JP2019058120A - Work vehicle - Google Patents

Abstract

To provide a work vehicle capable of improving operability and workability of a machine body while coping with a difference in work forms.SOLUTION: A work vehicle includes: a travelling vehicle body 2 capable of travelling in a farm field F; a position information acquisition device for acquiring position information on the travelling vehicle body 2; an automatic straight advancing device for causing the travelling vehicle body 2 to execute an automatic straight-advancing operation based on the position information acquired by the position information acquisition device; a work machine 3 attached to the travelling vehicle body 2, which can be lifted or lowered; a control device for executing lifting and lowering control so as to cause the work machine 3 to be moved either to a stand-by position or to a work position, the two positions having different heights; and border detection means for detecting borders B between the farm field F and another farm field F1 (F2). The control device causes the work machine 3 to be moved to the stand-by position when the borders B are detected by the border detection means during the automatic straight advance of the travelling vehicle body 2.SELECTED DRAWING: Figure 3A

Description

  The present invention relates to a work vehicle.

  2. Description of the Related Art Conventionally, some work vehicles that perform work while traveling in a farm field include an automatic steering device that automatically steers an airframe along a target travel path (see, for example, Patent Documents 1 and 2). Such an automatic steering device performs control of automatically operating the steering member so as to correct the direction of the airframe while keeping the steering member at the straight-ahead position when the airframe goes straight (hereinafter such control Motion of the aircraft by "automatic straight ahead")).

JP, 2016-24540, A JP, 2016-24541, A

  Here, depending on the area, for example, the airframe travels from one field to another across the field to work in the other field, and from the other field over the field to another field, into the field. Instead of carrying out the work in each field, the work mode is adopted in which the work is carried out across fields.

  However, in the conventional work vehicle as described above, since it is not considered to work across the field, the machine body can not go over the ridge while going straight on automatically. For example, the aircraft will stop automatically when the kite gets close when going straight ahead in the field. As described above, there is a problem that work is interrupted depending on the type of work.

  In addition, since it is necessary to operate the working machine so as not to contact with the bag when passing over the frame of the machine, there is a concern that the operability and operability of the machine may be lowered.

  The present invention has been made in view of the above, and an object of the present invention is to provide a work vehicle which can cope with the difference in work mode and can improve the operability and operability of the machine.

  In order to solve the problems described above and achieve the purpose, the work vehicle (1) according to claim 1 comprises a traveling vehicle body (2) capable of traveling in a field (F), and the traveling vehicle body (2) A position information acquisition device (200) for acquiring position information, and an automatic rectilinear device (220) for automatically advancing the traveling vehicle body (2) based on the position information acquired by the position information acquisition device (200); Move the workable machine (3) which can be moved up and down attached to the traveling vehicle body (2) and the work machine (3) to either the standby position (H0) or the work position (H1) having different heights. Control device (100) for vertical control, and boundary detection means (230) for detecting the boundary (B) between the field (F) and the other fields (F1, F2), the control device (100) During the automatic straight ahead of the traveling vehicle (2) Wherein the boundary (B) is detected by said boundary detecting means (230), and wherein the working machine (3) to move said to the standby position (H0).

  The work vehicle (1) according to claim 2 is the work vehicle (1) according to claim 1, wherein the travel distance detecting means for detecting the travel distance from the boundary (B) of the traveling vehicle body (2) 237), and the control device (100) operates the working machine (3) when the detected value by the traveling distance detecting means (237) becomes a predetermined value while the traveling vehicle body (2) is automatically going straight. It is characterized in that it is moved to the work position (H1).

  The work vehicle (1) according to claim 3 is the work vehicle (1) according to claim 2, the control device (100) further controls the traveling speed of the traveling vehicle body (2), and When the boundary (B) is detected by the boundary detection means (230) while the traveling vehicle body (2) is automatically going straight, the traveling speed is reduced and the traveling distance while the traveling vehicle body (2) is automatically going straight When the detection value by the detection means (237) reaches a predetermined value, the traveling speed is increased.

  The work vehicle (1) according to claim 4 is the work vehicle (1) according to any one of claims 1 to 3, wherein the automatic rectilinear advance device (220) supports a handle (10). A steering actuator (221) provided in a column (10b) covering the shaft (10a) and driving the steering wheel (10) and a final gear (224) provided on an input shaft (301) of the torque generator (300) And a counter gear (225) provided between the steering actuator (221) and the final gear (224) and disposed close to the casing (222), and the final gear (224). A torque sensor (226) for detecting a steering angle of the steering wheel (10); 00) disposed on the column (10b) is characterized in that it is fixed to the upper casing (222).

  The work vehicle (1) according to claim 5 is the work vehicle (1) according to any one of claims 1 to 4, wherein the information processing device (270) inputs / outputs various information including the position information. Further, the information processing apparatus (270) can register a reference traveling line (L) in the field F (F1, F2) when the traveling vehicle body (2) is automatically made to go straight ahead. F2) register, store and display the reference traveling line (L) in units, and the control device (100) performs the reference traveling in units of field F (F1, F2) registered in the information processing device (270) It is characterized in that the traveling vehicle body (2) is made to go straight automatically at the next operation in the field F (F1, F2) using the line (L).

  According to the work vehicle according to the present invention, the work machine is automatically moved to the standby position when the traveling vehicle body which is automatically going straight in the field exceeds the boundary (such as a weir) with another field. It is possible to avoid contact with anything other than a crawling scene, and to prevent damage to the working machine. In addition, it is possible to cope with the difference in work mode. For example, even in the case of a work form in which work is carried out across fields, it is not necessary to manually operate the work machine. As a result, the operability of the machine can be improved, and the workability can be improved.

FIG. 1 is a schematic left side view of a work vehicle. FIG. 2 is a functional block diagram showing each part related to automatic straight advance control. FIG. 3A is an explanatory view (part 1) of automatic straight advance of the traveling vehicle body. FIG. 3B is an explanatory view (part 2) of automatic straight advance of the traveling vehicle body. FIG. 4 is a flow chart showing a processing procedure of the eyelid crossing control during automatic straight advance. FIG. 5 is an explanatory view of the arrangement of the automatic rectilinear advance device. FIG. 6A is an explanatory view (No. 1) of the configuration of the automatic rectilinear advance device. FIG. 6B is an explanatory view (No. 2) of the configuration of the automatic rectilinear advance device. FIG. 7 is an explanatory view of a straight traveling assist monitor. FIG. 8 is an explanatory view (No. 1) of a first modified example of the work vehicle. FIG. 9 is an explanatory view (part 2) of a first modified example of the work vehicle. FIG. 10A is an explanatory diagram of a first display example of a first modified example of the work vehicle. FIG. 10B is an explanatory diagram of a second display example of the first modified example of the work vehicle. FIG. 10C is an explanatory diagram of a third display example of the first modified example of the work vehicle. Drawing 11 is an explanatory view (the 1) of the 2nd modification of a work vehicle. FIG. 12 is an explanatory view (part 2) of a second modified example of the work vehicle. Drawing 13 is an explanatory view (the 1) of the 3rd modification of a work vehicle. FIG. 14 is an explanatory view (part 2) of a third modified example of the work vehicle.

