JP2009000080A - Paddy field working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent a state in which a marker is broken by coming into contact with a ridge between rice fields, when an automarker function is equipped in a paddy field working machine having left and right markers. <P>SOLUTION: The paddy field working machine is equipped with a turning detection means for detecting initiation of turning and a travel distance detection means for detecting the travel distance of the machine body based on the rotation number of a wheel. The end of turning is detected based on the initiation of turning detected by the turning detection means and the travel distance of the machine body detected by the travel distance detection means. A marker control means which operates a marker in a working posture to be a housed posture when a grounding implement 5 rises, and operates a marker 19 opposite to the marker 19 operated in the working posture to be the working posture based on the detection of end of the turning. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to marker operation control in a paddy field machine.

  In a riding type rice transplanter which is an example of a paddy field work machine, as disclosed in Patent Document 1, a seedling planting device (corresponding to a ground work device) (4 in FIG. 1 of Patent Document 1) is provided at the rear part of the machine body. Connected up and down freely, equipped with right and left markers (17 in FIG. 1 and FIG. 3 of Patent Document 1) on the right and left side of the seedling planting device, working with the right and left markers grounded on the rice field Some of them are provided with an auto marker function so that they can be manipulated into a working posture for forming an index of a stroke and a retracted posture separated upward from the rice field.

  With the auto marker function, for example, when the right marker is operated to the acting posture and the left marker is operated to the retracted posture and the seedling planting device is raised, the right marker is operated to the retracted posture, Next, when the seedling planting device is lowered, each time the seedling planting device is raised and lowered, the left and right markers are moved so that the left marker is automatically operated to the working posture. It refers to a function that is operated alternately in an action and retracted posture.

  Thus, for example, when the right marker is operated to the acting posture and the left marker is operated to the retracted posture, when the planting process is completed and the aircraft reaches the heel, the seedling planting device is Raise it to turn at the shore. In this case, the right marker is operated in the retracted posture as the seedling planting device rises, and when the seedling planting device is lowered when entering the next planting process after ending the turning at the heel, The left marker is automatically operated to the action posture.

Japanese Patent Application Laid-Open No. 2004-187637 JP 2001-86816 A

  In the riding type rice transplanter, after completing one planting process, the aircraft reaches the shore, raises the seedling planting device and starts turning at the shore, and then the turning at the shore ends. The seedling planting device is lowered before, and the second half of the turn at the shore is performed with the float of the seedling planting device in contact with the rice field, and the heel is leveled by the float of the seedling planting device (Sliding turn).

As a result, when the auto marker function is activated based on only the raising and lowering of the seedling planting device as in Patent Document 1, as described above, the seedling planting device is raised to start turning at the heel. Later, when the seedling planting device is lowered before the turn at the end of the heel is finished, if the seedling planting device is lowered in the vicinity of the cocoon, this is opposite to the marker that has been operated in the acting posture. The marker on the side is manipulated to the acting posture, and there is a risk that the marker contacts the heel and breaks.
An object of the present invention is to prevent a state in which a marker touches a ridge and breaks in a paddy field working machine equipped with right and left markers when it has an auto marker function.

[I]
(Constitution)
The first feature of the present invention resides in the following configuration in a paddy field work machine.
The ground work device is connected to the rear of the machine body so that it can be raised and lowered, and the right and left markers that can be operated in the retracted posture away from the surface and the working posture that touches the surface of the table and forms an index of the work process are grounded. Alternatively, it is provided on the right and left sides of the aircraft. A turn detection means for detecting that the turn has started, and a travel distance detection means for detecting the travel distance of the airframe based on the number of rotations of the wheels, and a turn start and travel distance detection detected by the turn detection means. The end of turning is detected based on the travel distance of the airframe detected by the means. When the ground work device is lifted, a marker control means for operating the marker of the acting posture to the retracted posture and operating the marker on the opposite side of the marker that has been manipulated to the acting posture based on the detection of the end of turning. Prepare.

(Function)
According to the first feature of the present invention, the marker control means operates based on the travel distance of the machine body in addition to the start of turning (for example, raising of the ground work device or steering operation over the set angle of the wheel).
If the wheel is in a state of turning in the same turning direction from the start of turning to the end of turning, and turning in a semicircle, the turning distance of the aircraft will continue to turn, so turning starts By detecting the travel distance of the aircraft, it is possible to recognize how much the turn has progressed (how much the orientation of the aircraft has changed).

