JP7712905B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle.

Conventionally, there is known a work vehicle that acquires position information of the work start position and work end position of a work device and creates a reference line from the acquired position information (for example, see Patent Document 1). Such a work vehicle has an automatic straight-line driving device that automatically drives straight along the created reference line.

JP 2016-21890 A

In the above-mentioned work vehicle, when creating a reference line, the distance traveled by the work device is set as the automatic driving distance. Then, when the work vehicle is automatically traveling straight, the worker is notified of the timing to perform a turning operation based on the automatic driving distance.

However, if the reference line is too short in the process of creating the reference line, there is a problem in that it is not possible to set automatic straight-line driving accurately. In addition, it is not possible to know whether the situation is suitable for automatic straight-line driving, or to know accurately the timing for the operator to perform a turning operation while automatic straight-line driving is being performed.

The present invention has been made in consideration of the above, and aims to provide a work vehicle that improves workability and safety during autonomous driving.

In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment includes a position information acquisition unit (120) that acquires position information of a traveling body (2), a steering angle adjustment unit (110) that adjusts the steering angle so that the traveling body (2) automatically travels straight, a control unit (150) that acquires driving reference data that is a reference for automatic straight traveling based on the position information and controls the steering angle adjustment unit (110) based on the driving reference data, a posture detection unit (170) that detects the posture of the traveling body, and a steering angle detection unit (130) that detects the steering angle, and is provided with an operating tool that acquires the driving reference data, and a first reference point and a second reference point are detected within a field by operating the operating tool. a notification unit that registers driving reference data by acquiring the first reference point, prohibits acquisition of a second reference point if the traveling vehicle body is not a predetermined distance away from the position where the first reference point was acquired, and notifies that the second reference point can be acquired if the traveling vehicle body is a predetermined distance away from the position where the first reference point was acquired, and when performing automatic straight-line driving, if the attitude of the traveling vehicle body detected by the attitude detection unit (170) is oblique to the direction of travel or if the steering angle detected by the steering angle detection unit (130) is not a value indicating a straight-line driving state, the notification unit notifies that the conditions for performing automatic straight-line driving are not met .

The work vehicle according to one aspect of the embodiment can improve the straight-line driving performance during automatic straight-line driving. In addition, the workability during automatic straight-line driving can be improved.

FIG. 1 is an explanatory diagram showing an overview of a straight-line support of a seedling transplanter according to an embodiment of the present invention. FIG. 2 is a side view of the seedling transplanter according to the embodiment. FIG. 3 is a schematic diagram of the steering post as viewed from the front. FIG. 4 is a schematic diagram of a monitor. FIG. 5 is a perspective view of the antenna frame as seen obliquely from the front. FIG. 6 is a functional block diagram focusing on the controller of the seedling transplanter. FIG. 7 is a flowchart illustrating the reference driving line registration control according to the embodiment. FIG. 8 is a flowchart illustrating the update control of the reference mileage according to the embodiment.

Below, a work vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings as a riding seedling transplanter 1. Note that the components in the following embodiment include those that are easily replaceable by a person skilled in the art, or those that are substantially the same, or so-called equivalents. Furthermore, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. In addition, hereinafter, the entire seedling transplanter 1 may be referred to as the machine body.

Figure 1 is an explanatory diagram showing an overview of the straight-line support of the seedling transplanter 1 according to the embodiment. The seedling transplanter 1 according to this embodiment has a traveling body 2 with a seedling planting unit 50 connected to the rear and a pair of front wheels 4 and rear wheels 5 on the left and right.

In this embodiment, the straight-line support refers to a function that supports the automatic straight-line driving of the seedling transplanter 1 in the field F by controlling the operation of the steering wheels based on the steering angle (turning angle) of the steering wheels of the seedling transplanter 1 and the position information of the seedling transplanter 1. Here, the steering angle is the turning angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 (see FIG. 2) may be detected as the steering angle. In addition, the position information of the seedling transplanter 1 is acquired by the GNSS unit 120 (position information acquisition unit) (see FIG. 6) provided on the traveling vehicle body 2. In the following description, the forward/backward and left/right directional references of the seedling transplanter 1 are based on the traveling direction of the traveling vehicle body 2 as seen from the driver's seat 28 (see FIG. 2) where the operator can sit.

As shown in the figure, the seedling transplanter 1 plants seedlings at a specified working width D while traveling back and forth within a specified work area G in the field F. At this time, if straight-line support is performed, the operator's manual operation using the handle 32 only requires a turning operation near the headland, and for straight-line travel, the seedling transplanter 1 automatically travels along the automatic straight-line line L1. In FIG. 1, the symbol L3 indicates the turning line by manual operation of the seedling transplanter 1 at the headland. Also, the symbol E indicates the entrance and exit of the seedling transplanter 1 into the field F.

The automatic straight line L1 of the seedling transplanter 1 using straight support is parallel to a reference driving line (driving reference data) L2 that serves as a reference for performing straight support, and this reference driving line L2 is set in advance in the field F according to the seedling planting direction. That is, the start position and end position of the straight support are acquired as the reference start point (hereinafter referred to as "point A") and the reference end point (hereinafter referred to as "point B"), respectively, by the driving reference registration unit 152 (see Figure 6) equipped in the seedling transplanter 1, and the line segment connecting the acquired points A and B is registered as the reference driving line L2.

The specific configuration of the seedling transplanter 1 will be described below with reference to Figure 2. Figure 2 is a side view of the seedling transplanter 1 according to the embodiment.

The seedling planting unit 50 is attached to the running body 2 of the seedling transplanter 1 so that it can be raised and lowered via a seedling planting unit lifting mechanism 40, which is a lifting device. The running body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are both driven, and the front wheels 4, which become the steered wheels, are steered by turning the steering wheel 32, making it possible to travel on fields F and roads between fields F.

The traveling body 2 also includes a main frame 7 located approximately in the center of the body, an engine 10 as a prime mover mounted on the main frame 7, and a power transmission device 15 that transmits the power of the engine 10 to the front and rear wheels 4, 5 and the seedling planting section 50. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used for the engine 10 as the power source, and the generated power is used not only to move the traveling body 2 forward and backward, but also to drive the seedling planting section 50.

The power transmission device 15 also has a hydraulic continuously variable transmission (hereinafter referred to as "HST") 16 that changes the speed of the driving force transmitted from the engine 10 and outputs it, and a power transmission section 17 that transmits the power from the engine 10 to the HST 16.

The power transmission device 15 also has a transmission case 18. That is, the driving force from the engine 10 is transmitted to the HST 16 via the power transmission section 17, and the power that has been changed in speed by the HST 16 is transmitted to the transmission case 18. The transmission case 18 is fitted with an auxiliary transmission mechanism (not shown) that switches between a high-speed mode and a low-speed mode, which will be described later, and is attached to the front of the main frame 7.

A portion of the power transmitted from the transmission case 18 to the front wheels 4 and rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the remainder can be transmitted to the rear wheels 5 via the left and right rear wheel 5 gear cases 22. The left and right front wheel final cases 13 are disposed on the left and right sides of the transmission case 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via axles 131, and these front wheel final cases 13 are driven in response to the steering operation of the handlebars 32, allowing the front wheels 4 to be steered.

