JP7654526B2 - Field Machinery - Google Patents

Description

This invention relates to a field work machine that transplants seedlings into a field while traveling, and in particular to a field work machine that travels autonomously along a target direction.

A conventional transplanter that acquires position information and controls the machine so that it automatically moves in a straight line along a set target direction is described in JP 2020-31558 A (Patent Document 1). In Patent Document 1, the automatic straight-line control starts on the condition that the work clutch is turned "on" after the turning operation starts.

JP 2020-31558 A

Conventionally, transplanters that acquire position information and control the machine to automatically move in a straight line along a set target direction have been configured as described above. However, because turning operations are influenced by factors such as the operator's driving habits, the conditions may not be suitable for starting automatic straight-line operation when the work clutch is turned on after a turning operation.

This invention was made to solve the above problems, and aims to provide a farm machine that can reliably start automatic straight-line travel after starting to turn.

The field work machine according to the present invention includes a field work unit supported on a traveling unit, and a work clutch that switches the power of the field work unit between a connected state and a disconnected state. The field work machine includes a position information acquisition unit that acquires position information of the field work machine, a target traveling path setting unit that sets a target traveling path for the traveling unit, an automatic steering control unit that executes automatic steering control to steer the traveling unit along the target traveling path based on the acquired position information, a turning detection unit that detects a turning operation of the traveling unit, a predetermined distance setting unit that allows an operator to arbitrarily set a predetermined distance after the traveling unit has traveled a predetermined interlocking permitted distance after the work clutch has been switched from a disconnected state to a connected state , and a determination unit that determines whether or not interlocking between the turning operation of the traveling unit and the automatic steering control is possible, the determination unit makes a determination based on the traveling unit traveling the predetermined distance arbitrarily set by the operator using the predetermined distance setting unit, and executes the automatic steering control based on the automatic steering permission determination of the determination unit after the traveling unit starts a turning operation and the work clutch is switched from a disconnected state to a connected state.

According to this invention, after the traveling part starts turning, the working clutch is switched from a disconnected state to a connected state, and then automatic steering control is executed based on the automatic steering permission judgment of the judgment part.

As a result, after turning begins, the operator can operate the steering wheel or the like to prepare the field work machine for automatic steering control before the travelling part travels any specified distance, making it possible to provide a field work machine that can reliably start automatic straight travel.

Preferably, the determination unit makes a determination based on conditions for automatic steering of the aircraft (such as the orientation of the aircraft relative to the target driving route).

The determination unit may make a determination based on the traveling unit traveling for a predetermined time that is arbitrarily set by an operator using the predetermined time setting unit.

According to one embodiment of the present invention, a notification means may be provided to notify the driver that automatic steering control is to be executed.

By being notified that automatic steering control is being executed, the operator can understand the operation of the field work machine.

According to this invention, after the traveling part starts turning, the work clutch is switched from the disconnected state to the connected state, and then automatic steering control is executed based on the automatic steering permission judgment of the judgment part. Since the operator can operate the steering wheel or the like to prepare the conditions of the field work machine for automatic steering control by the time the traveling part travels an arbitrary predetermined distance after the work clutch is "on", it is possible to provide a field work machine that can reliably start automatic straight travel after starting to turn.

Side view of a field implement Plan view of the farm implement One side view of the planting section (right side view of the machine) Other side view of planting section (left side view of machine body) Diagram showing the dashboard Diagram showing switch box Control block diagram of the control device Diagram showing automatic rotation FIG. 13 is a diagram showing a monitor having an icon of an automatic mode for a work machine when turning;

One embodiment of the present invention will be described below with reference to the drawings.

<Overall composition>
The overall configuration of the field work machine 1 will be described with reference to Figures 1 and 2. The field work machine 1 comprises a traveling body (traveling section) 2 and a field working section (planting section) 3 attached to the rear of the traveling body 2, and is configured to perform planting work using the field working section 3 while traveling using the traveling body 2. Note that in this embodiment, an example is shown in which the field work machine 1 has six planting rows, but of course the field work machine 1 may have any number of planting rows.

The traveling machine body 2 includes an engine 4, a transmission 5 that changes the speed of the power from the engine 4, a machine body frame 6 that supports the engine 4 and the transmission 5, and front and rear wheels 7 and 8 that are driven by the power transmitted from the engine 4 and the transmission 5.