For example, in a state where the right marker is operated to the working posture and the left marker is operated to the retracted posture, one work process is completed, the aircraft reaches the shore, and the ground work device is raised to the shore. When the turning is started, the right marker is operated to the retracted posture as the ground work device is raised. Thereafter, based on the turning start detected by the turning detection means and the travel distance of the airframe detected by the traveling distance detection means, the left marker is operated in the acting posture until the end of turning at the shore is detected. If the end of turning at the heel is not detected even if the ground work device is lowered, the left marker is not operated to the acting posture, and the left marker is detected after the end of turning at the shore is detected. Is operated to the acting posture.
As a result, as described in [Problems to be solved by the invention], even if the ground work device is lowered in the vicinity of the heel before the turn at the end of the heel, the operation posture is operated accordingly. The marker on the opposite side of the marker is not operated to the acting posture, and a state in which the marker is damaged by contact with the heel does not occur.

(The invention's effect)
According to the first feature of the present invention, in the paddy field machine having the right and left markers, when the auto marker function is provided, the turning start detected by the turning detection means and the machine body detected by the travel distance detection means Based on the travel distance, it is possible to prevent the marker from touching the saddle and damaging it by configuring it to detect the end of turning at the shore. I was able to increase it.

[II]
(Constitution)
The second feature of the present invention resides in the following configuration in the paddy field working machine of the first feature of the present invention.
The turning detection means comprises the steering angle detection means for detecting the steering angle of the freely steerable wheel. Based on the steering angle of the wheel detected by the steering angle detection means and the travel distance of the airframe detected by the travel distance detection means, the end of the turn is detected.

(Function)
According to the second feature of the present invention, the “action” described in the preceding item [I] is provided in the same manner as the first feature of the present invention, and in addition to this, the following “action” is provided.
When the wheel is kept in the same turning angle in the turning direction from the start of turning to the end of turning, and is in a state of turning so as to draw one semicircle, the traveling distance of the airframe becomes the progress of turning as it is.
However, in a riding type rice transplanter, which is an example of a paddy field work machine, the wheel is maintained at the same steering angle in the turning direction from the start of turning to the end of turning, so that one semicircle is drawn. For example, as disclosed in Patent Document 2, a riding type rice transplanter equipped with a seedling planting device having a large width such as an eight-row planting type is used in the first half in turning at the shore. After turning (L1 in FIG. 8 of Patent Document 2), there is a case in which the vehicle travels slightly straight (L2 in FIG. 8 of Patent Document 2) and then turns in the second half (L3 in FIG. 8 of Patent Document 2). (There may be a case where the first half turn, the straight running and the second half turn make a single turn).

  Thus, as shown in FIG. 8 of Patent Document 2, when performing the first half turn, straight running, and second half turn, it is only necessary to detect the distance traveled by the aircraft as described in the previous section [I]. Because the distance traveled by the aircraft is detected during straight travel between the first half and the second half of the turn, if the straight travel between the first and second half of the turn is longer, the turn at the shore has not yet been completed. In addition, there is a possibility that the end of turning at the heel is detected during the straight running.

According to the 2nd characteristic of this invention, it is comprised so that the completion | finish of turning at the shore may be detected based on the steering angle of a wheel in addition to the travel distance of a body.
In this case, for example, when the travel distance of the airframe is detected in a state where the wheels are steered in the turning direction, it can be determined that the turning angle of the airframe has increased by the travel distance of the airframe (the turning has progressed) Can judge). Conversely, for example, even if the travel distance of the aircraft is detected in a state in which the wheel is steered to the straight position, it can be determined that the aircraft has just moved straight and that the turning angle of the aircraft has not changed (the turning has not progressed). Can be judged).
As a result, it is possible to recognize whether the turning angle of the aircraft is increasing or not changing during the turning at the shore, even if the first half turn, the straight running and the second half turn are performed as described above. It is possible to recognize that the turning angle of the airframe has not changed during straight running during the first half and the second half of the turn, and it is possible to appropriately recognize the end of turning at the shore.

(The invention's effect)
According to the second feature of the present invention, the “effect of the invention” described in the preceding item [I] is provided in the same manner as the first feature of the present invention. In addition, the following “effect of the invention” is provided. ing.
According to the second feature of the present invention, by considering the steering angle of the wheel in addition to the travel distance of the fuselage, even if the first half turn, the straight running and the second half turn are performed at the shore turn, As a result, it was possible to properly recognize the end of the turn at the top, and to prevent the marker from coming into contact with the ridge and damaging the paddy field work machine.