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

  First, an outline of a work vehicle (seedling transplanting machine) 1 according to the embodiment will be described with reference to FIG. 1. FIG. 1 is a schematic left side view of a work vehicle (seedling transplanter) 1. In addition, below, as a working vehicle 1, the seedling transplanting machine which plants a seedling in a sorrel scene is demonstrated to an example, drive | working the inside of a farmland.

  Further, in the following description, the front-rear direction is the traveling direction when the work vehicle (hereinafter referred to as a seedling transplanting machine) 1 goes straight, and the traveling direction front side is defined as “front” and the rear side as “rear”. ing. The traveling direction of the seedling transplanting machine 1 is a direction from the pilot seat 13 toward a steering member (hereinafter referred to as a steering wheel) 10 when going straight on.

  Further, the left-right direction is a direction orthogonal to the front-rear direction. In the following, right and left are defined toward the "front" side. That is, in a state where the worker (also referred to as a pilot) M is seated in the cockpit 13 and faces the front, the left hand side is “left” and the right hand side is “right”. Also, the vertical direction is the vertical direction. The longitudinal direction, the lateral direction, and the vertical direction are orthogonal to one another in three dimensions.

  Note that these directions are defined for the sake of convenience to make the explanation easy to understand, and the present invention is not limited by these directions. Moreover, below, the seedling transplanting machine 1 may be pointed out and it may be called an "body."

  As shown in FIG. 1, the seedling transplanting machine 1 is a passenger type, and on the rear side of the traveling vehicle body 2, a plurality of seedlings are taken from a plurality of seedling tanks 31 lined in the left and right direction A work implement 3 such as a seedling planting unit 30 for planting seedlings in a weir scene by a planting device 32 is provided. The work implement 3 may also be a seeding device for supplying seeds, or a rotary for cultivating a straw scene. The work implement 3 is attached to the traveling vehicle body 2 so as to be able to move up and down via the lifting device 4.

  The traveling vehicle body 2 includes traveling wheels (left and right front wheels 5 and rear wheels 6). The traveling vehicle body 2 also includes an engine E, a transmission case 7 for transmitting the driving force of the engine E to the traveling wheels and the work machine 3, and a continuously variable transmission (“HST”) for outputting the driving force of the engine E to the transmission case 7 (Also referred to as “Hydro Static Transmission”) 8.

  The lifting device (hereinafter referred to as "lifting link") 4 is a lifting link provided between left and right lower link arms 41 provided between the left and right in the lower part of the left and right link frames 40 A cylinder 42 and an upper link arm 43 are provided. Of the both end portions in the front-rear direction of the left and right lower link arms 41, the lifting and lowering cylinder 42 and the upper link arm 43, the end opposite to the traveling vehicle body 2 is connected to the front side of the work implement 3.

  Further, the main frame 2a of the traveling vehicle body 2 has, for example, the front and rear width from the front side frame to the rear side frame, and the left and right width of the left and right front connection frames and the rear connection frame cover. For example, the floor step 9 may be integrally formed to improve strength or reduce the number of parts, or to be separable on the front and rear sides and on the left and right sides to facilitate attachment and detachment. Good.

  Further, the traveling vehicle body 2 is a steering wheel 10 which is a steering member for steering and operating the vehicle body, and, for example, a shift lever 16 (see FIG. 2) provided near the steering wheel 10 and operating the continuously variable transmission 8 and the work machine 3 For example, an auxiliary transmission lever 17 (see FIG. 2) provided in the vicinity of the steering wheel 10 for operating an auxiliary transmission for switching the traveling transmission of the traveling vehicle body 2 and a bonnet 11 provided with an operation panel used for operating each part of the machine. Equipped with

  A front cover 11 a that can be opened and closed is provided on the front side of the hood 11. Inside the front cover 11a, there are provided a fuel tank, a battery, an interlocking device for rotating lower portions of the left and right front wheels 5 and the left and right front wheel transmission cases according to the operation of the steering wheel 10.

  In addition, on the rear side of the hood 11, an engine E is provided. The engine E is covered with an engine cover 12, and on the upper side of the engine cover 12, a pilot seat 13 on which a worker M sits is provided. Further, on the front side of the front cover 11a, for example, various information such as the working state of the working machine 3, the remaining amount of working material consumed at the time of working, and the operation and non-operation of an automatic steering device (automatic rectilinear device) 220 described later. A center mascot 14 is provided which displays the LED by lighting such as an LED.

  In addition, a fertilization device 15 is provided on the rear side of the cockpit 13. Power is transmitted to the fertilization device 15 from the right and left side of the left and right rear wheel transmission cases via the fertilization transmission mechanism.

  A front transmission shaft for transmitting power to the left and right front wheel transmission cases is provided on the front side of the transmission case 7 and left and right drives for transmitting the power to the left and right rear wheel transmission cases on the rear side of the transmission case 7 A shaft is provided. A side clutch mechanism for turning on and off the power transmitted to the left and right drive shafts is provided on the upper side in the power transmission direction than the left and right drive shafts, and turning the traveling vehicle body 2 by turning the steering wheel 10 turns The inner side clutch mechanism is disengaged to stop the power transmission to the rear inner wheel 6.

  Incidentally, on the rear side of the transmission case 7, left and right clutch on / off shafts are provided in the vertical direction, and on the upper side of the left and right clutch on / off shafts, clutch on / off arms directed to the outside are provided. A side clutch pedal for turning on and off the left and right side clutch mechanisms is provided on the front side and on one side.

  Further, as shown in FIG. 1, below the work implement 3, a center float 33 a at the center in the left-right direction and a side float 33 b at the left and right are provided. Further, on the front side of the center float 33a and the side float 33b, a leveling rotor 34, which is a leveling device for leveling the eyebrow scene, is provided. The power directed to the ground leveling rotor 34 is transmitted by the ground leveling transmission shaft provided on the rear wheel transmission case on one side. Further, the rear wheel transmission case on one side on the left and right sides is provided with a leveling clutch for turning on and off power transmission toward the leveling rotor 34.