Power from the engine 4 and transmission 5 is transmitted to a front axle case 9 and a rear axle case 10, respectively. The front axle case 9 is supported at the front of the machine frame 6, with the front wheels 7 supported at both left and right ends. Similarly, the rear axle case 10 is supported at the rear of the machine frame 6, with the rear wheels 8 supported at both left and right ends. The upper part of the machine frame 6 is covered by a step 11, and the worker can move on the step 11.

The power from the engine 4 and the transmission 5 is transmitted to the field working unit 3 via a spacing setting device 9a (see FIG. 7). The spacing setting device 9a is configured to be able to continuously change the planting interval of the seedlings planted along the traveling direction of the traveling body 2. The control device 70, which will be described later, is connected to the spacing setting device 9a and is configured to be able to acquire the planting interval of the seedlings.

In addition, the traveling body 2 is provided with a GNSS receiver (position information acquisition unit) 49 as a positioning device to measure the position of the traveling body 2 within the field and calculate the actual vehicle speed.

A driver's seat 12 is located midway between the front and rear of the traveling vehicle body 2, and in front of it are a steering wheel 13, operation pedals 14, and a dashboard 15. In addition to the steering wheel 13, various operating tools and a display device are also located on the dashboard 15.

Now, we will explain the GNSS receiver 49. A spare seedling platform main body 17a and a spare seedling platform frame 17b are provided in front of the traveling body 2, and the GNSS receiver 49 is mounted on the GNSS receiver support frame 50 that extends upward from these. The GNSS receiver 49 enables the traveling body 2 to determine its position within the field and calculate the actual vehicle speed.

The field working unit 3 is connected to the traveling body 2 via a lifting link mechanism 20. The lifting link mechanism 20 includes an upper link 21, a pair of left and right lower links 22, a lifting cylinder, etc. The lifting cylinder rotates the lower link 22 and the upper link 21 to raise and lower the field working unit 3.

The field working unit 3 includes a planting arm 31, planting claws 32, a seedling carrier 33, a lateral feed mechanism for reciprocating the seedling carrier 33 in the lateral direction (machine width direction), a vertical feed mechanism for transporting the seedling mat placed on the seedling carrier 33 vertically (machine front-rear direction) toward the lower end, and a float 34. The planting claws 32 are attached to the planting arm 31. In this embodiment, the field working machine 1 has six planting rows, so it includes six planting arms 31 and twelve planting claws 32. The field working unit 3 is driven by a PTO shaft 16 extending rearward from the transmission 5.

More specifically, power is transmitted from the PTO shaft 16 via the planting center case 35 to three planting transmission cases 36 provided in the field working unit 3, and the power is distributed from each of the three planting transmission cases 36 to a pair of left and right planting arms 31 and a pair of left and right planting claws 32 for each planting transmission case 36. A work clutch 18 is provided in the planting center case 35, and the work clutch 18 is configured to connect and disconnect the transmission of power from the engine 4 to the field working unit 3.

The planting arm 31 rotates due to the power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claw 32 from the seedling carrier 33. As the planting arm 31 rotates, the planting claw 32 is inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary-type planting claw is used, but a crank-type one may also be used.

The seedling carrier 33 is made of plate-shaped members and is arranged so that it is inclined with the front higher and the rear lower when viewed from the side of the machine. On the rear surface of the seedling carrier 33, the placement surfaces on which the seedling mats M are placed are arranged in the width direction of the machine according to the number of planting arms 31 (the number of rows of the field work machine 1). The field work machine 1 of this embodiment has six planting rows, so six placement surfaces are formed. The seedling mats M are placed on the placement surfaces in an inclined state.

The float 34 is attached to the planting frame 37 (see Figures 3 and 4). Specifically, the front end of the float 34 is supported so as to be able to swing up and down relative to the planting frame 37, and the rear end of the float 34 is attached to a pivot shaft 38 (see Figure 7) provided on the planting frame 37 via the lifting link mechanism 20 so as to be able to rise and fall.

On the float 34, a field surface detection sensor 40 (see FIG. 7) that detects the field surface (paddy field surface) is provided immediately before the planting position of the planting claw 32. The sensor 40 extends from the front to the rear. The sensor 40 is supported on the planting frame 37 so that it can swing freely around an axis along the pitching direction (i.e., swing freely up and down), and hangs down by gravity around the swing fulcrum, so that the tip of the sensor 40 remains in contact with the field surface. In other words, the field work machine 1 advances with the tip of the sensor 40 always following the field surface.