[III]
(Constitution)
The third feature of the present invention resides in the following configuration in the paddy field working machine of the first or second feature of the present invention.
Slip rate detecting means for detecting the slip rate of the wheel with respect to the paddy field is provided. The end of turning is detected in consideration of the slip ratio of the wheel detected by the slip ratio detecting means.

(Function)
According to the third feature of the present invention, the “action” described in the preceding item [I] [II] is provided in the same manner as the first or second feature of the present invention. In addition, the following “action” is provided. It has.
The paddy field on which the paddy field machine travels is generally slippery. Therefore, if a lot of slip occurs on the wheels, the wheel is rotating a lot, but the machine body is actually not traveling so much. As described in the preceding paragraphs [I] and [II], when detecting the travel distance of the aircraft based on the number of rotations of the wheels, if a lot of slip occurs on the wheels, the aircraft is actually not traveling much. The mileage of the aircraft may become a large value.

According to the third aspect of the present invention, the end of turning at the heel is detected in consideration of the slip ratio of the wheel.
In this case, in a slippery paddy field, even though the wheels are rotating a lot, even if the aircraft is actually not traveling very much, the actual aircraft is considered by adding the slip ratio of the wheels. (For example, a value close to the actual travel distance of the aircraft can be obtained by adding a correction value based on the slip ratio of the wheels to the travel distance of the aircraft).

(The invention's effect)
According to the third feature of the present invention, the “effect of the invention” described in the preceding paragraphs [I] and [II] is provided in the same manner as the first or second feature of the present invention. The effect of the invention is provided.
According to the third feature of the present invention, the configuration is such that the end of turning at the shore is detected in consideration of the slip ratio of the wheel, so that even a slippery paddy field has a value close to the actual travel distance of the aircraft. As a result, it is possible to better prevent the marker from being damaged by contact with the heel.

[IV]
(Constitution)
A fourth feature of the present invention resides in the following configuration in any one of the paddy field working machines of the first to third features of the present invention.
Initialization means for initializing the operation of the marker control means if the end of turning is not detected even if the travel distance of the airframe detected by the travel distance detection means exceeds the set distance from the start of turning detected by the turning detection means. Prepare.

A fifth feature of the present invention resides in the following configuration in any one of the paddy field work machines according to the first to third features of the present invention.
An initialization unit is provided for initializing the operation of the marker control unit when the end of the turn is not detected even after the set time has elapsed from the start of the turn detected by the turn detection unit.

(Function)
According to the fourth feature (fifth feature) of the present invention, the “action” described in the preceding items [I] to [III] is provided in the same manner as any one of the first to third features of the present invention. In addition to this, the following "action" is provided.
In the riding type rice transplanter, which is an example of a paddy field work machine, in addition to turning at the shore where the direction of the aircraft is changed by about 180 degrees, for example, when entering the paddy field from the paddy or when leaving the paddy field, it is not the center of the paddy field. For example, when planting along a kite, the aircraft may turn about 90 degrees. In such a turn, after changing the direction of the aircraft by about 90 degrees, it often goes straight.
In such a turn, after the turn has started, the direction of the aircraft has changed by about 90 degrees, and then the straight turn is made and the actual turn is ended, but the turn end is not detected. Thus, the marker control means maintains the standby state in which the marker on the side opposite to the marker that has been operated to the action posture is to be operated to the action posture.

  According to the fourth feature (fifth feature) of the present invention, if the end of turning is not detected even if the travel distance of the airframe exceeds the set distance from the start of turning, the operation of the marker control means is initialized (turning start). If the end of turning is not detected even after the set time has elapsed, the operation of the marker control means is initialized.) In the marker control means, the marker on the side opposite to the marker that has been operated in the action posture is applied. The standby state to be operated in the posture is released.

(The invention's effect)
According to the fourth feature (fifth feature) of the present invention, as in any one of the first to third features of the present invention, the “effect of the invention” described in the preceding items [I] to [III] is provided. In addition to this, the following “effects of the invention” are provided.
According to the fourth feature (fifth feature) of the present invention, the marker on the opposite side of the marker that has been operated to the acting posture is set to the acting posture in the turning other than the turning at the time of changing the direction of the aircraft by about 180 degrees. By canceling the standby state to be operated, it is possible to prevent problems caused by the marker control means being maintained in the standby state.