Similarly, the rear wheels 5 are connected to the left and right rear wheel 5 gear cases 22 via axles 220. Meanwhile, power is transmitted from the transmission case 18 to the seedling planting section 50 via a planting clutch 500 provided at the rear of the traveling body 2 from a working machine drive shaft (not shown). The planting clutch 500 is operated by a planting clutch motor 510 (see FIG. 6) connected to a controller 150 (see FIG. 6), which will be described in detail later.

The engine 10 is positioned approximately in the center of the traveling body 2 in the left-right direction and protrudes above the floor step 26 on which the operator places his/her feet when getting on. The floor step 26 is provided between the front of the traveling body 2 and the rear of the engine 10 and is attached to the main frame 7, and a portion of it is latticed so that mud on shoes can be dropped into the field F. In addition, a rear step 27 that also serves as a fender for the rear wheel 5 is provided behind the floor step 26. The rear step 27 has an inclined surface that slopes upward as it extends to the rear, and is positioned on each of the left and right sides of the engine 10.

The engine 10 also protrudes upward from the floor step 26 and rear step 27, and an engine cover 11 that covers the engine 10 is provided on the portion that protrudes from these steps 26, 27.

A pilot's seat 28 on which an operator sits is installed above the engine cover 11, and a control unit 30 is provided in front of the pilot's seat 28 and in the center of the front side of the traveling vehicle body 2. The control unit 30 is disposed in a state in which it protrudes upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right parts.

The steering section 30 is provided with a steering post 315, and a handle 32 that can be steered by an operator is provided on the top of the steering post 315. As shown in FIG. 3, the steering post 315 is provided with a finger-up lever 34. FIG. 3 is a schematic diagram of the steering post 315 as viewed from the front. The finger-up lever 34 is operated by the operator, for example, when obtaining points A and B. The finger-up lever 34 can be rotated in the vertical direction.

As shown in FIG. 4, a monitor 33 is provided on the steering post 315. FIG. 4 is a schematic diagram of the monitor 33. The monitor 33 is provided with, for example, a straight support lamp 331 that is turned on when the machine performs automatic straight-line driving using straight-line support, an A point lamp 332, a B point lamp 333, and a GPS lamp 334. Note that the monitor 33 is provided with indicator lights other than lamps. The seedling transplanter 1 may also have multiple monitors.

On the monitor 33, when point A is acquired by operating the finger-up lever 34, the point A lamp 332 is lit. Also, when point B is acquired by operating the finger-up lever 34, the point B lamp 333 is lit. On the monitor 33, when the vehicle is in a state capable of automatic straight-ahead driving, both the point A lamp 332 and the point B lamp 333 are lit.

The GPS lamp 334 has three indicator lamps, and the number of indicator lamps that are lit changes according to the GPS reception status. The monitor 33 informs the operator of the GPS reception status by this display mode.

In addition, a buzzer 215, which is an example of an alarm device 200, is provided at a predetermined position on the control unit 30 (see Figure 6).

Returning to FIG. 2, the steering unit 30 is provided with a main shift lever 81 and an auxiliary shift lever 82 near the steering post 315. The main shift lever 81 is provided on the right side of the steering unit 30, and the auxiliary shift lever 82 is provided below the handlebars 32.

The main speed change lever 81 is a lever that switches between forward and reverse travel and driving power of the traveling body 2, and by operating it, the operator can adjust the rotation angle of the trunnion (not shown) of the HST 16 to adjust the speed of the traveling body 2.

The sub-speed change lever 82 is a lever that switches the driving mode, which determines the driving speed of the traveling vehicle body 2, between low-speed mode and high-speed mode depending on the place where the vehicle is traveling. The mode switching is performed by the sub-speed change mechanism provided in the transmission case 18 depending on the position of the sub-speed change lever 82.

An openable front cover 31 is provided at the front of the control unit 30. A center mascot 350 is attached to the center of the front end of the front cover 31 as an indicator member that serves as a driving indicator. Although not shown in FIG. 2 for convenience, spare seedling carriers (not shown) are provided on the left and right front sides of the traveling body 2.

The center mascot 350 is attached to the front center of the traveling body 2 and functions as a guide for the direction of travel when the operator sitting in the driver's seat 28 operates the seedling transplanter 1. The center mascot 350 in this embodiment also functions as an alarm device 200 that notifies the operator of the support status, including whether or not the straight-line support described above can be performed.

The seedling transplanter 1 according to this embodiment may use the center mascot 350, which serves as the notification device 200, to notify not only the status of the straight-line support, but also information regarding the remaining amount of work materials such as seedlings and fertilizers provided in the seedling planting section 50.

The center mascot 350 is always in the field of vision of the worker facing forward, allowing the worker to constantly be aware of the status of the seedling transplanter 1 without having to take his or her eyes off the front, greatly contributing to improved safety.

In the seedling transplanter 1 according to this embodiment, a GNSS unit 120 with a built-in receiving antenna 121 (see FIG. 6) is disposed on the traveling vehicle body 2. This GNSS unit 120 can obtain position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined intervals in time using the receiving antenna 121.

The GNSS unit 120 is attached to the top of an antenna frame 124, the base end of which is connected to the front end of the vehicle body 2, so that it is located directly above the axle 131 of the front wheel 4. The antenna frame 124 is foldable, and the height of the antenna frame 124 in the normal state is set to a height that does not interfere with the head of a typical male when standing on the floor step 26.

In addition to the receiving antenna 121, the GNSS unit 120 according to this embodiment also includes an inertial navigation system that uses a gyro sensor and an acceleration sensor, and a control board that controls these (not shown).

As shown in FIG. 5, the antenna frame 124 is rotatably attached to the bumper 2a provided on the front side of the traveling vehicle body 2 (see FIG. 2). FIG. 5 is a perspective view of the antenna frame 124 as viewed diagonally from the front. The antenna frame 124 comprises two vertical frames 124a arranged in the left-right direction, a support frame 124b connected to the vertical frames 124a and formed in a U-shape in a plan view, and a reinforcing frame 124c connected to the vertical frames 124a and the support frame 124b.

The vertical frame 124a has a pivoting part 124d at its lower end that pivotally attaches the antenna frame 124 to the bumper 2a. The pivoting part 124d is attached to the bumper 2a by a pivoting connector (not shown).

The vertical frame 124a is bent so that the upper side is tilted backward in side view. The upper end side of the vertical frame 124a is formed with a mounting portion 124e to which the GNSS unit 120 (see FIG. 2) is attached.

The rear end of the support frame 124b is formed with a claw portion (not shown) that can be inserted into a first hole (not shown) formed in the front cover 31 and a second hole (not shown) formed rearward of the first hole. In the normal state, the antenna frame 124 is fixed by inserting the claw portion into the first hole. In addition, when stored, the antenna frame 124 is fixed to the running vehicle body 2 (bumper 2a and front cover 31) in a state where it is rotated backward (folded) from the normal state by inserting the claw portion into the second hole. In other words, when stored, the antenna frame 124 is fixed to the running vehicle body 2 with the height of the GNSS unit 120 lowered.