Using Figure 3, we will explain the lateral feed mechanism that moves the seedling carrier 33 back and forth in the width direction of the machine body.

As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side in the width direction of the machine (the left side of the machine). An intersecting groove is formed on the outer circumferential surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider holder 43 that supports the slider 42. The slider holder 43 is formed in a roughly T-shape. The feed screw 41 is inserted through the slider holder 43, and the slider 42 is housed therein so as to be slidable along the groove of the feed screw 41.

A lower rail 44 is attached to the lower part of the front surface (the back surface of the mounting surface) of the seedling carrier 33. The lower rail 44 is arranged with its longitudinal direction aligned with the width of the machine body. A slider holder 43 is fixed to the lower rail 44 via a support arm 45.

A guide rail 46 is provided below the lower rail 44 to support the lower rail 44 so that it can slide in the width direction of the machine. The guide rail 46 is arranged with the machine width direction as its longitudinal direction. The guide rail 46 is composed of an engagement portion 46a that engages with the lower rail 44 and an extension portion 46b that extends from the engagement portion 46a along the shape of the bottom of the seedling carrier 33. The lower rail 44 engages with the engagement portion 46a of the guide rail 46, so that the lower rail 44 is configured to be able to slide in the width direction of the machine along the guide rail 46. A stopper 47 is removably attached to the guide rail 46 by a bolt to prevent the lower rail 44 from coming off the guide rail 46.

A lateral feed switch lever 48 that adjusts the lateral feed amount of the seedling carrier 33 is provided on the side of the planting center case 35 from which the feed screw 41 extends. The lateral feed switch lever 48 is provided with a lateral feed count detection sensor 48a (see Figure 7) that detects the position of the lateral feed switch lever 48 to detect the number of lateral feeds of the seedling carrier 33.

The control device 70 is connected to the lateral feed count detection sensor 48a and is configured to be able to detect the number of lateral feeds of the seedling carrier 33, and is configured to be able to detect the lateral take-up amount, which will be described later, from the number of lateral feeds. In addition, the lateral feed switching lever 48 is provided with an actuator 48b (see FIG. 7). The lateral feed switching lever 48 is configured to be operable by driving and controlling the actuator 48b. Therefore, by operating the lateral feed switching lever 48 with the actuator 48b, the lateral feed amount of the seedling carrier 33 can be adjusted, and the number of lateral feeds of the seedling carrier 33 can be changed.

By changing the number of times the seedling carrier 33 is fed sideways, the amount of lateral feed (lateral feed speed) of the seedling carrier 33 is changed, and the amount of seedlings picked up by the planting claws 32 from the seedling mat M can be changed. The amount of lateral feed here refers to the width of the seedling mat M scraped off by the planting claws 32 in the width direction of the traveling body 2 in a plan view. By adjusting the amount of lateral feed, the amount of seedlings picked up by the planting claws 32 from the seedling mat M can be changed.

Using Figure 4, we will explain the vertical feed mechanism that feeds the seedling mat M placed on the seedling carrier 33 downward.

As shown in FIG. 4, the vertical feed cam shaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side of the machine width direction (the right side of the machine). The vertical feed cam shaft 52 is connected to the feed screw 41, and when it reaches the stroke end, it abuts against the driven cam 53. The driven cam 53 is provided on the conveyor belt drive shaft 55 that drives the conveyor belt 54 under the seedling loading platform 33. When the vertical feed cam 51 and the driven cam 53 abut with the rotation of the vertical feed cam shaft 52, the driven cam 53 rotates. The conveyor belt drive shaft 55 rotates with the rotation of the driven cam 53, and the conveyor belt 54 is circulated to convey the seedling mat M placed on the conveyor belt 54 a predetermined distance.

A seedling tray rail support shaft 56 is supported at the front upper part of each planting transmission case 36 so as to be freely rotatable in the left and right direction. A plurality of support frames 57 are provided at appropriate intervals protruding upward and rearward from the seedling tray rail support shaft 56, and the guide rail 46 is supported horizontally in the left and right direction by the support frames 57. An arm 58 is attached to the front upper part of the seedling tray rail support shaft 56. A rotation angle detection sensor 59 (see Figure 7) that detects the rotation angle of the seedling tray rail support shaft 56 is provided at the other end of the arm 58. The rotation angle detection sensor 59 is attached to the planting frame 37. The seedling tray rail support shaft 56 is provided with an actuator 56a (see Figure 7). The control device 70 is connected to the rotation angle detection sensor 59 and is configured to be able to detect the vertical removal amount from the seedling mat M.

