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JP-7855532-B2 - Field implements

JP7855532B2JP 7855532 B2JP7855532 B2JP 7855532B2JP-7855532-B2

Inventors

  • 上田 良平

Assignees

  • ヤンマーホールディングス株式会社

Dates

Publication Date
20260508
Application Date
20230131

Claims (14)

  1. A field implement that is capable of automatically traveling in a field, The cockpit located inside the aircraft, The driver's seat is provided with an armrest that can be adjusted to a position for use and a position for non-use , A control unit that performs the aforementioned control related to automatic driving, Equipped with, The control unit detects a first action, which is the action of a worker on the machine body to change the armrest from the position in use to the position not in use, and prohibits the automatic driving of the field implement.
  2. The machine is equipped with a fertilizer application device supported by the aforementioned body, The field implement according to claim 1 , wherein the control unit detects the operator's second action toward the fertilizer application device and prohibits the automatic operation.
  3. The fertilizer application device has a supply amount setting unit for setting the amount of fertilizer to be supplied, The field implement according to claim 2 , wherein the second operation includes the operation of the operator to set the supply amount.
  4. The fertilizer application device has a lid that can be opened and closed, The field implement according to claim 2 , wherein the second operation includes the operation by the operator to move the lid from a closed state to an open state.
  5. The system includes a seating sensor that detects when the worker is seated in the driver's seat, The field implement according to claim 1 , wherein the control unit detects that the operator has changed from a seated state to an unseaten state in the driver's seat and prohibits the automatic driving.
  6. The field work machine according to claim 5 , wherein the seating sensor includes at least one of a photographing device, a pressure sensor, and a light sensor.
  7. It is equipped with a spare seedling stand for placing spare seedlings. The field work machine according to claim 1 , wherein the control unit detects a third action by the operator toward the reserve seedling tray and prohibits the automatic driving.
  8. The aforementioned spare seedling stand has a spare seedling sensor that detects the presence or absence of a seedling mat on the stand, The field work machine according to claim 7 , wherein the third operation includes the operation of the operator removing the seedling mat from the spare seedling stand.
  9. Equipped with a planting device that has a seedling tray, The planting device has a seedling remaining amount detection sensor that detects the amount of seedlings remaining on the seedling tray, The field work machine according to claim 1 , wherein the control unit prohibits the automatic driving when it determines that the number of seedlings on the seedling tray is below a predetermined amount.
  10. The field implement according to claim 1 , wherein the control unit uses the armrest being in the usage position as the start condition for the automatic driving.
  11. The field implement according to claim 1 , further comprising a biasing member for biasing the armrest, which is in the use position, to the non-use position.
  12. The field implement according to claim 3 , wherein the control unit uses the non-operation state of the supply amount setting unit as the start condition for the automatic driving.
  13. The field implement according to claim 4 , wherein the control unit uses the closed state of the lid as the start condition for the automatic driving.
  14. The field implement according to claim 5 , wherein the control unit sets the operator's seating in the driver's seat as the start condition for the automatic driving.

Description

This invention relates to a field work machine. A work machine equipped with an automatic steering function that automatically steers the steering wheel to follow a target driving path based on position information measured by a positioning unit is known (see, for example, Patent Document 1). Patent Document 1 gives an example of an automatic steering release condition: the driver taking their hands off the steering wheel and then gripping it again. Japanese Patent Publication No. 2016-011024 Side view showing the general configuration of a rice transplanter.Plan view showing the general configuration of a rice transplanter.Block diagram showing the general configuration of a rice transplanter.A flowchart illustrating an example of the transition process from manual to automatic driving mode in a rice transplanter.A flowchart illustrating an example of the transition process from automatic to manual driving mode in a rice transplanter.Diagram illustrating the configuration of the armrest.Diagram illustrating the configuration of the armrest.A flowchart illustrating an example of controlling the driving mode related to the armrest in a rice transplanter.Diagram illustrating the configuration of the armrest in a modified example.Diagram illustrating the configuration of the armrest in a modified example.Flowchart showing an example of controlling the driving mode using a seedling remaining amount detection sensor.Figure 9 is a diagram explaining how to determine "N times". Embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description will not be repeated. Furthermore, in this specification, the direction perpendicular to the travel plane S on which the field implement 1 shown in Figure 1 travels is defined as the up-down direction, with the field implement 1 being considered above the travel plane S. The direction in which the field implement 1 travels in a straight line is defined as the front-rear direction, with the steering wheel 20 being considered in front of the driver's seat 19. The direction perpendicular to the up-down and front-rear directions is defined as the left-right direction, with the right side being to the right when viewed from rear to front, and the left side being to the left. These directions are merely descriptive terms and are not intended to limit the actual positional relationships and directions. Furthermore, in this embodiment, the field implement 1 is a rice transplanter. Hereafter, the field implement 1 will be referred to as the rice transplanter 1. However, the field implement of the present invention may be something other than a rice transplanter. For example, the field implement may be a combine harvester or a tractor. Also, the field implement may be a seeder that sows seeds in the field while traveling, a fertilizer spreader that applies fertilizer to the field while traveling, or a pesticide sprayer that sprays pesticides to the field while traveling, etc. <1. Components of a rice transplanter> Figure 1 is a side view showing the schematic configuration of a rice transplanter 1 according to an embodiment of the present invention. Figure 1 is a left side view in more detail. Figure 2 is a top view showing the schematic configuration of a rice transplanter 1 according to an embodiment of the present invention. Figure 2 is a top view in more detail. The rice transplanter 1 is designed to automatically travel across the field. Automatic travel means that the control unit 50 (see Figure 3 below) of the rice transplanter 1 automatically controls the travel-related devices, and that at least steering is performed autonomously to follow a predetermined path. Automatic travel may also include autonomous control of, for example, vehicle speed. Vehicle speed control may include control to stop the rice transplanter 1 from moving. The rice transplanter 1 travels through the field and performs the planting operation of planting seedlings in the field. As shown in Figures 1 and 2, the rice transplanter 1 comprises a machine body 11 and a working device 12 positioned at the rear of the machine body 11. The aircraft body 11 comprises an aircraft frame 13 and a pair of running gears 14 that support the aircraft frame 13 and are spaced apart from each other in the left-right direction. Each running gear 14 includes a front wheel 14a and a rear wheel 14b. A bonnet 15 is positioned on the front side of the aircraft frame 13. An engine 16 is housed inside the bonnet 15. The power generated by the engine 16 is transmitted to at least one of the front wheel 14a and the rear wheel 14b via a transmission case 17 located below the aircraft frame 13. The power generated by the engine 16 is also transmitted to the work device 12 via the transmission case 17 and a power take-off shaft (hereinafter referred to as "PTO shaft 18") located at the rear of the aircraft