  The center float 33a is provided with a rotation potentiometer 236 (see FIG. 2) for detecting the rotation angle of the center float 33a. When the rotation angle of the rotation potentiometer 236 changes by a predetermined angle or more, the control device 100 described later determines that the depth of the field has changed, and the control device 100 extends and retracts the elevating cylinder 42 to move the elevating link 4 up and down. , The height of the work implement 3, that is, the height of the work position is made to correspond to the depth of the field.

  When planting seedlings using the above-mentioned work machine 3, seed sowing work, or additional fertilization or weeding after growing the seedlings in the field, run from one side of the field to the other side It is general to make the vehicle body 2 go straight. However, when the direction of the traveling wheel deviates from the straight direction, the traveling vehicle body 2 may move gradually in the direction that is deviated due to the unevenness of the cultivation board of the field or the viscosity of the topsoil. Further, depending on the operation technique of the worker M, the traveling vehicle body 2 can not be aligned in the straight direction, and may be shifted from being moved straight.

  For this reason, work trajectories such as planting and sowing of seedlings, weeding and additional fertilization become oblique, and a place where planting and sowing of seedlings can be originally becomes an empty space, and worker M etc. planting and sowing manually later. It will be necessary to do it. As a result, extra labor is required for the worker M, and the space between the planting lines of the seedlings and between the sowing lines becomes narrower than the space between the lines of the working machine 3, which may deteriorate ventilation and cause pests and diseases. Alternatively, when performing post-planting and sowing post-planting work such as weeding work and additional fertilization work, the work is carried out by crushing the seedlings and causing a reduction in yield or steering the aircraft so as not to crush the seedlings. Problems such as reduced efficiency may occur.

  In order to solve such a problem, there is a system equipped with a so-called automatic straight-ahead system which automatically operates the traveling vehicle body 2 to maintain a straight traveling posture, not by the manual operation of the worker M.

  As shown in FIG. 1, the traveling vehicle body 2 is provided with an antenna frame 201 mounted with a GPS antenna 200 which is a position information acquiring device. The antenna frame 201 has left and right bases attached to the left and right antenna stays 202 provided on the front side of the main frame 2a of the traveling vehicle body 2, and the gate-shaped front frame 201a and the left and right central portions of the front frame 201a in front view And an aft frame 201b directed to the center from the left and right. In addition, the bonnet 11 and the operation seat 13 are arrange | positioned at the back of the space part of the portal type front side flame | frame 201a.

  The height of the antenna frame 201 is preferably the highest in the airframe. Specifically, the upper end of the antenna frame 201 is preferably positioned about 2.5 to 3.5 m above the ground surface. This makes it possible to improve the reception accuracy while preventing the worker M from hitting his head even when standing on the floor step 9. That is, the worker M can easily move on the floor step 9 to improve the working efficiency, and since the GPS antenna 200 is separated upward from the ground surface, the reception accuracy can be improved.

  Further, since the mounting position of the GPS antenna 200 is in the vicinity of the center in the front-rear direction and the left-right direction of the airframe, it is possible to suppress the position information (position coordinates of the airframe) acquired from being separated from the actual airframe position. The setting of the straight traveling position by the automatic straight movement system becomes appropriate, and the working accuracy can be improved.

  In addition, since the pilot seat 13 is located behind the space portion of the front frame 201a, the antenna frame 201 does not block the view of the worker M, so that the deterioration of the visibility is prevented, and the alignment before automatic rectilinear advance is Since it becomes accurate and the field condition and obstacles ahead of the machine can be found early, it is safe to switch to the manual operation by the operator M, and it is possible to suppress the shift of the working position and the like. The GPS antenna 200 may be a single positioning method, a DGPS (relative positioning) method, an RTK (interference positioning) method, or the like, which is suitable for the area to be worked.

  If the ground height of the GPS antenna 200 fluctuates due to the influence of the tilt or vibration of the airframe, the coordinate position different from the actual position of the airframe is measured, the reception accuracy decreases and the airframe travels in the direction deviated from the straight direction. There is something to do. In order to prevent this, in addition to the GPS antenna 200, for example, an inertial measurement device (also referred to as an "IMU (Inertial Measurement Unit)") 210 may be provided. The IMU 210 is acquired by the GPS antenna 200 based on the difference between the height from the ground surface when the traveling vehicle body 2 is in the inclined posture to the GPS antenna 200 and the height from the ground surface when the vehicle body 2 is not inclined to the GPS antenna 200 The control unit 100 corrects the position coordinates.

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

  In addition, in order to automate steering of the front wheels 5 on the left and right, or when the work vehicle 1 is a combine or the like, a turn such as crawlers (turning one crawler while rotating the other crawler while stopping either crawler) is automated. In addition, an automatic steering device (also referred to as an "automatic rectilinear advance device") 220 for rotating the steering wheel 10 automatically is provided.

  The automatic rectilinear advance device 220 is based on, for example, the difference between the X coordinate of the current position information of the machine calculated by the control device 100 (see FIG. 2) and the X coordinate of the position information as the reference acquired earlier. As the amount of operation of the steering wheel 10 is varied, the steering wheel 10 is operated to turn left and right so that the machine body travels in a straight direction, and the operation of the steering wheel 10 is stopped when the machine body travels in a straight direction.

  In addition, as a steering actuator which operates the steering wheel 10, it comprises, for example, an electric or hydraulic motor or cylinder.

  As described above, the handle 10 is automatically operated based on the difference of the X coordinate of the position information calculated by the control device 100, and the machine body can be automatically aligned in the straight direction, so that the work position by the work machine 3 There is no shift in the lateral direction, and it becomes difficult to generate a place where work is not performed in the field. As a result, it is not necessary to manually perform the work at the place where the work was not performed, and the labor of the worker can be reduced.

  In addition, since it is possible to prevent overlapping of the work position of the work strip of the previous process and the work strip of the current process, it is possible to prevent the extra consumption of working materials such as seedlings, seeds and fertilizers, and reduce the work cost. While being able to aim at, generation | occurrence | production of the growth defect by excess supply of a working material can be prevented.

  Here, depending on the area, for example, the seedling transplanting machine 1 climbs from one field to another in the other field, carries out the planting work of the seedlings in the other field, and passes from the other field again to the other field. There is a case where it is a work form to get in the field (original field) and plant the seedling work in the original field. That is, depending on the area, instead of working in a group of fields, a working form is adopted in which work is performed across fields.