The reinforcing frame 124c is formed in a curved shape so that it does not come into contact with the handle 32 (see Figure 2) or the main shift lever 81 when the antenna frame 124 is rotated.

Returning to FIG. 2, the seedling planting section 50 and other components will be described. The seedling planting section 50 is attached to the rear of the traveling body 2 via the seedling planting section lifting mechanism 40 so that it can be raised and lowered. The seedling planting section lifting mechanism 40 is equipped with a lifting link device 41, which is equipped with a parallel link mechanism that connects the rear of the traveling body 2 to the seedling planting section 50. The parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably connected to a link base frame 43 that is a rear-view gate type erected at the rear end of the main frame 7. The other ends of the links 41a and 41b are rotatably connected to the seedling planting section 50. In this way, the seedling planting section 50 is connected to the traveling body 2 so that it can be raised and lowered.

The seedling planting section lifting mechanism 40 also has a hydraulic lifting cylinder 44 that expands and contracts hydraulically, and the seedling planting section 50 can be raised and lowered by the expansion and contraction action of the hydraulic lifting cylinder 44. The hydraulic lifting cylinder 44 is driven by the HST 16 described above, and the seedling planting section 50 can be raised to a non-working position or lowered to a ground work position (planting position) by the lifting action of the seedling planting section lifting mechanism 40.

The seedling planting section 50 can also plant seedlings in multiple sections or multiple rows. For example, the seedling planting section 50 can plant seedlings in six sections, which is known as a six-row planting section.

The seedling planting section 50 also includes a seedling planting device 60, a seedling placement platform 51, and floats 47 (48, 49). Of these, the seedling placement platform 51 is provided at the rear of the traveling body 2 as a seedling placement member for loading multiple rows of seedlings, and has seedling placement surfaces 52 partitioned in the left and right direction of the traveling body 2, the number of which corresponds to the number of rows of seedlings to be planted, and it is possible to place mat-like seedlings with soil on each seedling placement surface 52.

The seedling planting device 60 is disposed under the seedling placement table 51 on which the seedlings are placed, and is a device that picks up the seedlings from the seedling placement table 51 and plants them in the field F, and is supported by a planting support frame 55 disposed on the front side of the seedling placement table 51. The seedling planting device 60 has a planting transmission case 64 and a planting body 61, and the planting body 61 is configured so that it can pick up the seedlings from the seedling placement table 51 and plant them in the field F, and the planting transmission case 64 can supply driving force to the planting body 61.

The planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting section 50 to the planting body 61, and the planting body 61 is rotatably connected to the planting transmission case 64. The planting body 61 also has a planting rod 62 that picks up the seedlings from the seedling placement table 51 and plants them in the field F, and a rotary case 63 that rotatably supports the planting rod 62 and is rotatably connected to the planting transmission case 64.

The rotary case 63 is fitted with a variable speed transmission mechanism (not shown) that can vary the rotational speed when rotating the planting rod 62 using the driving force transmitted from the planting transmission case 64. As a result, when the planting body 61 rotates, the planting rod 62 can rotate with its rotational speed changing depending on the rotation angle relative to the rotary case 63.

The seedling planting devices 60 configured in this manner are arranged one for every two rows. In other words, each of the multiple seedling planting devices 60 is assigned a planting row. Also, each planting transmission case 64 is equipped with two planting bodies 61 that can rotate. In other words, two rotary cases 63 are connected to one planting transmission case 64 on both sides of the left and right direction of the machine body.

The float 47 glides over the field to level the ground as the traveling body 2 moves, and has a center float 48 located in the center of the seedling planting section 50 in the left-right direction of the traveling body 2, and side floats 49 located on both sides of the seedling planting section 50 in the left-right direction.

In this embodiment, the center float 48 is provided with a float potentiometer 154 (see FIG. 6) that functions as a hydraulic sensitivity mechanism that raises and lowers the seedling planting section 50 according to the conditions of the field F. The float potentiometer 154 can change the sensitivity range for detecting the up and down movement of the center float 48.

For example, if the sensitivity is increased, even small up and down movements of the center float 48 will be detected and a detection signal will be sent to the controller 150. On the other hand, if the sensitivity is decreased, small up and down movements of the center float 48 will not be detected, and only up and down movements of a certain amplitude or more will be detected and a detection signal will be sent to the controller 150.

In addition, a rotor 67 for leveling the field F is provided on the front side at a position below the seedling planting section 50. This rotor 67 is configured to be rotatable by the output from the engine 10 transmitted via the rear wheel 5 gear case 22, and is configured to be raised and lowered by the rotor motor 165 (see Figure 6), which is an electric motor.

In addition, in the seedling transplanter 1 according to this embodiment, the controller 150 performs straight-line support on the condition that the ground-leveling rotor 67 is in contact with the ground. In other words, the controller 150 performs straight-line support only when the ground-leveling rotor 67 is in the ON state and seedling planting work is being performed.

In addition, in the seedling transplanter 1, the controller 150 can acquire points A and B on the condition that the ground leveling rotor 67 is in contact with the ground. In other words, the controller 150 can acquire points A and B only when the ground leveling rotor 67 is in the ON state and seedling planting work is being performed.

In addition, on both the left and right sides of the seedling planting section 50, there are line drawing markers 68 that form lines that serve as a guide for the direction of travel for the next planting row. When the seedling transplanter 1 moves forward in a straight line within the field F, the line drawing markers 68 draw lines on the field F as a guide for moving forward in a straight line after turning at the edge of the field F.

Furthermore, a fertilizer applicator 70 is mounted behind the driver's seat 28 on the traveling vehicle body 2. The fertilizer applicator 70 includes left and right storage hoppers 71 for storing fertilizer, a feed device 72 for feeding a set amount of fertilizer supplied from the storage hopper 71, a fertilizer hose 74 that is a fertilizer passage for supplying the fertilizer fed by the feed device 72 to the field F, and a blower 73 for supplying transport air to the fertilizer hose 74.

The blower 73 transfers the fertilizer in the fertilizer hose 74 to the seedling planting section 50. The fertilizer application device 70 also has a fertilizer guide 75 to which the fertilizer is transferred by the fertilizer hose 74, and a furrow former 76 that drops the fertilizer transferred by the fertilizer hose 74 into a fertilizer furrow formed near the side of the seedling planting row.

Figure 6 is a functional block diagram focusing on the controller 150 of the seedling transplanter 1. The seedling transplanter 1 according to this embodiment is capable of controlling each part by electronic control, and the seedling transplanter 1 is equipped with a controller 150 as a control part that controls each part. This controller 150 is provided with a processing part having a CPU (Central Processing Unit) and the like, a memory part such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input/output part, which are connected to each other and can exchange signals with each other. The memory part stores a computer program that controls the seedling transplanter 1.

As shown in the figure, various actuators and sensors that acquire information from each part are connected to the controller 150.

Actuators connected to the controller 150 include, for example, a throttle motor 100 that adjusts the amount of intake air for the engine 10, a rotor motor 165 that raises and lowers the rotor 67 for leveling the ground, and a planting clutch motor 510 that operates the planting clutch 500. Although not shown in the figure, a trunnion drive motor that changes the rotation angle of the trunnion of the HST 16 is also connected to the controller 150.

