 deletes the second reference point B and does not record it. Thereafter, when the automatic rectilinear advance setting member 207 is operated again and the distance from the position at which the first reference point A is acquired is equal to or more than a predetermined distance, the control device 100 records the second reference point.

  In the state where the first reference point A is acquired as shown in the flowchart of FIG. 11, the steering wheel 35 is operated by a predetermined amount or more within a predetermined time without acquiring the second reference point B, and the traveling vehicle body 2 is turned. When having made it, the control device 100 deletes the recorded first reference point A. Thereafter, when the automatic rectilinear advance setting member 207 is operated in the first direction W1, the control device 100 records the position coordinates of the location acquired by the GPS antenna 200 as the first reference point A, and the first reference The line connecting the Y coordinate of the point A and the Y coordinate of the second reference point B may be prevented from becoming non-linear.

  As a result, the first position and the other end of the field, for example, a position at which the traveling vehicle body 2 starts turning after finishing straight traveling, and a position at which the working device 4 is lowered to start straight traveling after turning is finished The reference point A and the second reference point B can be set, and the automatic rectilinear system is operated at a position where the work device 4 is lowered and travels straight, and the work position does not shift in the lateral direction with respect to the traveling direction. Enables accurate work.

  In addition, since it is possible to prevent the second reference point B from being different from the position to be actually set due to an operator's erroneous operation, there is no need to reacquire the first reference point A and the second reference point B in the next work item. The number of working lines using automatic straight ahead can be increased to further improve the working precision in the field.

  In addition, in the work strip which performs work for the first time after entering the field, the automatic rectilinear advance setting member 207 is operated in the first direction W1 at the predetermined position to acquire the first reference point A and the second reference point B described above. The operator is required to operate the steering wheel 35 to make the machine travel straight, without using automatic straight ahead.

  As described above, when the first reference point A and the second reference point B are acquired by the operation of the automatic rectilinear advance setting member 207, a reference obtained by connecting the Y coordinates of the first reference point A and the second reference point B The line R is a line serving as an indication of automatic straight advance, and it is determined whether the X coordinate of the position coordinate of the aircraft during traveling agrees with the X coordinate of the line serving as an indication of automatic straight advance. For example, automatic steering can be realized by automatically steering the steering wheel 35 in the matching direction by the automatic steering device 205.

  The above-mentioned automatic rectilinear traveling is started by operating the automatic rectilinear advance setting member 207 in the second direction W2 in the lower direction of the machine with the first reference point A and the second reference point B recorded. . When the automatic rectilinear advance setting member 207 is operated in the second direction W2, the control device 100 compares the Y coordinate of the position coordinate acquired by the GPS antenna 200 with the Y coordinate of the reference line R, and operates the steering actuator 206. Control is started to rotate the steering wheel 35 in the left-right direction and move the traveling vehicle body 2 to a position where it should travel straight. The operation in the second direction W2 of the automatic rectilinear advance setting member 207 corresponds to the operation of the on / off member.

  The automatic steering control is ended when the steering wheel 35 is operated to an angle for turning the traveling vehicle body 2 within a predetermined time or when the automatic rectilinear advance setting member 207 is operated in the second direction W2. The steering angle of the steering wheel 35 is detected by a steering wheel potentiometer 35a.

  The automatic straight advance control may be ended when the traveling vehicle body 2 reaches a location that matches the Y coordinate of the first reference point A or the second reference point B.

  FIG. 12 is a schematic view showing the first reference position A, the second reference position B, the reference line R, and the target position and the current position of the airframe.

  As described above, the automatic straight advance control is ended by turning the steering wheel 35 or reaching near the start point of the turning at the end of the field. The position where the traveling vehicle body 2 turns is near the end of the field. Therefore, if the operator performs an operation other than steering by leaving it to automatic advance control, the turning operation will be delayed if the turning operation is delayed. As the planting takes place, the traveling vehicle body 2 moves to the end of the field, and it is necessary to reverse to the turning position, causing a problem that the working efficiency is lowered.

  In order to prevent this problem, as shown in FIG. 6 and FIG. 13, a work detection sensor 209 is provided to detect turning on / off of the ground leveling rotor 63 by turning on / off (stopping) the ground leveling clutch. When 209 detects the entry (operation) of the ground leveling rotor 63, the control device 100 acquires a target position coordinate (end reference position) which is a position coordinate (X coordinate and Y coordinate) of the traveling vehicle body 2. The target position coordinates can be simultaneously held in the control device 100 or in a memory area associated with the control device 100 at least two places.