[1]
As shown in FIG. 1, a link mechanism 3 is supported in a freely movable manner at the rear part of the machine body supported by right and left front wheels 1 (corresponding to wheels) and right and left rear wheels 2 (corresponding to wheels). A single-acting hydraulic cylinder 4 that drives the link mechanism 3 up and down is provided, and a seedling planting device 5 (corresponding to a ground work device) is supported at the rear of the link mechanism 3, and is an example of a paddy field work machine. A riding rice transplanter is constructed. A paddy field generally has a mud or water layer formed on the lower hard cultivator G1, and the uppermost surface of the mud or water layer is a field surface G2, and the right and left front wheels 1, the right and left rear The wheel 2 travels in contact with the tiller G1.

  As shown in FIG. 1, the seedling planting device 5 includes four planting transmission cases 6, a rotary case 7 supported on the left and right of the rear portion of the planting transmission case 6, and rotatably supported at both ends of the rotary case 7. A pair of planting arms 8, a plurality of grounding floats 9, a seedling platform 10, and the like are provided and configured in an 8-row planting type. A hopper 14 for storing fertilizer and four feeding units 15 in two-row units are provided on the rear side of the driver seat 13, and a blower 16 is provided on the lower side of the driver seat 13. A groover 17 is provided on the ground float 9, and a hose 18 is connected across the feeding portion 15 and the groover 17.

  As shown in FIGS. 1 and 3, right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and contact with the surface G2 to form an index of the planting process (work process). It can be freely changed to an action posture (see FIG. 1) and a retracted posture (see FIG. 3) separated upward from the field G2. The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. The electric motor 21 is provided to operate the right and left markers 19 to the working posture and the retracted posture, and the electric motor 21 is operated by the control device 23.

[2]
Next, the transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 2, the power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 via the transmission belt 32, and the auxiliary transmission (not shown) inside the transmission case 34 is shown. ) Through the front wheel differential mechanism (not shown) and the front axle case 35 to the right and left front wheels 1. The power of the auxiliary transmission is a transmission shaft 36, an input shaft 38 of the rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, a transmission shaft 39 to which the bevel gear 39a is fixed, right and left Is transmitted to the right and left rear wheels 2 via the side clutch 40. The hydrostatic continuously variable transmission 33 is configured to be steplessly variable from the neutral position N to the forward side F and the reverse side R, and is hydrostatically driven by a shift lever 45 provided on the left side of the steering handle 20. The continuously variable transmission 33 is operated.

  As shown in FIG. 2, a steering member 41 having a trapezoidal shape in plan view is swingably supported around the vertical axis P <b> 2 at the bottom of the mission case 34, and the steering member 41 is swing-operated by the steering handle 20. The tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. By operating the steering handle 20, the right and left front wheels 1 can be steered from the straight travel position A1 over the right and left steering limits A3.

  As shown in FIG. 2, the right and left side clutches 40 are configured as a friction multi-plate type, and are urged to a transmission state by a spring (not shown). The right and left operation shafts 43 that operate the right and left side clutches 40 against the springs in the disconnected state are supported downward by the rear axle case 37, and the steering member 41 and the right and left operation shafts 43 are supported. The right and left operating rods 44 are connected through the lower side of the front axle case 35. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 2, when the right and left front wheels 1 are steered in the range of the straight advance position A1 and the right and left set angles A2, the interchange of the long holes 44a of the right and left operation rods 44 The right and left side clutches 40 are operated in a transmission state. As a result, the aircraft moves forward (reverse) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

  As shown in FIG. 2, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the long hole 44a of the right operating rod 44 is exceeded. Thus, the right operating rod 44 is pulled, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43. Thus, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (the right side clutch). The airframe turns to the right in a state of free rotation (40 interruption state).

  As shown in FIG. 2, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the long hole 44a of the left operating rod 44 is exceeded. Thus, the left operating rod 44 is pulled, and the left side clutch 40 is operated to be disconnected by the left operating shaft 43. Accordingly, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The airframe turns to the left in a state of free rotation (40 interruption state).

[3]
Next, the transmission system to the seedling planting device 5 and the feeding unit 15 will be described.
As shown in FIGS. 1 and 3, in the transmission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 25, and The power branched from immediately before is transmitted to the feeding portion 15 via the fertilization clutch 27 and the drive rod 30, and an electric motor 28 is provided for operating the planting and fertilization clutches 26, 27 to the transmission and cut-off states.