In addition, the controller 150 is connected to various other sensors, including a steering angle sensor 130, a direction sensor 160, a posture sensor 170, a tilt sensor 180, a seating sensor 190, and a rotation speed sensor (detection unit) 195, as well as a lever sensor (not shown) that detects the amount of operation of the main shift lever 81 and the sub-shift lever 82 by the tilt angle, and a vehicle speed sensor (not shown) that detects the vehicle speed of the traveling vehicle body 2.

The steering angle sensor 130 is a sensor that detects the steering angle when the front wheels 4, which are steered wheels, are steered by operating the steering wheel 32. The steering angle sensor 130 may detect the steering angle based on the rotation angle of the steering wheel 32.

The orientation sensor 160 is a sensor that detects the orientation of the aircraft. The controller 150 can derive the actual direction of travel of the aircraft based on the value obtained from the orientation sensor 160.

The attitude sensor 170 detects the degree to which the attitude of the traveling vehicle body 2 is at an angle with respect to the automatic straight line L1, and is composed of a gyro sensor or the like.

The tilt sensor 180 detects the tilt of the traveling vehicle body 2. The tilt sensor 180 detects the tilt of the traveling vehicle body 2 in the front-rear direction and the left-right direction. The tilt sensor 180 may be composed of multiple sensors. The tilt sensor 180 is, for example, an acceleration sensor.

The seating sensor 190 is a sensor that is provided in the pilot's seat 28 and is composed of a load cell, a pressure-sensitive film sensor, etc., and can detect whether an operator is seated in the pilot's seat 28.

The rotation speed sensor 195 detects the rotation speed of the rotor 67 for leveling. The rotation speed sensor 195 detects the rotation speed when the rotor 67 for leveling touches the ground in the field F and starts to rotate.

The controller 150 can prohibit straight-line support if the steering angle detected by the steering angle sensor 130 is not a value indicating that it is within the allowable range for moving the traveling vehicle body 2 in a straight line, or if the direction detected by the orientation sensor 160 or the attitude detected by the attitude sensor 170 is not a value indicating the straight-line direction.

The steering angle is within the allowable range for moving the vehicle body 2 in a straight line when, for example, the absolute value of the steering angle (turning angle) of the front wheels 4 is 15 degrees or less. In addition, if the steering angle detected by the steering angle sensor 130 after the vehicle body 2 turns indicates a value that does not cause the vehicle body 2 to move in a straight line (for example, 5 degrees), straight-line support can be prohibited.

It is also advisable to set an acceptable range for the direction sensor 160 and the attitude sensor 170, and if an orientation or attitude outside the acceptable range continues for a period of time set in the controller 150, it is determined that the sensor is not facing in a straight line, and straight line support is prohibited.

In addition, if some kind of trouble occurs and the straight-line support of the seedling transplanter 1 is stopped, in order to improve safety or prevent operational errors, the straight-line support can be controlled so that it will not resume unless certain conditions are met, such as the seedling planting section 50 being lowered, the spare seedling carrier being stored, and the planting clutch 500 being engaged.

The controller 150 is also connected to an alarm device 200, such as a monitor 33 and a buzzer 215 that issues an alarm or the like.

The controller 150 can use the buzzer 215 and monitor 33 to notify the operator of the support status, including whether straight-line support is being performed or stopped. This allows the operator to easily recognize whether the current forward-leaning attitude of the aircraft, the rudder angle after turning the aircraft, the attitude of the aircraft, etc., are appropriate for performing straight-line support. This can improve the operability of switching from turning operations to straight-line support, for example.

By using the buzzer 215 and monitor 33, the controller 150 can also notify the operator of, for example, an abnormality in the power transmission device 15 (such as a gear slippage in the clutch mechanism). In this embodiment, the monitor 33 and buzzer 215 are provided in advance in the traveling vehicle body 2, but similar functions can also be provided in a tablet terminal device (not shown) that can be brought in from outside.

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

The steering device 110 is equipped with a transmission mechanism (not shown) that is interlocked with the steering wheel 32, and is equipped with a straight-line support mechanism 310 that applies any rotational force to the steering wheel 32, enabling automatic steering by the controller 150. The transmission mechanism includes a steering motor (steering angle adjustment unit) 112 that rotates the steering wheel 32.

When performing straight-line support, the controller 150 automatically steers the steering wheel 32 via the straight-line support mechanism 310 based on the position information acquired by the GNSS unit 120 to maintain the traveling vehicle body 2 in a straight-line direction.

The GNSS unit 120 has a receiving antenna 121 that receives signals from artificial satellites used in the GNSS, acquires position information (coordinate information) of the seedling transplanter 1 on the Earth, and transmits the acquired position information to the controller 150.

In addition, various switches such as a finger lever 34, a float potentiometer 154, and a straight-line support on/off switch 210 are connected to the controller 150.

The finger-up lever 34 accepts the operator's operation regarding straight-line support. The finger-up lever 34 is operated by the operator when obtaining points A and B. The finger-up lever 34 is also operated when canceling the reference driving line L2.

The float potentiometer 154 is attached to the center float 48, which moves up and down following the unevenness of the field F, and senses the up and down movement of the center float 48, i.e., the depth of the field F. The controller 150 raises and lowers the seedling planting section 50 according to the sensed unevenness of the field F.

The straight-line support on/off switch 210 switches whether or not straight-line support is performed. When the straight-line support on/off switch 210 is in the on state (ON state), for example, it is possible to register the reference driving line L2 and perform straight-line support. Also, when the straight-line support on/off switch 210 is in the off state (OFF state), for example, it is impossible to register the reference driving line L2 and perform straight-line support.

The controller 150 has a travel reference registration unit 152 in which the reference travel line L2 and the reference travel distance for straight support are registered. In order to have the seedling transplanter 1 perform straight support, a teaching operation is required in advance. The travel reference registration unit 152 registers, for example, the reference travel line L2 for performing straight support and straight control through the teaching operation. The travel reference registration unit 152 also registers a reference travel distance for informing the operator of the turning position when performing straight support.

The driving reference registration unit 152 acquires point A, which is the start position of the straight-line support, and point B, which is the end position, and registers the line segment connecting the acquired points A and B as the reference driving line L2.

By registering the reference driving line L2, the driving direction when straight-line support is performed is registered. In addition, by registering the reference driving distance, it is possible to notify the operator that, for example, the operator is approaching a point where a turning operation will be performed, i.e., that the operator is approaching the edge of the field (ridge), based on the straight-line distance of the traveling vehicle body 2.

Next, the reference driving line registration control according to the embodiment will be described with reference to FIG. 7. FIG. 7 is a flowchart explaining the reference driving line registration control according to the embodiment. Note that it is assumed here that the reference driving line L2 has not been registered.

The controller 150 determines whether an operation to acquire point A has been performed (S10). Specifically, the controller 150 determines whether the fingertip lever 34 has been pressed downward for less than 2 seconds.

If no operation to acquire point A has been performed (S10; No), the controller 150 ends this processing.

When an operation to obtain point A is performed (S10; Yes), the controller 150 determines whether the soil leveling rotor 67 is on the ground, i.e., whether seedling planting work is being performed (S11).