The actuator 56a is driven and controlled to rotate the seedling tray rail support shaft 56. Therefore, the support frame 57 is rotated in conjunction with the rotation of the seedling tray rail support shaft 56, so that the guide rail 46 (seedling tray 33) moves up and down (is configured to be able to rise and fall), and the distance between the planting transmission case 36 supporting the planting claws 32 and the seedling tray 33 can be changed.

Therefore, the amount of seedlings taken vertically from the seedling mat M by the planting claws 32 can be changed. Here, the vertical amount of take-up refers to the width of the seedling mat M that is scraped off in the direction of travel of the traveling body 2 in a plan view. By adjusting the vertical amount of take-up, the amount of seedlings taken from the seedling mat M by the planting claws 32 can be changed.

The seedling tray rail support shaft 56 is also connected to the driven cam 53 via an interlocking wire 60. As the seedling tray rail support shaft 56 rotates, the tension of the interlocking wire 60 rotates the driven cam 53 by a predetermined angle, thereby adjusting the feed rate of the conveyor belt 54 according to the vertical amount of seedlings taken from the seedling mat M.

In the above configuration, power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, causing the slider 42 to slide against the groove of the feed screw 41, and the slider receiver 43 to slide in the width direction of the machine body. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling carrier 33 slides in the width direction of the machine body. When the seedling carrier 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53, causing the conveyor belt drive shaft 55 to rotate, circulating the conveyor belt 54.

The slider 42 reciprocates along the groove of the feed screw 41, so that the seedling carrier 33 reciprocates along the guide rail 46. The lateral feed mechanism causes the seedling carrier 33 to reciprocate along the guide rail 46, so that the planting claws 32 can scrape off the seedlings from one side (left side) of the seedling mat M placed on the seedling carrier 33 in the width direction of the machine body to the other side (right side) of the machine body in the width direction of the machine body, or from the other side (right side) of the machine body in the width direction of the machine body to one side (left side) of the machine body in the width direction of the machine body, and transplant them. When the planting claws 32 scrape off the seedlings on one side (right side) of the seedling mat M in the width direction of the machine body or the other side (left side) of the machine body in the width direction of the machine body, the vertical feed mechanism operates the conveyor belt 54 to transport the seedling mat M toward the lower end (rear end) of the placement surface. As described above, the seedling mat M is reciprocated in the width direction of the machine body and transported downward as appropriate, making it possible to scrape seedlings off the seedling mat M placed on the seedling carrier 33.

Next, the dashboard 15 will be described with reference to FIG. 5. The steering handle 13 is located in the center of the dashboard 15, with a main speed change lever 61 provided to the left of the steering handle 13 and a planting lift lever 62 provided to the right of the steering handle 13. Below the steering handle 13 are a row stop switch 63 for stopping the drive of the planting claws 32 for each specified row, a speed setting volume 64 for setting the maximum speed, a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34, a select dial 66 for setting various items such as planting depth and the amount of seedlings taken from the seedling mat M (vertical amount taken and horizontal amount taken (number of horizontal feeds)), and the like. In front of the steering handle 13 is a monitor 67 for displaying the settings of the select dial 66, the speed of the traveling machine body 2, and the like.

The select dial 66 is a dial that can set various work conditions related to the work content such as planting depth, seedling harvesting amount (vertical harvesting amount, lateral harvesting amount (number of lateral feeds)), work speed, etc., and the notification standard value for seedling succession alarm. The worker rotates the select dial 66 left and right to select the item he wants to set from various items, and presses the select dial 66 to confirm. For example, if he wants to set the vertical harvesting amount as the seedling harvesting amount, he rotates the select dial 66 left and right to select the vertical harvesting amount item, presses the select dial 66 to confirm the item, rotates the select dial 66 left and right to select the vertical harvesting amount adjustment amount, and presses the select dial 66 to set the vertical harvesting amount to the adjustment amount. The select dial 66 is connected to the control device 70 (see Figure 7).