  However, in the conventional work vehicle (seedling transplanting machine) 1, since the operation of crossing the field is not taken into consideration in the automatic straight advance of the machine body, the machine body can not go over the ridge while going straight on automatically. So, in this embodiment, the automatic straight advance of the machine body is enabled also in the work form which carries out the work across the field. Hereinafter, the automatic straight advance in the present embodiment will be described with reference to FIGS.

  FIG. 2 is a functional block diagram showing each part related to automatic straight advance control including the control device 100. As shown in FIG. FIG. 3A and FIG. 3B are explanatory diagrams of automatic straight advance of the traveling vehicle body 2. 3A schematically shows, in a plan view, the manner in which the vehicle (the traveling vehicle body 2 and the working machine 3) travels in the field F, and FIG. 3B shows the side in which the vehicle travels in the field F. It is shown schematically. FIG. 4 is a flow chart showing a processing procedure of the eyelid crossing control during automatic straight advance.

  As shown in FIG. 2, in the control device 100, a lever potentiometer 231 for detecting the operation position of the shift lever 16, an auxiliary shift position detection switch 232 for detecting the operation position of the auxiliary shift lever 17, A handle potentiometer 233 for detecting the position of rotation is connected to each other. Further, an automatic rectilinear advance setting member 234 is connected to the control device 100 for turning on and off automatic rectilinear advance control of the airframe.

  The automatic rectilinear advance setting member 234 causes the aircraft to acquire coordinates of an automatic rectilinear start point and an automatic rectilinear end point. The automatic rectilinear advance setting member 234 mounts at least one member operable in at least two directions, such as the vertical direction, the lateral direction, and the pushing state and the returning state, or mounts two or more operation members. As the automatic rectilinear advance setting member 234, for example, a finger up lever operable in the vertical direction is used. A toggle switch, a push switch, a joystick or the like may be used as the automatic rectilinear advance setting member 234. By using such a lever or switch, the acquisition operation of the reference point (start point and end point) and the on / off operation of the automatic rectilinear device 220 can be operated by the same hand (one hand), and the operability Can be improved.

  In addition, the control device 100 includes an operation detection sensor 235 for detecting an operation by a work machine, a rotation potentiometer 236 for detecting rotation (inclination) of the center float 33a, and travel distance detection means described later. A rear wheel rotation sensor 237 for detecting the rotation of the wheel 6 is connected.

  The rotation of the left and right rear wheels 6 can be detected by detecting the rotation of the left and right drive shafts respectively connected to the left and right rear wheels 6. By providing the rear wheel rotation sensor 237, the distance from the current position coordinate of the vehicle to the target position coordinate can be determined. The control device 100 calculates the movement distance based on the rotational speed detected by the rear wheel rotation sensor 237 from the position where the ground adjustment rotor 34 is turned “on”, and further calculates the calculated movement distance and the ground adjustment rotor 34 The distance to the Y coordinate position of the position where the "on" is set may be calculated, and if it is within a predetermined distance, a notification unit (buzzer) 250 described later may be operated.

  As shown in FIG. 2, the control device 100 is connected with boundary detection means 230 for detecting a boundary (such as a weir) between one field and another field. As the boundary detection means 230, there are a GPS antenna 200 which is a position information acquisition device, and a tilt sensor 238 which detects a tilt in the longitudinal direction of the vehicle. The boundary detection means 230 may be configured by only one of the GPS antenna 200 and the tilt sensor 238, or may be configured by both.

  Further, the control device 100 is connected to an automatic linear advance device 220 and an HST motor 8 a for driving a continuously variable transmission (HST) 8 that changes the traveling speed of the traveling vehicle body 2. Further, the control device 100 is connected to a lifting device 4 for lifting and lowering the seedling planting unit 30 which is the work machine 3. The control device 100 lifts and lowers the work implement 3, that is, the seedling planting unit 30, to any one of the standby position H0 and the work position H1 (each of which is shown in FIG. 3B) having different heights.

  Further, a display unit (monitor) 240 and a notification unit 250, which will be described later, are connected to the control device 100, respectively. Further, a communication unit 260 is connected to the control device 100. The communication unit 260 can communicate with the communication unit (terminal communication unit) 271 of the information processing apparatus 270 such as a tablet terminal by wireless long distance or short distance communication. The information processing apparatus 270 includes a control unit 272, a storage unit 273, a touch panel 274 for operating the information processing apparatus 270, and the like in addition to the terminal communication unit 271, and various types including position information of the machine acquired by the GPS antenna 200. It is possible to input and output information.

  As shown in FIG. 3A, in the seedling transplanting machine 1 which is a work vehicle, while the traveling vehicle body 2 is automatically made to go straight across the field, the work by the working machine 3 is performed across the field. In this case, the reference traveling line L is set in the first process by the control device 100, and the traveling vehicle body 2 is automatically straight-ahead controlled based on the reference traveling line L set in the first process for the second and subsequent processes.

  As shown in FIG. 3B, the control device 100 works the working machine 3 when crossing the boundary (hereinafter referred to as “the fence”) B between the field F and the field F1 (F2) while the traveling vehicle 2 travels automatically. The position H1 is moved from the position H1 to the waiting position H0, and after exceeding the eyebrow, the position H1 is moved from the waiting position H0 to the working position H1 again.

  As shown in FIG. 4, first, the control device 100 detects whether or not the traveling vehicle body 2 is controlled to be automatically advanced straight (step S101). When the traveling vehicle body 2 is traveling straight ahead automatically (step S101: Yes), the control device 100 executes the overpass control described below. In addition, the control apparatus 100 does not perform overpass control when the traveling vehicle body 2 is not automatically going straight (step S101: No).

  Next, if the control device 100 detects the weir B by the boundary detection means 230 (for example, the GPS antenna 200) while the traveling vehicle 2 travels automatically straight forward (step S102: Yes), the seedling planting unit which is the work machine 3 It is controlled to move 30 from work position H1 to standby position H0, that is, to raise it (step S103). In this case, the boundary detection unit 230 may detect the heel B based on the position information acquired by the GPS antenna 200, or may detect the heel B based on the inclination of the traveling vehicle body 2 by the inclination sensor 238. Good. In addition, when wrinkles B are not detected by the boundary detection means 230 (step S102: No), the process of step S102 is repeated until wrinkles B are detected.