When the ground leveling rotor 67 is in contact with the ground (ON state) (S11; Yes), the controller 150 acquires point A (S12) and starts counting the number of rotations of the ground leveling rotor 67 (S13).

If the ground leveling rotor 67 is not in contact with the ground (OFF state) (S11; No), the controller 150 notifies the user that point A cannot be obtained (S14). For example, the controller 150 notifies the user that point A cannot be obtained by sounding the buzzer 215.

After acquiring point A, the controller 150 determines whether the ground leveling rotor 67 is maintained in a grounded state (ON state) (S15).

If the ground leveling rotor 67 is not maintained in a grounded state (S15; No), the controller 150 cancels the acquired point A (S16), stops counting the number of rotations of the ground leveling rotor 67 (S17), and notifies the user of this (S18). For example, the controller 150 sounds the buzzer 215 to cancel point A and notify the user that counting the number of rotations of the ground leveling rotor 67 has been stopped.

When the ground leveling rotor 67 is maintained in a grounded state (S15; Yes), the controller 150 determines whether an operation to acquire point B has been performed (S19). Specifically, the controller 150 determines whether the finger lever 34 has been pressed downward for less than 2 seconds.

If no operation to acquire point B has been performed (S19; No), the controller 150 determines whether the ground leveling rotor 67 is maintained in a grounded state (ON state) (S15).

When an operation to acquire point B is performed (S19; Yes), the controller 150 acquires point B (S20) and ends counting the number of rotations of the ground leveling rotor 67 (S21).

The controller 150 sets a reference driving line L2 based on the acquired points A and B, and registers the reference driving line L2 in the driving reference registration unit 152 (S22).

The controller 150 calculates a reference travel distance based on the counted number of rotations of the ground leveling rotor 67, and registers the reference travel distance in the travel reference registration unit 152 (S23).

Next, the update control of the reference mileage according to the embodiment will be described with reference to FIG. 8. FIG. 8 is a flowchart explaining the update control of the reference mileage according to the embodiment. Note that, here, it is assumed that the straight support on/off switch 210 is in the on state, and the reference mileage line L2 and the reference mileage are registered in the driving reference registration unit 152. It is also assumed that the traveling vehicle body 2 is turning based on a turning operation by the operator.

The controller 150 determines whether the traveling vehicle body 2 is turning (S30). Specifically, the controller 150 determines whether the steering angle is within a predetermined steering angle range due to the operator's steering operation. The predetermined steering angle range is a range within which it can be determined that the traveling vehicle body 2 is turning, and is set in advance. The controller 150 determines that the traveling vehicle body 2 is turning when the steering angle is larger than the predetermined steering angle range. Furthermore, the controller 150 determines that the turning has ended when the steering angle is within the predetermined steering angle range.

If the vehicle is turning (S30; Yes), the controller 150 ends this processing.

If the machine is not rotating, i.e., if the machine has finished rotating (S30; No), the controller 150 starts the seedling planting operation (S31). This causes the soil leveling rotor 67 to descend and touch the ground.

The controller 150 starts straight-line support (S32) and starts counting the number of rotations of the ground leveling rotor 67 (S33).

The controller 150 determines whether turning has started (S34). Specifically, the controller 150 determines whether the steering angle has become larger than a predetermined steering angle range due to the operator's steering operation. The controller 150 determines that turning has started when the steering angle becomes larger than the predetermined steering angle range. Furthermore, the controller 150 determines that turning has not started when the steering angle is within the predetermined steering angle range.

If turning has not started (S34; No), the controller 150 continues providing straight-line support until turning starts (S35).

When turning has started (S34; Yes), the controller 150 ends the straight-line support (S36) and ends the seedling planting work (S37). This causes the soil leveling rotor 67 to rise and no longer touch the ground.

The controller 150 stops counting the number of rotations of the ground leveling rotor 67 (S38) and calculates the distance traveled with this straight-line support (S39).

The controller 150 determines whether the distance difference between the travel distance in the previous straight-line support (previous step) and the travel distance in the current straight-line support (current step) is smaller than a predetermined distance (S40). The travel distance in the previous straight-line support is registered (stored) in the travel standard registration unit 152, for example. The travel distance in the current straight-line support is registered (stored) in the travel standard registration unit 152, for example. When the travel distance in the current straight-line support is registered, the travel distance in the previous straight-line support is deleted. The distance difference is the absolute value of the difference between the travel distance in the previous straight-line support and the travel distance in the current straight-line support. The predetermined distance is a distance set in advance.

If the distance difference is smaller than the predetermined distance (S40; Yes), the controller 150 updates the reference mileage (S41). Specifically, the controller 150 registers the mileage achieved by the current straight-line support as the new reference mileage.

If the distance difference is equal to or greater than the predetermined distance (S40; No), the controller 150 ends the current process. In other words, the controller 150 does not update the registered reference mileage.

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

In this way, the timing for reporting the turning position is set based on the reference travel distance. Therefore, if the reference travel distance is set to a constant value, there is a risk that the timing for reporting the turning position will not be appropriate if the length of the field F is not constant.

For example, if the length of the field F is getting longer, a notification is issued at a timing earlier than the appropriate turning position. On the other hand, if the length of the field F is getting shorter, no notification is issued even if the appropriate turning position is reached.

In this embodiment, the reference travel distance is updated, so that the turning position can be notified at an appropriate time even if the length of the field F is not constant.

The controller 150 may also be capable of executing the following controls regarding straight-line support:

If the GNSS unit 120 is unable to receive position information of the traveling vehicle body 2 during straight-line support, for example if a malfunction of the GNSS unit 120 is detected, the controller 150 ends the straight-line support. This makes it possible to prevent the traveling vehicle body 2 from traveling with straight-line support in a state in which position information cannot be obtained from the GNSS unit 120.

The controller 150 ends straight-line support if the finger lever 34 is pressed upward, for example for less than two seconds, during straight-line support.

The controller 150 ends the straight-line support when the height of the rotor 67 reaches or exceeds a preset value during straight-line support. This allows the straight-line support to be ended without the operator's operation, improving workability.

The controller 150 may turn off the monitor 33 from the time the main switch (not shown) of the seedling transplanter 1 is turned on until the engine 10 is started. This allows the operator to recognize that straight-line support cannot be performed if the engine 10 is not started.

After the engine 10 is started, the controller 150 may turn on the monitor 33 for one second, for example. This allows the operator to recognize that the vehicle is now in a state where it can perform straight-line support.

After turning on all the monitors 33, if alignment is in progress, the controller 150 detects the reference values of each sensor, so the HST 16 may be placed in the neutral position. This prevents the vehicle body 2 from moving during alignment, and allows the reference values of each sensor to be accurately detected.

After turning on all the monitors 33, if alignment is complete, the controller 150 may check the operation of the GNSS unit 120. The controller 150 may also be able to change the HST 16 from the neutral position.