  In addition, acquisition of the target position coordinates (end reference position) by the work detection sensor 209 is, instead of turning on / off of the leveling rotor 63, raising or lowering of the working device 4, turning on / off transmission to the working device 4, handle 35 It is good also as composition which carries out on condition of turn start steering of the above, turn end steering, etc.

  Then, when the automatic steering device 205 is operated to cause the traveling vehicle body 2 to travel straight ahead automatically in the next work bar of the work bar for which the position coordinate has been acquired, the control device 100 determines the current position coordinate acquired by the GPS antenna 200. The distance from the Y coordinate to the Y coordinate of the target position coordinate acquired in the immediately preceding work strip (the most recent work strip) is sequentially calculated. At this time, the control device 100 may be configured to correct the X coordinate of the target position coordinate to the X coordinate of the current position coordinate.

  Then, when the traveling vehicle body 2 reaches a notification position where the distance from the current position coordinate to the target position coordinate is a predetermined distance, for example, 8 to 12 m, the traveling vehicle body 2 approaches the field end, and the automatic straight advance setting member 207 To notify the operator that it is necessary to end the automatic straight-ahead control by operating the second direction W2 in the second direction W2, a buzzer or a lamp, or a numerical value or character displayed on the screen Do.

  Note that displaying numerical values and characters on the notification device 208 is achieved by transmitting information to a configuration in which a display panel (not shown) is provided on the traveling vehicle body 2 or by an information terminal (smartphone, tablet, etc.) carried by the operator. The configuration to be

  In addition, since it is not possible to calculate the distance between the traveling vehicle body 2 and the target position in a work bar that has not acquired the target position coordinates, the operator visually confirms the end of the field and determines that automatic straight advance control is unnecessary. It is necessary to operate the automatic rectilinear advance setting member 207.

  As for the distance from the current position coordinate to the target position coordinate, rear wheel rotation sensors 210 and 210 for detecting the rotation of the left and right drive shafts 42 and 42 to the left and right rear wheels 11 and 11 are provided. Based on the number of rotations detected by the rear wheel rotation sensors 210 and 210 from the position where it was turned on, the control device 100 calculates the movement distance, and the movement distance and the Y coordinate position of the position where the ground adjustment rotor 63 is turned on. The distance may be calculated, and the notification device 208 may be operated if it is within the predetermined distance.

  However, even if the notification device 208 is activated, the traveling vehicle body 2 can not be turned at an appropriate position unless the operator notices and ends the automatic straight-ahead control. In order to cope with this, the traveling vehicle body 2 advances without the automatic rectilinear setting member 207 being operated in the second direction W2 over a predetermined distance (for example, 2 to 5 m) after the notification device 208 is activated. When traveling, the control device 100 rotates the trunnion shaft 14 a of the continuously variable transmission 14 to decelerate the traveling vehicle body 2.

  Alternatively, instead of the distance, the traveling vehicle body 2 is not operated in the second direction W2 for a predetermined time (for example, 2 to 5 seconds) after the notification device 208 is operated, for a predetermined time (for example, 2 to 5 seconds). When the vehicle travels forward, the control device 100 reduces the output of the continuously variable transmission 14 to decelerate the traveling vehicle body 2.

  The deceleration of the traveling vehicle body 2 operates the HST servomotor 211 that rotates the trunnion shaft 14a of the continuously variable transmission 14 via a trunnion arm (not shown), and the trunnion shaft 14a is rotated to the deceleration side. It is done by

  As a result, when the field end is approached, the traveling speed of the traveling vehicle body 2 is reduced, so that the operator can recognize that the turning position of the field end is approaching, and the turning can be performed with an appropriate trajectory. Therefore, it is prevented that the working device 4 performs overlapping work on the ground on four sides of the outer periphery of the field, so-called headland, and consumes extra working material (seedling, fertilizer, medicine, etc.).

  In addition, since the position where the leveling operation is started by turning on the leveling rotor 63 after turning can be adjusted to the position where the leveling operation is finished before turning, generation of a location where the leveling operation by the leveling rotor 63 is not performed, The occurrence of a place where the work on the ground is not performed by the work device 4 is prevented. This prevents the occurrence of problems such as the planting depth of seedlings being disturbed, the penetration of fertilizers being different, and the running being disturbed at locations where leveling work was not performed, and the position where the work was not performed to the ground , The worker does not have to work manually, and the labor of the worker is reduced.