  Next, when it is detected by the boundary detection means 230 that the traveling body 2 has crossed the heel B (step S104: Yes), the rear wheel rotation sensor 237 serving as the traveling distance detection means detects from the heel B of the traveling body 2 A travel distance is detected (step S105). In this case, the boundary detection means 230 may detect that the traveling vehicle body 2 has passed the heel based on the position information acquired by the GPS antenna 200, or based on the inclination of the traveling vehicle body 2 by the inclination sensor 238. It may be detected. If the boundary detection means 230 does not detect that the traveling vehicle body 2 has exceeded the heel B (step S104: No), the process of step S104 is repeated until it is detected that the heel B has been exceeded.

  Next, when the detection value (travel distance) of the rear wheel rotation sensor 237 reaches a predetermined value (step S106: Yes), the control device 100 controls the seedling planting unit 30 which is the work implement 3 from the standby position H0 to the work position. It is controlled to move to H1, that is, to lower it (step S107). If the detection value of the rear wheel rotation sensor 237 does not reach the predetermined value (step S106: No), the process of step S106 is repeated until the predetermined value is reached.

  Here, it is preferable that a sensor (work detection sensor) 235 that detects that the seedling planting unit 30 is at the work position H1 is a planting clutch engagement / disengagement sensor that detects turning on / off of the planting clutch. The work position H1 of the seedling planting unit 30 is a position at which the seedling planting unit 30 descends and the planting clutch is "on".

  According to this configuration, the seedling planting unit 30, which is the working machine 3, is automatically elevated when the traveling vehicle body 2 in the field F is going straight ahead automatically exceeds the ridge B which is the boundary with the other fields F1 (F2). Then, since the seedling planting unit 30 contacts the area other than the field F, the seedling planting unit 30 can be prevented from being damaged. In addition, it is possible to cope with the difference in work mode. For example, even in the case of a work form in which work is performed across fields F, F1, and F2, manual operation on the seedling planting unit 30 becomes unnecessary. As a result, the operability of the machine can be improved, and the workability can be improved.

  In addition, after the traveling vehicle body 2 in automatic going straight in the farmland F passes the weir B which is the boundary with the other farmland F1 (F2), the seedling planting unit 30 which is the working machine 3 descends automatically for work In order to move to the position H1, the manual operation on the seedling planting unit 30 for starting work in another field F1 (F2) is not necessary. As a result, the operability of the machine can be further improved, and the workability can be further improved.

  Further, as shown in FIG. 2, the control device 100 controls the traveling speed of the traveling vehicle body 2 by controlling the drive of the continuously variable transmission (HST) 8. The control device 100 controls the traveling speed of the traveling vehicle 2 to be reduced when the boundary detection means 230 detects the heel B during the automatic straight advance of the traveling vehicle 2. Further, the control device 100 accelerates the traveling speed of the traveling vehicle 2 when the detection value (traveling distance) by the rear wheel rotation sensor 237 serving as the traveling distance detecting means becomes a predetermined value during the automatic straight advance of the traveling vehicle 2. Control.

  According to this configuration, when working in one field F, the traveling vehicle body 2 decelerates automatically when the vehicle turns in front of the kite B, so the turning operation by the operator M becomes easy, and the vehicle turns After that, as the traveling vehicle body 2 is automatically accelerated, it is possible to save time and labor for the operator M to perform the manual acceleration operation.

  Further, the traveling speed control of the traveling vehicle body 2 during the automatic straight advance by the control device 100 can be executed also in the case of the above-described overpass control. In this case, the control device 100 performs control so as to reduce the traveling speed of the traveling vehicle body 2 when the boundary detection means 230 detects the heel B in the above-mentioned heel over control. Further, the control device 100 accelerates the traveling speed of the traveling vehicle body 2 when the detection value (traveling distance) by the rear wheel rotation sensor 237 serving as the traveling distance detecting means becomes a predetermined value in the above-mentioned overpass control. Control.

  According to this configuration, the traveling speed of the traveling vehicle body 2 is reduced when the traveling vehicle body 2 which is automatically going straight in the field F exceeds the ridge B which is the boundary with the other field F1 (F2). It is possible to improve the quality. In addition, by increasing the traveling speed of the traveling vehicle body 2 after the traveling vehicle body 2 in the field F automatically goes straight ahead, it is possible to work efficiently and work efficiency is further improved. Can.

  Here, when setting and registering the reference traveling line L for each field F, it is necessary to use the first process for setting and registering the reference traveling line L. So, in this embodiment, when making the traveling vehicle body 2 go straight on automatically in the information processing device 270, the reference traveling line L set in the field F (and the fields F1 and F2) can be registered. Further, in addition to the registration of the reference travel line L, the information processing device 270 stores the registered reference travel line L, and displays the registered and stored reference travel line L. Thereby, the worker M can browse the reference traveling line L set, registered and stored by the information processing device 270. In addition, the information processing device 270 performs registration, storage, and display of the reference traveling line L in units of fields F, F1, and F2.

  Then, based on reference traveling line L in units of fields F, F1 and F2 registered (and stored) in information processing device 270, control device 100, for example, causes traveling vehicle body 2 to go straight ahead automatically in the next operation.

  According to this configuration, the reference traveling line L for automatic straight advance can be registered, stored and displayed in units of fields F, F1 and F2 in the information processing device 270, so it is necessary to set and register the reference traveling line L for automatic straight ahead again. In the next time (for example, the next year), automatic traveling straight of the traveling vehicle body 2 becomes possible from the first process. Thereby, the working efficiency can be improved.

  In addition, a switch (hereinafter referred to as an “interruption button”) operated in the case of interrupting the automatic straight advance of the traveling vehicle body 2 around the pilot seat 13 (see FIG. 1), and an operation in the case of resuming the interrupted automatic straight advance A switch (hereinafter referred to as a "resume button") may be provided. In this case, the control device 100 interrupts the automatic straight advance of the traveling vehicle body 2 when the interrupt button is pressed, and resumes the interrupted automatic straight advance when the resume button is pressed. This can improve the working efficiency.

  It should be noted that, instead of the above-described interruption button, automatic straight advance of the traveling vehicle body 2 may be interrupted by a brake operation. In the case where the control device 100 is a left and right brake structure in which the brakes for braking the airframe respectively act on the left and right wheels (rear wheel 6), automatic straight travel is not interrupted in the so-called single brake where one brake is operated. . The control device 100 interrupts the automatic straight advance only in the case of both brakes in which both brakes are operated. This can improve the safety. In addition, when resuming the interrupted automatic straight advance, the resumption may be performed by the operation of the resumption button.

  In addition, the control device 100 may be configured to resume the interrupted automatic straight advance when the traveling vehicle body 2 gets on the original traveling line (working position) in the traveling line. This can improve the working efficiency.