That is, based on the input of the field area and the number of seedling mats to be used, the field work machine 1 automatically controls the vertical and horizontal feed amounts to plant the seedlings in the field. Specifically, the field work machine 1 includes a planting unit (field work unit 3) that scrapes the seedlings off the seedling mats M on the seedling carrier 33 and transplants them into the field, a vertical amount setting unit that sets the vertical amount of seedlings, a horizontal amount setting unit (select dial 66) that sets the horizontal amount of seedlings, and a display device (monitor 67) that displays the vertical amount and horizontal amount of seedlings set in the vertical amount setting unit and the horizontal amount setting unit.

Next, the switch box will be described. FIG. 6 is a diagram showing the switch box. The field work machine 1 is equipped with a switch box (operation member) 80 for performing operations related to automatic steering, and a support arm 24 that supports the switch box 80. The switch box 80 is fixed to the spare seedling carrier frame 17b of the spare seedling carrier body 17a via the support arm 24. This allows the switch box 80 to be firmly supported. The switch box 80 is disposed on the outer side in the machine width direction than the dashboard 15 as an operation panel. The switch box 80 is disposed on the right side of the driver's seat 12, but may be disposed on the left side. However, by disposing the switch box 80 on the same side as the operation pedal 14 (generally on the right side), it becomes easier to press the AUTO button 81 of the switch box 80 described later at the same timing as accelerating when starting straight-line work, improving operability.

The switch box 80 also functions as a target driving path setting unit that sets the target driving path of the driving unit 2.

The support arm 24 has a stay-shaped upper arm 25a fixed to the spare seedling platform frame 17b, a forearm 25c that rotates horizontally relative to the upper arm 25a at a hinge 25b, and a holder 25e that rotates horizontally relative to the forearm 25c at a hinge 25d. The switch box 80 is attached to the holder 25e.

In this embodiment, as shown in FIG. 6, the switch box 80 has an AUTO button 81, which is an indicator for instructing the start of automatic steering, and an indicator lamp 82, which is an indicator constituting a notification section (notification means) 68 described later. Furthermore, the switch box 80 has an A button 83, which is an indicator for performing a registration operation of the position information of point A, and a B button 84, which is an indicator for performing a registration operation of the position information of point B, in order to set a reference line when the field work machine 1 moves based on two points A and B. The AUTO button 81 is located in the center of the operation surface 80f of the switch box 80, and the indicator lamp 82 is located in the upper left. The A button 83 and the B button 84 are arranged side by side below the AUTO button 81.

The AUTO button 81 is operated to start and stop automatic steering. The AUTO button 81 is operated more frequently than the A button 83 and the B button 84, and is therefore larger than the A button 83 and the B button 84 when viewed from the front to make it easier to press. The AUTO button 81 also protrudes more than the A button 83 and the B button 84. The A button 83 and the B button 84 are buttons of the same shape and are arranged symmetrically. A ring-shaped light-emitting unit 85 is provided around the AUTO button 81. The light-emitting unit 85 has the function of informing the operator of various states related to automatic steering by its light color and lighting pattern.

The switch box 80 basically has the function of creating a target direction for automatic straight-line movement. Therefore, the above-mentioned A button and B button 83, 84 are used to perform operations such as obtaining the start point position and end point position, and starting/ending automatic straight-line movement of the field work machine along the created target direction. These operations are performed manually by the operator.

Figure 7 shows the control block of the control device 70, which controls the entire field work machine 1 according to this embodiment.

Next, the operation of the field work machine 1 in this embodiment will be described. In this embodiment, when the straight-line assist mode and the automatic work machine mode during turning are linked, the automatic work machine mode during turning has an automatic steering on mode in which the automatic steering is turned on even if the AUTO button 81 of the operating member 80 is not pressed when the work clutch is turned on after turning and automatic steering preparation is complete. Therefore, first, the straight-line assist mode and the automatic work machine mode during turning, which are the premise of this embodiment, will be described.

The straight-line assist mode is a mode that assists the straight-line movement of the field work machine 1. Specifically, point A, which is the start point of the movement of the field work machine 1, and point B, which is the end point of the movement of the field work machine 1, are set using the A button 83 and B button 84 of the operating member 80 described above, and a movement reference line is registered. After that, when the AUTO button 81 is pressed, the field work machine 1 starts steering parallel to the registered movement reference line.

The automatic work machine mode during turning is a mode in which the field work machine 1 automates a series of operations when turning at the edge of the field. In the automatic work machine mode during turning, when the operator turns the handle, planting stops (work clutch "off"), the planting section 3 rises, and the marker is stored. Next, when the operator returns the handle, the planting section 3 descends, the marker appears, and planting work begins (work clutch "on").