  In the automatic deceleration described above, the traveling speed gradually decreases with the passage of time, and when the control configuration is gradually decelerated, the accuracy of the ground work by the work device 4 and the accuracy of the ground leveling of the leveling rotor 63 are degraded. Is prevented from being shaken.

  Alternatively, if the control configuration is such that rapid deceleration is performed once or a plurality of times at predetermined time intervals after the start of automatic deceleration, it is easy for the operator to notice the approach of the field end due to the sway of the traveling vehicle body 2.

  Further, when the automatic straight advance setting member 207 is operated to cancel the automatic straight advance control within a predetermined time (second predetermined time) in which the automatic deceleration control is performed, the control device 100 maintains the traveling speed at that time. It may be configured to As a result, since the work travel does not stop, it is possible to quickly shift to the turning travel at the end of the field, and a reduction in work efficiency is prevented.

  Alternatively, the control device 100 operates the HST servomotor 211 of the continuously variable transmission 14 to shift to the traveling speed set in advance or the traveling speed at the time when the automatic deceleration is started, and the trunnion shaft 14a May be turned to the speed increasing side.

  Since the traveling speed is automatically increased, the operator does not have to operate the shift control lever 36 to increase the traveling speed, thereby improving operability.

  In addition to the operation of the notification device 208, the automatic deceleration control of the traveling vehicle body 2 described above is expected to allow the traveling vehicle body 2 to recognize the turning position of the field end, specifically, the turning position near the field end. It is assumed that the automatic deceleration of the traveling speed may not be noticed due to being immersed in another task or when the worker faints.

  Therefore, the automatic deceleration control of the traveling vehicle body 2 is performed until the continuously variable transmission 14 is in the neutral state in which neither traveling forward nor backward traveling speed is increased or decreased. At this time, the engine 30 is not stopped. As a result, the traveling vehicle body 2 can be stopped on the spot, which prevents the vehicle from moving forward until it comes into contact with the so-called end of a field, so that damage to the vehicle or a distance for moving the vehicle backward to return to work It is suppressed.

  When the traveling of the traveling vehicle body 2 is automatically stopped due to the approach to the end of the field, the control device 100 changes the continuously variable transmission when returning the shift control lever 36 for operating the traveling speed of the traveling vehicle body 2 to increase or decrease the travel speed. It is in the state of receiving the increase / decrease operation of the traveling speed by the device 14. Then, when the shift control lever 36 is operated in the forward direction, the traveling of the traveling vehicle body 2 is resumed. As a matter of course, in the state where the auxiliary shift operating lever 37 is operated to the neutral position and the driving force is not transmitted to the traveling system, traveling is performed until the auxiliary shift operating lever 37 is operated to the position where traveling transmission is performed. Not started.

  The first reference point A and the second reference point B, and the reference line R connecting the first reference point A and the second reference point B, which is the reference of the above-mentioned automatic straight-ahead control, are straight going from one end to the other end of the field It is necessary for work travel and straight work travel from the other end of the field to one end.

  However, although work travel on the four sides of the field, so-called headland, is straight work travel, there is one side that has a work side that is different from the above straight work travel, and the reference line R is used for that work side However, automatic straight-ahead control can not be performed.

  In addition to the above, even if the notification device 208 is activated, the operator is not aware, and when the front wheel 10 or the rear wheel 11 rides on the heel, the inclination sensor 212 sets the inclination of the traveling vehicle body 2 to a predetermined danger angle. When the inclination of not less than 0.1 ° is detected for 0.1 seconds or more, the control device 100 turns off the automatic steering and stops the driving of the engine 30 one second after the driving clutch of the working device 4 is turned off. However, when the drive clutch of the work device 4 is already disconnected, the drive of the engine 30 is immediately stopped.

  In addition, even if the engine 30 is stopped, the controller 100 operates the HST servomotor 211 of the continuously variable transmission 14 without stopping the engine 30 to prevent sudden stop in order to prevent running with inertia, thereby preventing sudden stop and trunnion. It is also possible to turn the shaft 14a slowly to the neutral side.

  Also in this case, the traveling stop is left by the notification device 208, but the notification of the emergency, for example, the buzzer ringing pitch is made earlier than the notification when approaching the target position coordinates.