  Note that the control device 100 may be configured to emit an alarm (buzzer sound) in the notification unit 250 such as a buzzer when the boundary detection means 230 detects the eyelid B. As a result, it is possible to notify the worker M that the hook B is approaching and to improve the safety. In addition, when the boundary detection means 230 detects the eyelid B, the control device 100 may be configured to issue a warning in the notification unit 250 and to reduce the traveling speed of the traveling vehicle body 2. In this way, the operator M is notified that the tack B is approaching, and the traveling speed is automatically decelerated, and safety can be further improved, for example, if the stride B is exceeded, safety can be exceeded. be able to.

  In addition, control device 100, the traveling distance of traveling vehicle body 2 acquired by GPS antenna 200 or detected by rear wheel rotation sensor 237, and the number of rotations of the implantation rod of planting device 32 of seedling planting section 30 And calculate the distance between the strains (the distance between the strains). Further, the control device 100 causes at least one of the display unit 240 and the information processing device (tablet terminal) 270 to display the calculated shares. In this way, it is possible to notify the worker M of this by displaying the substantial shares. In addition, in the display unit 240 and the tablet terminal 270, it is preferable that the space between the stocks be displayed as "cm".

  Moreover, in addition to the elevation control of the seedling planting part 30 which is the working machine 3, the control device 100 is controlled so as to store the leveling rotor 34 which is the leveling device when the traveling vehicle body 2 exceeds the weir B. Good. That is, when the traveling vehicle body 2 exceeds the weir B, the seedling planting unit 30 is automatically raised and lowered, and the ground leveling rotor 34 is automatically stored. Thereby, it can prevent that the leveling rotor 34 collides with the weir B, and is damaged.

  Further, for example, when it is detected by the human body detection sensor that the worker M has left the operator's seat 13, the control device 100 switches the setting of the hydraulic sensitivity to “soft”. Thereby, the vibration of the machine body can be absorbed, and for example, when the operation of replenishing the seedlings to the seedling tank 31 (see FIG. 1) is performed, the operation of planting seedlings can be stabilized.

  Further, for example, when it is detected by the human body detection sensor that the worker M has left the operator's seat 13, the control device 100 switches the rolling setting of the seedling planting unit 30 to “sensitive”. In this way, it is possible to absorb the vibration of the machine body and stabilize the operation such as planting of the seedlings when the operation of replenishing the seedlings to the seedling tank 31 (see FIG. 1) is performed, for example.

  In addition, while the traveling vehicle 2 travels straight ahead automatically, the control device 100 makes a sharp move of the steering wheel 10 before reaching the vicinity (front side) of the eyelid B based on the position information acquired by the GPS antenna 200 and the detection signal of the steering wheel potentiometer 233. When such a turning operation (so-called sudden handle) is detected, control is performed to prohibit the automatic raising and lowering of the seedling planting section 30. Thus, the attitude of the vehicle can be maintained, and the safety can be improved.

  Next, the automatic rectilinear advance device 220 will be described with reference to FIGS. 5, 6A and 6B. FIG. 5 is an explanatory view of the arrangement of the automatic rectilinear device 220. As shown in FIG. 6A and 6B are explanatory diagrams of the configuration of the automatic rectilinear advance device 220. FIG. In addition, in FIG. 5, the left side of the seedling transplanting machine 1 is shown typically. 6A shows the back of the automatic rectilinear device 220, and FIG. 6b shows the left side of the automatic rectilinear device 220.

  As shown in FIG. 5, an automatic rectilinear advance device (hereinafter referred to as “straight advance assist unit”) 220 (hereinafter referred to as “straight advance assist unit”) is located inside the bonnet 11 on the front side of the traveling vehicle body 2 and below the steering wheel 10 See FIG. 6A). The straight advancing assist unit 220 automatically steers the steering wheel 10 by the drive (rotation) control of the steering wheel shaft 10a that supports the steering wheel 10 by the control device 100 (see FIG. 2).

  As shown in FIGS. 6A and 6B, the straight-line assist unit 220 operates the steering wheel 10 (see FIG. 5) by a steering actuator (hereinafter referred to as a “straight-line assist motor”) 221 during automatic straight ahead of the traveling vehicle body 2 (see FIG. 5). Drive. The straight advancing assist unit 220 is provided in a column 10 b covering the lower portion of the handle shaft 10 a.

  Further, the rectilinear advance assist unit 220 includes an input gear 223, an output gear (hereinafter, referred to as “final gear”) 224, and a counter gear 225 in a casing 222. In addition, the rectilinear advance assist unit 220 includes a turning angle sensor 226. The input gear 223 is provided on the side of the rectilinear assist motor 221, and the final gear 224 is provided on the side of the handle shaft 10a. The final gear 225 is provided on the input shaft 301 of the torque generator 300 disposed at the lowermost portion of the handle shaft 10a.

  The counter gear 225 is provided between the rectilinear assist motor 221 and the final gear 224. The counter gear 225 is disposed close to the casing 222 with a small gap with respect to the casing 222. The turning angle sensor 226 is a sensor that detects the turning angle of the steering wheel 10, and is provided to the final gear 224.

  The straight advance assist unit 220 is disposed on the torque generator 300 in the column 10 b. In addition, the column 10 b of the straight advancing assist unit 220 is fixed on the casing 222 by a fastening member 227 such as a bolt.

  According to this configuration, by disposing the rectilinear advance assist unit 220 in the column 10b, it is possible to add a rectilinear advance function without changing the exterior and the appearance shape. Thereby, the enlargement can be suppressed.

  Further, by providing the final gear 224 on the input shaft 301 of the torque generator 300, the input shaft 301 of the torque generator 300 and the handle shaft 10a can be coaxially arranged. As a result, the rectilinear assist unit 220 itself and the periphery of the handle shaft 10a can be configured simply and compactly.

  Further, by providing the counter gear 225 between the rectilinear assist motor 221 and the final gear 224, the number of teeth of each of the gears 224, 225 can be reduced. As a result, the rectilinear assist unit 220 itself and the periphery of the handle shaft 10a can be configured simply and compactly, and the rectilinear assist unit 220 can be easily accommodated in the column 10b.

  Further, by providing the final gear 224 with a turning angle sensor 226 for detecting the turning angle of the steering wheel 10, if the rotation angle of the final gear 224 is detected, the turning angle of the steering wheel 10 can be detected. Thereby, the turning angle of the steering wheel 10 can be detected directly, and fine steering control can be performed.