Next, we will explain the automatic steering (automatic turning processing) mode when the straight-line assist mode and the automatic work equipment mode during turning are linked.

Here, after the automatic work machine mode during turning ends, the field work machine 1 turns on the "interlocking permitted distance" flag for 0 to 10 m from the time the work clutch is "on." During that time, if automatic steering preparation is complete and the operation pedal 14 is depressed to a certain extent or more, an interlocking timing switching announcement is issued for 1.0 s after traveling 0 to 6 m, and automatic steering is turned on.

Figure 8 is a diagram explaining the contents of the automatic turning processing mode. Referring to the upward arrow on the left side of Figure 8, the field work machine 1 moves straight along the reference line in the field with automatic steering "ON". When approaching the edge of the field (the planting end/start position), the operator presses down the AUTO button 81 (position (A) in the figure). In response, the field work machine 1 turns 180 degrees (from position A to position B in the figure).

In this invention, since turning is assumed to be manual, the operator operates the steering wheel from position A to start turning. In the embodiment, the AUTO button is not pressed because automatic steering is automatically terminated when steering wheel operation from position A is detected.

When turning travel begins, the work clutch 18 is switched "off" to stop the planting unit 3 from working, and then the work clutch 18 is switched "on" to allow the planting unit 3 to work.

The rotation of the farm work machine 1 is detected by the rotation detection unit 29 (see Figure 7).

The field work machine 1 then first moves the interlocking permission distance (approximately 0 to 10 m), and during this time (between (C) in the figure), the determination unit 71 (see FIG. 7), which determines whether or not interlocking between the turning operation of the traveling unit 2 and the automatic steering control is possible, determines whether or not automatic steering of the traveling unit 2 is permitted. It then moves the interlocking timing distance (approximately 0 to 6 m) (between (D) in the figure) and makes an interlocking announcement (1.0 second) ((E) in the figure).

Here, preparation for automatic steering is completed between position (B) and position (C) in the figure (the period indicated by F in the figure, the automatic steering preparation completion period).

In other words, after the traveling unit 2 starts turning, the working clutch 18 is switched from the disconnected state to the connected state, and then the automatic steering control unit 28 (see FIG. 7) executes automatic steering control based on the automatic steering permission determination of the determination unit 71.

Here, the conditions for automatic steering are judged by the judgment unit 71 while traveling the interlocking permitted distance of 0 to 10 m. Note that what the judgment unit 71 judges here is whether the field work machine 1 is in a state in which automatic steering can be started after turning (for example, whether the field work machine 1 is in a predetermined direction (such as the orientation of the machine body, such as whether it is along the target travel route)).

The work clutch 18 is turned "on" at the initial position shown in (C) in Figure 8, and when the depression of the operating pedal 14 continues for a certain amount or more, the interlocking timing is entered as shown in (D) in the figure.

This interlocking timing is set by a predetermined distance (0 to 6 m) that can be set by the operator using the predetermined distance setting unit 30 (see Figure 7). This interlocking timing is provided so that the operator can judge whether the field work machine 1 is facing in a predetermined direction, but is approaching adjacent seedlings that were planted previously and is in danger of stepping on them, or is too far away, etc.

The predetermined distance traveled, arbitrarily set by the predetermined distance setting unit 30, is a distance at which the operator can switch to automatic steering or stop the vehicle's travel altogether, and various vehicle conditions are detected to determine whether the operator intends to switch to automatic steering. For example, it is possible to appropriately adopt conditions such as the work clutch 18 being "on" and the vehicle speed continuing to exceed a predetermined value while traveling the predetermined distance.

The condition for depressing the operation pedal 14 to a certain degree or more may be that the amount of depression of the operation pedal is continuously greater than or equal to a certain value, for example, 15% or more.

Furthermore, the determination unit 71 may make a determination based on the traveling unit traveling a predetermined time that is arbitrarily set by the operator using the predetermined time setting unit 72 (see FIG. 7) instead of a predetermined distance.

A notification means (notification unit) 68 may be provided to notify that automatic steering control is being performed by the automatic steering control unit 28.

The machine may have an automatic "on" function for the work clutch 18 when turning, which turns on automatic straight-line driving in conjunction with the automatic work machine mode when turning. This simplifies the operation by the operator that is normally required to start automatic straight-line driving, reducing the burden on the operator.