After the monitor 33 is fully lit, the controller 150 may cause the monitor 33 to flash red, orange, and blue, for example, every 0.5 seconds, during alignment. Also, when the controller 150 turns on the monitor 33 red, for example, the controller 150 may cause each of the lamps 331 to 334 to flash. Also, when the controller 150 turns on the monitor 33 red, for example, the controller 150 may cause each of the lamps 331 to 334 to flash. Also, when the controller 150 turns on the monitor 33 is during alignment after the monitor 33 is fully lit, the controller 150 may display, for example, on the monitor 33, an indication that alignment is in progress. This allows the operator to recognize that initial setup is in progress.

When the controller 150 receives a signal from the GNSS unit 120 after the engine 10 has been started, the controller 150 may sound the buzzer 215, for example, once. This allows the operator to recognize that a signal has been received from the GNSS unit 120.

Until the controller 150 receives a signal from the GNSS unit 120, it may cause the monitor 33 to flash red, orange, and blue in that order, for example, every second, and may turn off the lamps 331 to 334.

The controller 150 may display on the monitor 33 that a signal is being received until the signal is received by the GNSS unit 120. This allows the operator to recognize that the reception of the signal by the GNSS unit 120 is being confirmed.

If the GNSS unit 120 cannot receive a signal, for example, five minutes after the engine 10 is started, the controller 150 may sound the buzzer 215. This allows the operator to be aware that the GNSS unit 120 cannot receive a signal.

If the GNSS unit 120 is unable to receive a signal, for example, five minutes after the engine 10 is started, the controller 150 may blink the lamps 331-334 and turn off other monitors (not shown). This allows the operator to recognize that the GNSS unit 120 is unable to receive a signal.

When the controller 150 receives a signal from the GNSS unit 120, for example, after five minutes have elapsed since the engine 10 was started, the controller 150 may sound the buzzer 215, for example, once. In addition, the controller 150 may turn on the monitor 33 fully for, for example, two seconds after sounding the buzzer 215. This allows the operator to recognize that a signal has been received by the GNSS unit 120.

The controller 150 may forcibly perform alignment when the finger-cap lever 34 is pressed upward for, for example, five seconds or more. The controller 150 may sound the buzzer 215, for example, once, when the forced alignment begins. This allows the operator to recognize that the alignment will be forcibly performed.

The controller 150 may keep the HST 16 in a neutral position while the forced alignment is being performed. Alternatively, the controller 150 may accept the forced alignment only when the HST 16 is in a neutral position. This allows the alignment to be performed accurately.

The controller 150 acquires point A when the GNSS unit 120 is in a receiving state. When the controller 150 acquires point A by, for example, pressing the finger-up lever 34 downward for less than two seconds, the controller 150 may cause the point A lamp 332 to flash at a predetermined acquisition possible period when point A becomes available for acquisition. This allows the operator to recognize that point A is available for acquisition. Furthermore, the controller 150 may turn on the point A lamp 332 when point A has been acquired. This allows the operator to recognize that point A has been acquired.

When the controller 150 is not in a state where point A can be obtained, the controller 150 may cause the point A lamp 332 to flash at a predetermined period when point A cannot be obtained. Also, when the controller 150 is not in a state where point A can be obtained, the controller 150 may cause the buzzer 215 to sound, for example, three times when the point A lamp 332 starts to flash. This allows the operator to recognize that point A cannot be obtained.

When point A has not been acquired and the finger lever 34 is pressed upward for, for example, less than two seconds to perform a straight-line support start operation, the controller 150 may cause the A-point lamp 332 to flash at a predetermined acquisition failure cycle, for example, for three seconds. The controller 150 may also sound the buzzer 215, for example, three times. This allows the operator to recognize that straight-line support cannot be started.

When point A has not been acquired, a straight-line support start operation has been performed, and a signal has been received by the GNSS unit 120, the controller 150 may display on the monitor 33 that points A and B have not been acquired. The controller 150 may also end the display on the monitor 33 after, for example, five seconds. The controller 150 may also end the display on the monitor 33 when points A and B have been acquired. This allows the operator to recognize that straight-line support cannot be started.

When only point A has been acquired, the controller 150 may erase the acquired point A when the finger lever 34 is pressed downward, for example, for 2 seconds or more. This allows point A to be erased and a new point A to be easily acquired. Furthermore, when point A is erased, the controller 150 may sound the buzzer 215, for example, once. This allows the operator to be aware that point A is to be erased.

When the main switch is turned OFF with point A acquired, and, for example, two hours or more have passed, the controller 150 may erase the acquired point A. In this way, when no work is being performed for a long period of time, point A is automatically erased, thereby saving the worker the trouble of having to perform the erasure work.

The controller 150 may enable acquisition of point B when point A has been acquired. This can prevent point B from being acquired first.

The controller 150 acquires point A when the GNSS unit 120 is in a receiving state. When the controller 150 acquires point B by, for example, pressing the finger-up lever 34 downward for less than two seconds, the controller 150 may cause the point B lamp 333 to flash at a predetermined acquisition period when point B becomes available for acquisition. This allows the operator to recognize that point B is available for acquisition. Furthermore, the controller 150 may turn on the point B lamp 333 when point B has been acquired. This allows the operator to recognize that point B has been acquired.

If the controller 150 is not in a state where point B can be acquired, the controller 150 may cause the B point lamp 333 to flash at a predetermined unacquirable period. Also, if the controller 150 is not in a state where point B can be acquired, the controller 150 may cause the buzzer 215 to sound, for example, three times when the B point lamp 333 starts to flash. This allows the operator to recognize that point B cannot be acquired.

The controller 150 may be able to acquire point B when the traveling vehicle body 2 has traveled a distance equal to or greater than a point B acquisition distance set to, for example, 5 m from the position where point A was acquired. The point B acquisition distance may also include a predetermined traveling time, for example, 5 seconds. This can improve the straightness of the reference traveling line L2 and the straightness of the straight-line support.

When the finger lever 34 is pressed downward for less than 2 seconds, for example, to acquire point A, the controller 150 may display on the monitor 33 that point B cannot be acquired while the traveling vehicle body 2 travels the point B acquisition distance from the position where point A was acquired. This allows the operator to recognize that point B cannot be acquired.

The controller 150 may terminate the display on the monitor 33 indicating that point B cannot be obtained when the traveling vehicle body 2 has traveled the distance required to obtain point B. This allows the operator to recognize that point B can now be obtained.

When point B has been acquired, the controller 150 may erase the acquired points A and B when the finger lever 34 is pressed downward, for example, for two seconds or more. This allows points A and B to be erased and new points A and B to be easily acquired. Furthermore, the controller 150 may sound the buzzer 215, for example, once, when points A and B are erased. This allows the operator to recognize that points A and B are being erased.

When the main switch is turned OFF with points A and B acquired, and, for example, two hours or more have passed, the controller 150 may erase the acquired points A and B. In this way, when no work is being performed for a long period of time, points A and B are automatically erased, thereby saving the worker the trouble of having to perform the erasure work.

When only point A has been acquired and point B has not been acquired, and the finger lever 34 is pressed upward, for example, for less than two seconds to perform a straight-line support start operation, the controller 150 may cause the A point lamp 332 and the B point lamp 333 to flash at a predetermined acquisition failure period, for example, for three seconds. The controller 150 may also sound the buzzer 215, for example, three times. This allows the operator to recognize that straight-line support cannot be started.