  In addition, since the gap between the casing 222 and the counter gear 225 is reduced by closely arranging the casing 222 and the counter gear 225, even if the counter gear 225 falls off, it deviates from the drive shaft of the rectilinear assist motor 221 As a result, since the counter gear 225 bites into the casing 222, it is possible to prevent a failure such as the handle 10 being locked.

  Furthermore, by fixing the column 10b on the casing 222, the rectilinear advance assist unit 220 and the column 10b can be integrated, and the rigidity can be enhanced.

  Here, returning to FIG. 5, for example, a straight advance assist monitor 310 that displays an automatic straight advance state is provided at a position easy for the worker M to view, such as the front side of the handle 10. The straight advance assist monitor 310 will be described below with reference to FIG.

  FIG. 7 is an explanatory view of the straight traveling assist monitor 310. As shown in FIG. Note that FIG. 7 schematically shows the display surface of the straight advance assist monitor 310. As shown in FIG. 7, the straight-line assist monitor (hereinafter referred to as “monitor”) 310 includes a straight-line assist lamp 311, an A-point lamp 312 and a B-point lamp 313. Prepare. The monitor 310 notifies the worker M of various information in automatic straight advance by the display mode of the three lamps 311, 312, 313. Therefore, the monitor 310 can be configured simply and inexpensively.

  In the monitor 310, for example, the A point lamp 312 blinks when the orientation of the aircraft is shifted to the right. By flashing the A point lamp 312, the operator M is urged to turn the handle 10 (see FIG. 5) to the left. Further, in the monitor 310, for example, when the orientation of the aircraft is shifted to the left, the B-point lamp 313 blinks. By blinking the B point lamp 313, the operator M is urged to turn the handle 10 to the right. As described above, by setting the A point lamp 312 and the B point lamp 313 in the same display mode as the direction indicator, it is possible to convey to the worker M the direction in which the handle 10 is cut in an easy-to-understand manner.

  Further, in the monitor 310, both the A point lamp 312 and the B point lamp 313 are turned on when the vehicle is capable of traveling straight ahead automatically. Further, when the automatic straight-ahead traveling is set to "on", for example, when the ground aligning rotor 34 is "off", the automatic straight-ahead traveling can not be set to "on". ) Emits a buzzer sound, and the straight advance assist lamp 311 at the center blinks twice, for example. With this display mode, the operator M is notified that automatic straight ahead traveling is not possible. Therefore, the monitor 310 can be configured simply and inexpensively.

  Further, on the monitor 310, both the A point lamp 312 and the B point lamp 313 are turned on when the vehicle is in the state of being able to go straight on automatically, and the GPS is turned on, for example, In the case of GPS reception failure by the antenna 200, automatic straight-ahead traveling can not be turned “on”. In this case, for example, a buzzer sound is issued from the notification unit 250 (see FIG. 2), and the straight advance assist lamp 311 at the center is Flashes 3 times. With this display mode, the operator M is notified that automatic straight ahead traveling is not possible. Therefore, the monitor 310 can be configured simply and inexpensively. Further, by changing the number of blinks of the straight advance assist lamp 311 from the other warning times, it is possible to notify the worker M of the content of the warning depending on the display mode.

  In addition, the monitor 310 is provided with a GPS lamp 314. The GPS lamp 314 has three indicator lamps, and changes the number of indicator lamps in accordance with the GPS reception state. The monitor 310 notifies the worker of the GPS reception state by the display mode. For this reason, it is possible to prevent the automatic straight traveling in the state of GPS reception failure. The lamps 311, 312, 313, 314, the notification unit 250, and the like described above are controlled by the control device 100 (see FIG. 2).

  Next, with reference to FIGS. 8-14, the modification of the working vehicle (seedling transplanter) 1 is demonstrated. In the following, first, the first modification will be described using FIGS. 8 to 10C, and then the second modification will be described using FIGS. 11 to 12, and then, using FIGS. 13 to 14. The third modified example will be described.

  8 and 9 are explanatory views of a first modified example of the work vehicle (seedling transplanter). 8 schematically shows the front of the seedling transplanting machine 1A according to the first modification, and FIG. 9 schematically shows the left side of the seedling transplanting machine 1A according to the first modification. . 10A to 10C are explanatory diagrams of first to third display examples of the first modified example of the work vehicle. The first modification described below is different from the above-described seedling transplanting machine 1 in that the monitor 320 is provided on the front side of the machine body, and the other configurations are the same. The explanation is omitted.

  As shown in FIGS. 8 and 9, the seedling transplanting machine 1 </ b> A includes a monitor 320 on the top of the front frame 201 a of the antenna frame 201. The monitor 320 is, for example, a transparent liquid crystal monitor that does not interfere with the visibility of the worker M. The monitor 320 is provided so as to straddle the left and right front frames 201a. The monitor 320 is provided to be located in front of the face of the worker M seated in the cockpit 13. The monitor 320 displays various types of information on automatic straight ahead.

  As shown in FIG. 10A, as a first display example of the monitor 320, the center mascot 14 (see FIG. 1) may be displayed on the display screen (screen 321A) instead of the actual one. Moreover, as shown to FIG. 10B, you may display the working condition by the working machine 3 (seedling planting part 30) on a display screen (screen 321 B) as a 2nd display example of the monitor 320. FIG. Further, as shown in FIG. 10C, as a third display example of the monitor 320, maintenance information may be displayed on the display screen (screen 321C). The display examples of the monitor 320 are not limited to these.

  According to this configuration, it is possible to visualize various information for the worker M, and it is possible to abolish or integrate the conventional various monitors.

  11 and 12 are explanatory views of a second modified example of the work vehicle (seedling transplanter). Note that FIG. 11 schematically shows the front of the seedling transplanting machine 1B according to the second modification, and FIG. 12 schematically shows the left side of the seedling transplanting machine 1B according to the second modification. . Also in the second modification described below, the seedling transplanting machine 1 described above is different in that the sunshade plate 330 is provided on the front side of the machine body, and the other configurations are the same. The code is attached and the explanation is omitted.

  As shown in FIGS. 11 and 12, the seedling transplanting machine 1 </ b> B is provided with a sunshade plate 330 on the top of the front frame 201 a of the antenna frame 201. In addition, the sunshade plate 330 is, for example, a colored transparent acrylic plate, protects the worker M from direct sunlight, and secures the visibility of the worker M. The sunshade plate 330 is provided so as to straddle the left and right front frames 201a.