This interlocking function (auto-turn function) can be switched between interlocking and non-interlocking, and when in the "interlocking" state, an icon may be lit on the monitor 67 to notify the operator.

The function commonly known as auto-turn, which is the interlocking function between turning the work clutch "on" and the automatic straight-ahead "on" after a turning operation, may be made selectable between "interlocked" and "not interlocked" with a switch (not shown). When in the "interlocked" state, an interlocking icon 67a indicating that the function is "interlocked" may be lit on the monitor 67, as shown in FIG. 9.

In the above embodiment, specific values are given for the timing of turning on the automatic steering after the automatic work machine mode ends, but these values are merely examples and are not limited to these.

In the above embodiment, only the case where the farm work machine moves forward has been described, but this is not limited to the above. Only when an automatic turn accompanied by reverse movement (backing up with a stop) is performed during automatic steering, automatic straight travel may be started at the same time as the PTO is switched from off to on after the turn.

Furthermore, in the past, there were only a limited number of ways for the operator to interrupt the automatic steering state at his/her own will. However, this is not limited to this, and the automatic steering start state may be cancelled by turning the work clutch 18 on and off, or by raising or lowering the work equipment.

Similarly, it may be possible to adjust the timing at which automatic steering begins. By making it possible to adjust the timing at which automatic steering begins, even if the operator makes an incorrect operation, the operator can still interrupt automatic steering with ample time to spare.

In addition, even if the interlocking function is turned on by mistake, the automatic steering standby state may be cancelled by driving a certain distance.

Furthermore, in the function that automatically goes into a straight-line standby state in conjunction with the PTO being turned off and then on, the automatic turning function (automatic mode for work equipment when turning) or the linked function switch may be turned off, and the standby state may be cancelled after driving a certain distance (time).

Furthermore, the interlocking and automatic rotation functions can be turned on and off to release the state, allowing safe operation.

Furthermore, in the case of a linkage function that starts automatic steering in conjunction with PTO off → on (automatic work machine mode when turning), the linkage-based automatic steering may be interrupted if the vehicle has traveled a certain distance (time) without a start command even if the conditions for entering automatic straight-line driving (approach angle, error conditions, etc.) are met.

Furthermore, in addition to the conditions for interrupting automatic steering (such as turning on fixed speed), an interruption operation that the operator can perform may be added. Automatic steering may be interrupted by turning on and off the work clutch, raising and lowering the work implement, or turning on and off the interlocking and automatic turning functions before automatic steering using the interlocking function is started.

1 Field work machine 2 Traveling machine body (traveling part)
3. Field Work Section (Planting Section)
14 Operation pedal 18 Work clutch 24 Support arm 28 Automatic steering control unit 29 Turn detection unit 30 Predetermined distance setting unit 49 GNSS receiver 67 Monitor 68 Notification unit 71 Determination unit 72 Predetermined time setting unit 80 Operation member (switch box)
81 AUTO button

Claims (4)

A field working unit supported on the traveling unit;
A work clutch that switches the power of the field working unit between a connected state and a disconnected state,
The field work machine includes a position information acquisition unit that acquires position information of the field work machine;
A target travel route setting unit that sets a target travel route of the travel unit;
an automatic steering control unit that executes automatic steering control to steer the traveling unit along a target traveling route based on the position information acquired by the position information acquisition unit;
A turning detection unit that detects turning of the traveling unit;
a predetermined distance setting unit that enables an operator to arbitrarily set a predetermined distance after the traveling unit has traveled a predetermined interlocking permitted distance since the work clutch is switched from the disengaged state to the engaged state ;
a determination unit that determines whether or not the turning operation of the traveling unit and the automatic steering control are linked,
the determination unit makes the determination based on the traveling unit traveling the predetermined distance arbitrarily set by an operator using the predetermined distance setting unit,
After the traveling unit starts a turning operation, the work clutch is switched from a disengaged state to a connected state, and then automatic steering control is performed by the automatic steering control unit based on an automatic steering permission determination by the determination unit. The field work machine according to claim 1, wherein the determination unit makes a determination based on conditions for automatic steering of the machine body. 3. The field work machine according to claim 1, wherein the determination unit makes the determination based on the traveling unit traveling a predetermined time that is arbitrarily set by an operator using a predetermined time setting unit, instead of the predetermined distance. 4. The farm work machine according to claim 1, further comprising a notification means for notifying that the automatic steering control will be executed.

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