  When the control device 100 turns off the automatic steering, the control device 100 deletes the first reference point A, the second reference point B, and the reference line R.

  In addition, when moving the machine to the bed of a truck for transfer or storing it in a barn or the like outside the field, the automatic steering device 207 is operated in the second direction W2 by mistake and the automatic steering device When 205 is in an operable state, when moving the machine, the X coordinate of the reference line (R) and the X coordinate of the machine do not match, and it is determined that the vehicle is deviated from the straight traveling position. Automatic steering of the steering wheel 35 may occur. As a result, the course of the vehicle is shifted from the route where the vehicle should originally travel, and extra effort is required for loading and storing the vehicle.

  In order to prevent this, it is necessary to erase the first reference point A, the second reference point B, and the reference line R before the airframe leaves the field. As shown in FIG. 6 and FIG. 14, when the traveling vehicle body 2 travels on three sides including at least one side of the traveling direction orthogonal to the traveling direction of straight traveling work among the four sides of the field, headland work is performed Then, the control device 100 deletes the first reference point A, the second reference point B, and the reference line R.

  The traveling direction of the traveling vehicle body 2 on the headland is determined by continuous change in X-axis coordinates or Y-axis coordinates among position coordinates of the traveling vehicle body 2 acquired by the GPS antenna 200.

  As a result, since the first reference point A, the second reference point B, and the reference line R can be deleted while the aircraft is traveling in the field, the automatic straight advance setting member 207 is taken out of the field. Even when the operation is performed, automatic straight advance is not performed, and traveling in a direction deviated from the planned traveling direction is prevented, the working efficiency is prevented from being lowered, and the safety of the work is improved.

  In addition, when the airframe is moved to another field, the first reference point A and the second reference point B and the reference line R are not recorded, so that the automatic operation is performed based on the reference line R unsuitable for the field during work. Since it is possible to prevent the straight movement control from being performed, the accuracy of the automatic straight movement is improved.

  When moving out of the field, the auxiliary shift operating lever 37 is operated to the traveling position in order to move it to the transfer truck in a short time or to move it to the barn. An auxiliary shift position detection switch 37a for detecting the operation of the auxiliary shift operation lever 37 to the travel position is provided, and the first shift position detection switch 37a detects that the auxiliary shift operation lever 37 is operated to the travel position. The reference point A, the second reference point B, and the reference line R may be deleted.

  By deleting the first reference point A, the second reference point B, and the reference line R based on the operation of the auxiliary shift control lever 37 to the travel position not used in the field, the first reference point when traveling on the headland When A, the second reference point B, and the reference line R are not deleted, they can be deleted reliably, so there is no case where automatic traveling control is performed at the time of movement of the traveling vehicle body 2 or work of another field. A decrease in work accuracy is prevented.

  In addition, since the first reference point A, the second reference point B, and the reference line R can be prevented from being erroneously deleted in the field due to the erroneous operation of the auxiliary shift operating lever 37, the first reference point A and the second reference The working line for acquiring the point B again prevents the automatic straight advance from being used and improves the working accuracy.

  In addition, depending on the contents of the field or work, it is conceivable to move the traveling vehicle 2 backward and exit from the entrance, so the first reference point A and the second reference point are based not only on the front rising inclination angle but also on the rear rising inclination angle. The control configuration may be such that B and the reference line R are deleted.

  Even when the traveling vehicle body 2 is made to travel in a straight line automatically by the automatic steering device 205, such as when the work material replenishment work consumed by the work device 4 or the like, or when any problem occurs in the vehicle body or the field , Workers need to stop running. In this travel stop operation, the shift control lever 36 is operated to the neutral position to make the stepless transmission 14 neutral, the brake pedal is depressed to apply the brake, the side clutch pedal 43a is depressed and the side clutch 43 is disengaged. There is a way to make it a state.

  Even when the traveling of the traveling vehicle body 2 is stopped by any of the above methods, the control device 100 does not stop the automatic steering device 205.

  As a result, when the traveling stop is canceled by operating the shift control lever 36 forward, canceling the operation of the brake pedal or the side clutch pedal 43a, etc., it becomes possible to immediately return to automatic straight-ahead traveling, and work efficiency Is prevented.

  However, if the steering wheel 35 is steered manually while the steering wheel 35 is manually steered or the steering wheel 35 is steered automatically by actuation of the steering wheel 35, the traveling direction at the time of resumption of straight-ahead traveling deviates from that at the time of parking The traveling direction of the traveling vehicle body 2 may not be linear.