When it is possible to provide straight-line support, the controller 150 may blink the lamps 331 to 334 so that the driving direction is aligned with the target direction. This allows the operator to recognize the direction of travel.

The controller 150 may blink the A point lamp 332 when the driving direction is deviated from the target direction to the right, for example, by 3 degrees or more. The controller 150 may also blink the B point lamp 333 when the driving direction is deviated from the target direction to the left, for example, by 3 degrees or more. This allows the operator to recognize the deviation in the driving direction.

When providing straight-line support, the controller 150 may turn on or flash the straight-line support lamp 331. This allows the operator to recognize that straight-line support is being provided.

When the finger lever 34 is pressed upward for less than two seconds to perform a straight-line support start operation while straight-line support cannot be performed, the controller 150 may cause the straight-line support lamp 331 to flash at a predetermined support disabled period, for example, for three seconds. This allows the operator to recognize that straight-line support cannot be performed.

When the controller 150 is in a state where straight-line support can be performed and the finger lever 34 is pressed upward for less than two seconds, for example, to perform a straight-line support start operation, the controller 150 starts straight-line support. This allows the operator to freely set the straight-line support start position.

The controller 150 may be able to perform straight-line support when the vehicle speed of the traveling vehicle body 2 is, for example, 0.5 km/h or more, a vehicle speed at which position detection is possible. When the vehicle speed is low, the position detection accuracy of the GNSS unit 120 may decrease. The controller 150 may be able to perform straight-line support when the vehicle speed of the traveling vehicle body 2 is, for example, 0.5 km/h or more, and can perform straight-line support when the position detection accuracy of the GNSS unit 120 is good.

The controller 150 may be able to execute straight-line support when the traveling vehicle body 2 is not moving backward. The controller 150 may also be able to execute straight-line support when the steering angle (turning angle) is small and the traveling vehicle body 2 is moving straight, for example, when the steering angle is smaller than a predetermined steering angle or when the deviation between the traveling direction and the target direction is smaller than 3 degrees.

The controller 150 may also be able to execute straight-line support when the inclination of the traveling vehicle body 2 is, for example, less than 10 degrees. The controller 150 may also be able to execute straight-line support when the traveling mode set by the sub-transmission mechanism is not the high-speed mode. The controller 150 may also be able to execute straight-line support when the height of the rotor 67 is less than a preset certain value. The controller 150 may also be able to execute straight-line support when the GNSS unit 120 is able to receive signals.

During straight-line support, the controller 150 may end the straight-line support if the vehicle speed of the traveling vehicle body 2 remains lower than the position-detectable vehicle speed of, for example, 0.5 km/h for, for example, two seconds. This makes it possible to prevent straight-line support from being provided in a state where the position detection accuracy of the GNSS unit 120 is low.

The controller 150 may end the straight-line support during straight-line support if the vehicle speed of the traveling vehicle body 2 remains lower than the support driving end vehicle speed of, for example, 0.4 km/h for, for example, two seconds. This allows the straight-line support to be ended without the operator's operation when it is predicted that the traveling vehicle body 2 will stop, thereby reducing the operator's efforts.

If the controller 150 detects a communication abnormality with the GNSS unit 120 or an abnormality in the steering device 110 during straight-line support, the controller 150 may end the straight-line support. This makes it possible to prevent straight-line support from being provided when the accuracy of the straight-line support is low.

When the driving mode of the sub-transmission mechanism is the high-speed mode, the controller 150 may display on the monitor 33 that the driving mode of the sub-transmission is the high-speed mode. This allows the operator to recognize that the conditions for executing the straight-line support are not met.

The controller 150 may terminate the display if the indication that the conditions for executing straight-line support are not met is displayed for, for example, five seconds, or if the driving mode of the sub-transmission mechanism is changed to the low-speed mode.

When the height of the rotor 67 is equal to or greater than a preset certain value, the controller 150 may display on the monitor 33 that the height of the rotor 67 is equal to or greater than a preset certain value. This allows the operator to recognize that the conditions for performing straight-line support are not met.

The controller 150 will end the display if the indication that the conditions for performing straight-line support are not met is displayed for, for example, five seconds, or if the height of the rotor 67 falls below a preset constant value.

The seedling transplanter 1 according to the embodiment described above measures the working distance traveled from when the ground leveling rotor 67, which is a working device, is turned on and touches the ground, until the ground leveling rotor 67 is turned off and does not touch the ground. If the difference in distance between the working distance traveled during the previous straight support and the working distance traveled during the current straight support is smaller than a predetermined distance, the seedling transplanter 1 registers the working distance traveled during the current straight support as the reference working distance and updates the reference working distance.

As a result, when straight-line support is being performed and the turning position is notified based on the reference travel distance, the reference travel distance can be updated to notify the turning position at the appropriate time. Therefore, for example, even if the length of the field F is not constant, the turning position can be notified at the appropriate time. This improves workability during straight-line support and improves safety during straight-line support.

When the soil leveling rotor 67 is in the ON state, the seedling transplanter 1 acquires points A and B for setting the reference running line L2. This allows the reference running line L2, which serves as the basis for performing straight-line support, to be accurately set in conjunction with the actual planting work. This improves workability during straight-line support.

Even if points A and B cannot be obtained, the seedling transplanter 1 according to the modified example may calculate the reference travel distance based on the rotation speed of the rotor 67 for soil leveling when planting work is started and the rotor 67 for soil leveling is grounded, and register the calculated reference travel distance in the travel reference registration unit 152. This allows the reference travel distance to be registered early. Therefore, for example, even if the reference travel distance cannot be calculated when registering the reference travel line L2, the turning position can be notified based on the reference travel distance registered during the straight line support in the next process.

The seedling transplanter 1 according to the modified example may start counting the number of revolutions of the rotor 67 for ground leveling when the seedling planting section 50 descends and the planting clutch 500 is engaged, i.e., fastened. The seedling transplanter 1 may stop counting the number of revolutions of the rotor 67 for ground leveling when the seedling planting section 50 ascends and the planting clutch 500 is disengaged, i.e., released.

The seedling transplanter 1 according to the modified example may sound the buzzer 215 when the vehicle speed of the traveling vehicle body 2 detected by the vehicle speed sensor (not shown) is equal to or greater than a preset predetermined vehicle speed and the planting clutch 500 is engaged. If the vehicle speed does not become lower than the predetermined vehicle speed even after a predetermined warning time has elapsed after sounding the buzzer 215, the planting clutch 500 may be switched off. This makes it possible to prevent planting from occurring when the vehicle speed is high and to prevent the spacing between plants from becoming too large. Also, it makes it possible to prevent the planting rod 62 from rotating when the vehicle speed is high and to prevent the planting body 61 from deteriorating.

In addition, in the seedling transplanter 1 according to the modified example, if the vehicle speed does not become slower than the predetermined vehicle speed even after a predetermined warning time has elapsed after sounding the buzzer 215, the rotation angle of the trunnion (not shown) of the HST 16 may be adjusted to reduce the vehicle speed. Note that if the vehicle speed does not become slower than the predetermined vehicle speed even after the rotation angle of the trunnion of the HST 16 is reduced, the rotation angle of the trunnion of the HST 16 may be further reduced. This makes it possible to prevent planting work from being performed at a high vehicle speed and to prevent the spacing between plants from becoming large. In addition, it is possible to prevent the planting rod 62 from rotating at a high vehicle speed and to prevent deterioration of the planting body 61.