  As shown in FIG. 12, the sunshade plate 330 is provided so as to be rotatable in the vertical direction. In addition, when an operation procedure for automatic straight advance, safety precautions, and the like are described on the back surface of the sunshade plate 330, it is possible to alert the operator M about the operation and safety. In addition, you may describe the operation point about automatic straight advance, safety cautions, etc. by sticking a label etc.

  According to this configuration, the worker M can awn out and can alert the worker M about the operation and safety related to the automatic straight advance.

  13 and 14 are explanatory views of a third modified example of the work vehicle (seedling transplanter). In addition, FIG. 13 schematically shows the front side plane of the seedling transplanting machine 1C according to the third modification, and FIG. 14 schematically shows the right side face of the seedling transplanting machine 1C according to the third modification. There is. Also in the third modification described below, the above-described seedling transplanting machine 1 is different from the above-described seedling transplanting machine 1 in that the tablet storage portion 340 is provided on the front side of the machine body, and the other configurations are the same. The sign is attached and the explanation is omitted.

  As shown in FIGS. 13 and 14, the seedling transplanting machine 1C has a tablet terminal (for example, the above-described information processing device 270) on the lower side of the cockpit 13 (between the cockpit 13 and the upper surface of the engine cover 12). A tablet storage unit 340 that can be stored is provided. Further, as shown in FIG. 13, a drawer arm 341 is provided below the pilot seat 13.

  The drawer arm 341 enables the tablet terminal 270 to be inserted into and removed from the tablet storage unit 340 as shown by the arrow in FIG. 14, and the tablet terminal 270 extracted from the tablet storage unit 340 is a worker M at the front side of the cockpit 13. Hold to be visible from. The operator M seated on the control seat 13 operates the tablet terminal 270 held by the drawer arm 341 between the left and right legs.

  In addition, a joint 342 is provided at the tip of the drawer arm 341. The tablet terminal 270 held by the drawer arm 341 is adjustable in angle by a joint portion 342 such as a ball joint.

  According to this configuration, by providing the tablet storage unit 340 for storing the tablet terminal 270 below the cockpit 13, for example, it is possible to cope with a work vehicle in which securing of the attachment position of the tablet terminal 270 such as a tractor or combine is difficult It can be done. Moreover, waterproofness can be improved. In addition, the tablet terminal 270 is pulled out from the tablet storage unit 340 and held when the tablet terminal 270 is used, and stored in the tablet storage unit 340 when not in use. Therefore, the operability also becomes good.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the invention are not limited to the specific details and representative embodiments represented 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 their equivalents.

1 Work vehicle (seedling transplanter)
DESCRIPTION OF SYMBOLS 2 traveling vehicle body 2a main frame 3 working machine 30 seedling planting part 31 seedling tank 32 planting device 33a center float 33b side float 34 landing device (grounding rotor)
4 Lifting device (lifting link)
40 Link frame 41 Lower link arm 42 Lifting cylinder 43 Upper link arm 5 Front wheel 6 Rear wheel 7 Transmission case 8 Continuously variable transmission (HST)
8a HST motor 9 floor step 10 handle 10a handle shaft 10b column 11 bonnet 11a front cover 12 engine cover 13 pilot seat 14 center mascot 15 fertilization device 16 shift lever 17 sub shift lever 100 control device 200 position information acquisition device (GPS antenna)
201 antenna frame 201a front frame 201b rear frame 210 inertial measurement unit (IMU)
220 Automatic Straight-Line Device (Automatic Steering Device, Straight-Line Assist Unit)
221 Steering actuator (straight forward assist motor)
222 Casing 223 Input gear 224 Output gear (final gear)
225 counter gear 226 turning angle sensor 230 boundary detection means 231 lever potentiometer 232 auxiliary shift position detection switch 233 handle potentiometer 234 automatic straight advance setting member 235 operation detection sensor 236 rotation potentiometer 237 travel distance detection means (rear wheel rotation sensor)
238 Tilt sensor 240 Display (monitor)
250 notification unit (buzzer)
260 communication unit 270 information processing apparatus (tablet terminal)
271 Communication unit (Terminal communication unit)
272 control unit 273 storage unit 274 touch panel 300 torque generator 301 input axis 310 linear assist monitor 311 linear assist lamp 312 A point lamp 313 B point lamp 314 GPS lamp 320 monitor 321A screen 321B screen 321B screen 321C screen 330 sunshade plate 340 tablet storage unit 341 drawer Arm 342 Joint B Boundary (畦)
E Engine F Field F1 Other Field F2 Other Field H0 Standby Position H1 Working Position L Reference Driving Line

Claims (5)

With a traveling car body that can travel in the field,
A position information acquisition device for acquiring position information of the traveling vehicle body;
An automatic rectilinear device for automatically advancing the traveling vehicle body based on the position information acquired by the position information acquisition device;
A liftable work machine attached to the traveling vehicle body;
A control device that raises and lowers the work machine so as to move it to any one of a standby position and a work position having different heights;
Boundary detection means for detecting the boundary between the field and other fields;
The controller is
The work vehicle is moved to the standby position when the boundary is detected by the boundary detection means while the traveling vehicle body is going straight on automatically. And a travel distance detection unit configured to detect a travel distance from the boundary of the traveling vehicle body.
The controller is
The work vehicle according to claim 1, wherein the work machine is moved to the work position when the detection value by the travel distance detection means becomes a predetermined value during the automatic straight advance of the traveling vehicle body. The controller is
While further controlling the traveling speed of the traveling vehicle body,
When the boundary is detected by the boundary detection means while the traveling vehicle is traveling straight ahead, the traveling speed is reduced,
The work vehicle according to claim 2, wherein the traveling speed is increased when the detection value by the traveling distance detection means becomes a predetermined value during the automatic straight advance of the traveling vehicle body. The automatic rectilinear advance device
Provided in a column covering the handle axis supporting the handle,
A steering actuator for driving the steering wheel;
A final gear provided on the input shaft of the torque generator,
A counter gear provided between the steering actuator and the final gear and disposed close to the casing;
A turning angle sensor provided on the final gear for detecting a turning angle of the steering wheel;
The work vehicle according to any one of claims 1 to 3, wherein the work vehicle is disposed on the torque generator in the column and the column is fixed on the casing. An information processing apparatus for inputting and outputting various information including the position information;
The information processing apparatus is
It is possible to register a reference traveling line in the field when the traveling vehicle body is made to go straight ahead automatically.
Register, save and display the reference driving line on a field basis,
The controller is
5. The traveling vehicle body is made to go straight on automatically at the next operation in the field using the reference traveling line of the field unit registered in the information processing device. Work vehicle described.