  In particular, when the traveling vehicle body 2 is stopped, the position coordinates acquired by the GPS antenna 200 are easily affected by the rotation of the earth, the revolution of GPS satellites, etc., and a position different from the actual traveling vehicle body 2 exists. Coordinates may be acquired, and it is likely to be mistaken as being at a position away from the reference line R.

  In order to prevent this, a lever potentiometer 36a for detecting the operation position of the shift operation lever 36 and a depression detection switch 213 for detecting depression operation of the brake pedal or the clutch pedal are provided, When detected, the control device 100 does not reflect the steering operation of the steering wheel 35 or does not move the steering wheel 35.

  The configuration that does not reflect the steering operation of the steering wheel 35 means that the steering actuator 206 is not operated even if the X coordinate of the position coordinate of the traveling vehicle body 2 at the time of stopping is deviated from the X coordinate of the reference line R by a predetermined value or more. .

  Further, the configuration in which the steering wheel 35 is not moved means that the operating torque of the steering actuator 206 is increased to bring the steering wheel lock state.

  According to the above configuration, it is possible to prevent the traveling direction from being shifted after resumption of traveling, so that the work traveling is performed in a straight line, and the working accuracy can be improved.

  The steering wheel 206 is automatically steered by the steering actuator 206 during automatic straight-ahead traveling, but the state of the field on the route is not suitable for automatic straight-ahead traveling (rough, deep field depth, etc.), or obstacle exists In such situations, it is necessary to take evasive action by manual operation.

  The steering operation of the steering wheel 35 by the steering actuator 206 is performed by the following configuration. An input gear 352 is provided on the lower part of the steering wheel shaft 351 that rotates in conjunction with the steering operation of the steering wheel 35, and an output gear 353 is provided on the steering actuator 206.

  The input gear 352 and the output gear 353 are incorporated in a steering gear case 354 disposed below the steering wheel 35 and the steering actuator 206. A relay gear 355 is provided between the input gear 352 and the output gear 353 to change the transmission ratio to transmit the driving force.

  The gear ratio of the input gear 352, the output gear 353 and the relay gear 355 is such that the torque by the manual operation becomes strong even if the steering actuator 206 is operated in order to prevent the manual operation of the steering wheel 35 from being hindered. Do.

  Thereby, it is possible to prevent an increase in the force required for the manual operation of the steering wheel 35 even while traveling straight ahead, thereby improving the operability and reliably avoiding the field and obstacles in a state that may affect traveling. Safety of the work is secured.

2 traveling vehicle body 4 working device 9 traveling device 14 continuously variable transmission 30 engine 35 steering wheel (steering member)
100 control device 101 reference position memory 200 GPS antenna (position information acquisition device)
205 Automatic steering device (automatic linear movement device)
207 Automatic straight setting member

Claims (4)

A steering member (35) for steering the traveling device (9), a position information acquiring device (200) for acquiring position coordinates of the traveling vehicle body (2), and the steering device (35) 9) In a working vehicle provided with an automatic rectilinear advance device (205) for traveling straight ahead, and a control device (100) for linked control of each device
Reference position memory (101) for storing the start reference position (A) and end reference position (B) of straight traveling of the vehicle, the inclination sensor (212) for detecting the inclination of the traveling vehicle body (2) An automatic straight setting member (207) for turning on and off the device (205);
The control device (100) stores the start reference position (A) and the end reference position (B) in the reference position memory (101) by the on / off operation of the automatic rectilinear advance setting member (207). When the automatic rectilinear advance setting member (207) is operated to enable the automatic rectilinear advance device (205) and the inclination sensor (212) detects an inclination equal to or greater than a predetermined danger angle, the driving of the traveling device (9) is performed. A work vehicle characterized by stopping.   The work vehicle according to claim 1, wherein the driving of the traveling device (9) is stopped by continuing detection of the predetermined danger angle of the inclination sensor (212) for a predetermined time.   The work vehicle according to claim 1 or 2, wherein the drive clutch of the work device (4) is disengaged with the stop of the engine (30) when the drive of the travel device (9) is stopped. The drive control of the traveling device (9) is stopped by neutralizing the continuously variable transmission (14) provided in the power transmission unit from the engine (30) to the traveling device (9). The work vehicle according to any one of 3.