In addition, after the rotation angle of the trunnion of the HST 16 is reduced and the planting clutch 500 is disengaged, the trunnion may be automatically returned to the rotation angle corresponding to the position of the main shift lever 81.

In addition, in the seedling transplanter 1 according to the modified example, when the vehicle speed is equal to or greater than a predetermined vehicle speed, a planting switch (not shown) that switches whether or not to plant seedlings may be turned on (ON state), or the planting clutch 500 may be turned off. This prevents planting work from being performed when the vehicle speed is high, and prevents the spacing between plants from becoming too large. In addition, when the vehicle speed is high, the planting rod 62 is prevented from rotating, and deterioration of the planting body 61 is prevented.

In addition, in the seedling transplanter 1 according to the modified example, when the vehicle speed is equal to or greater than a predetermined vehicle speed, the planting switch may be turned on or the planting clutch 500 may be turned off until the main shift lever 81 reaches the neutral position. This prevents planting work from being performed when the vehicle speed is high, and prevents the spacing between plants from becoming too large. In addition, when the vehicle speed is high, the planting rod 62 is prevented from rotating, and deterioration of the planting body 61 is prevented.

In addition, in the seedling transplanter 1 according to the modified example, when the vehicle speed is equal to or greater than a predetermined vehicle speed, the planting switch may be turned on or the planting clutch 500 may be turned off until the trunnion of the HST 16 reaches the neutral position. This prevents planting work from being performed when the vehicle speed is high, and prevents the spacing between plants from becoming too large. In addition, when the vehicle speed is high, the planting rod 62 is prevented from rotating, and deterioration of the planting body 61 is prevented.

In addition, in the seedling transplanter 1 according to the modified example, when the vehicle speed is equal to or greater than a predetermined vehicle speed, the planting switch may be turned on or the planting clutch 500 may be turned off until the vehicle speed becomes zero or a predetermined low vehicle speed close to zero. This prevents planting work from being performed when the vehicle speed is high, and prevents the spacing between plants from becoming too large. In addition, the planting rod 62 may be prevented from rotating when the vehicle speed is high, and prevents deterioration of the planting body 61.

In addition, in the seedling transplanter 1 according to the modified example, when the vehicle speed is equal to or higher than a predetermined vehicle speed, the planting switch may be turned on or the planting clutch 500 may be turned off until the main shift lever 81 is in the neutral position, the trunnion of the HST 16 is in the neutral position, and the vehicle speed becomes zero or a predetermined low vehicle speed. This prevents planting work from being performed when the vehicle speed is high, and prevents the spacing between plants from becoming too large. In addition, the planting rod 62 is prevented from rotating when the vehicle speed is high, and deterioration of the planting body 61 is prevented.

The seedling transplanter 1 according to the modified example may sound the buzzer 215 when restricting the planting clutch 500 to the off state as described above. The monitor 33 may also be made to flash. This notifies the operator that the planting clutch 500 will be restricted to the off state.

The seedling transplanter 1 according to the modified example may also accept an ON operation of a shift control switch (not shown) for executing shift control to shift the position of the seedling placement platform 51 to the left or right extreme only when the main shift lever 81 is in the neutral position, the trunnion of the HST 16 is in the neutral position, and the vehicle speed is zero. By allowing shift control to be executed only when the vehicle speed is zero, it is possible to prevent shift control from being executed while traveling.

In addition, the seedling transplanter 1 according to the modified example may accept the ON operation of the shift control switch only when the main shift lever 81 is in the neutral position, the trunnion of the HST 16 is in the neutral position, the sub-shift lever 82 is in the PTO position, and the vehicle speed is zero. The PTO position is a position where no power is transmitted, i.e., a "neutral" position. This makes it possible to prevent shift control from being executed while traveling.

The seedling transplanter 1 according to the modified example may sound the buzzer 215 if all of the above conditions are not met when the seedling transplanter 1 turns on the seedling control switch. The seedling transplanter 1 according to the modified example may also blink the monitor 33, etc. This notifies the operator that the switch operation is not being accepted, i.e., the seedling transplanter 1 will not be performing seedling control.

The seedling transplanter 1 according to the modified example may start the pull-over control when the pull-over control switch is ON, the planting clutch 500 is ON, the main shift lever 81 is in a position equal to or greater than a predetermined forward position, and the vehicle speed is zero. This makes it possible to prevent malfunction of the pull-over control. The predetermined forward position is, for example, a position in which the main shift lever 81 is operated 80% or more forward.

The seedling transplanter 1 according to the modified example may also start the pull control when the pull control switch is in the ON state, the planting clutch 500 is in the ON state, the main speed change lever 81 is in a position equal to or greater than the predetermined forward position, and the sub-speed change lever 82 is in the PTO position. This can prevent malfunction of the pull control.

The seedling transplanter 1 according to the modified example may also stop the pull-over control when the vehicle speed is no longer zero, i.e., when the traveling vehicle body 2 starts traveling, while the pull-over control is being performed. The seedling transplanter 1 according to the modified example may also stop the pull-over control when the sub-speed change lever 82 is no longer in the PTO position while the pull-over control is being performed. When the pull-over control is stopped, the buzzer 215 may sound. The monitor 33 or the like may also be made to flash. This makes it possible to inform the operator that the pull-over control has been stopped.

Further advantages and modifications may readily occur to those skilled in the art. Therefore, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof.

1 Seedling transplanter 2 Traveling vehicle body 33 Monitor 67 Rotor (working device)
110 Steering device (steering angle adjustment unit)
120 GNSS unit (location information acquisition unit)
140 Auxiliary wheel setting dial 141 Steering angle adjustment setting dial 150 Controller (control unit)
195 Rotational speed sensor (detection part)

Claims (1)

A position information acquisition unit that acquires position information of a traveling vehicle body;
A steering angle adjustment unit that adjusts a steering angle so that the traveling vehicle body automatically moves straight;
a control unit that acquires driving reference data that is a reference for the automatic straight driving based on the position information and controls the steering angle adjustment unit based on the driving reference data; an attitude detection unit that detects the attitude of the traveling vehicle body; and a steering angle detection unit that detects the steering angle,
providing an operating tool for acquiring the travel reference data;
The driving reference data is registered by acquiring a first reference point and a second reference point in the farm field by operating the operating tool,
prohibiting acquisition of the second reference point when the traveling vehicle body is not located a predetermined distance away from the position where the first reference point was acquired;
a notification unit that notifies the user that the second reference point can be acquired when the traveling vehicle body is moved a predetermined distance away from the position where the first reference point is acquired,
a warning unit that, when executing the automatic straight-line driving, notifies the user that the conditions for executing the automatic straight-line driving are not met if the attitude of the traveling vehicle body detected by the attitude detection unit is oblique to the direction of travel, or if the steering angle detected by the steering angle detection unit is not a value indicating a straight-line driving state.