  As shown in FIGS. 1 and 3, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is turned in the direction shown in FIG. It is rotated in the clockwise direction, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling platform 10 and plant them on the rice field G2. When the planting clutch 26 is operated in the disconnected state, the reciprocating lateral feed drive of the seedling platform 10 and the rotational drive of the rotary case 7 are stopped.

  As shown in FIGS. 1 and 3, when the fertilizer clutch 27 is operated in the transmission state, the fertilizer is fed from the hopper 14 by a predetermined amount by the feeding portion 15, and the fertilizer is made through the hose 18 by the blower 16. The fertilizer is supplied to the rice field G2 through the groove generator 17. When the fertilizer application clutch 27 is operated in the disconnected state, the feeding unit 15 stops and the supply of fertilizer to the surface G2 stops.

[4]
Next, automatic elevation control of the seedling planting device 5 will be described.
As shown in FIG. 3, the rear part of the center grounding float 9 is supported swingably up and down around the horizontal axis P1 of the seedling planting device 5 so that the height of the center grounding float 9 relative to the seedling planting device 5 is increased. A potentiometer 22 for detecting the height is provided, and a detection value of the potentiometer 22 is input to the control device 23. The center grounding float 9 follows the ground surface G2 as the aircraft progresses. By detecting the height of the center grounding float 9 relative to the seedling planting device 5 based on the detection value of the potentiometer 22, the surface G2 ( The height from the center grounding float 9) to the seedling planting device 5 can be detected.

  As shown in FIG. 3, the hydraulic cylinder 4 is provided with a control valve 24 for supplying and discharging hydraulic oil, and the control valve 24 is operated by the control device 23. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5, and when hydraulic oil is discharged from the hydraulic cylinder 4 by the control valve 24, the hydraulic pressure is increased. The cylinder 4 is extended and the seedling planting device 5 is lowered.

  As shown in FIG. 3, based on the height of the center grounding float 9 with respect to the seedling planting device 5 (the height from the field G2 (center grounding float 9) to the seedling planting device 5), the seedling planting device 5 is maintained at the set height from the surface G2 (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center ground float 9) is maintained at the set value). The valve 24 is operated, the hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down (automatic lifting control).

[5]
Next, the lifting lever 11 will be described.
As shown in FIGS. 1 and 3, an elevating lever 11 is provided on the right side of the driver's seat 13, and the elevating lever 11 is configured to be freely operated in an automatic position, a raised position, a neutral position, a lowered position, and a planting position. The operating position of the lift lever 11 is input to the control device 23. A potentiometer 29 that detects the vertical angle of the link mechanism 3 with respect to the airframe is provided, and the detection value of the potentiometer 29 is input to the control device 23.

  As shown in FIG. 3, when the elevating lever 11 is operated to the raised position, the neutral position, the lowered position, and the planting position (when the elevating lever 11 is not operated to the automatic position), it is described in [6] described later. The functions of the first and second raised positions U1 and U2 of the operation lever 12 and the functions of the first and second lowered positions D1 and D2 do not operate, only the functions of the right and left marker positions R and L of the operation lever 12. Operate.

  As shown in FIG. 3, when the elevating lever 11 is operated to the raised position, the automatic elevating control is stopped, the planting and fertilizing clutches 26 and 27 are operated to be disconnected by the electric motor 28, and the right and left are controlled by the electric motor 21. The control valve 23 is operated to the supply position by the control device 23, the hydraulic cylinder 4 is contracted and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position with the elevating lever 11 in the raised position, the control valve 24 is operated to the neutral position by the control device 23, and the hydraulic cylinder 4 automatically stops.

  As shown in FIG. 3, when the elevating lever 11 is operated to the lowered position, the automatic elevating control is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state by the electric motor 28, and the right and left are controlled by the electric motor 21. The control valve 24 is operated to the discharge position by the control device 23 with the marker 19 in the retracted position, and the hydraulic cylinder 4 extends and the seedling planting device 5 is lowered. When 9 touches the surface G2, the automatic lifting control is activated, and the seedling planting device 5 comes into contact with the surface G2 and stops.

  As shown in FIG. 3, when the elevating lever 11 is operated to the neutral position, the automatic elevating control is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state by the electric motor 28, and the right and left are controlled by the electric motor 21. In the state where the marker 19 is operated to the retracted position, the control valve 24 is operated to the neutral position by the control device 23, and the hydraulic cylinder 4 is stopped. Thus, the seedling planting apparatus 5 can be raised and lowered to an arbitrary height and stopped by operating the elevating lever 11 to the raised position, the neutral position, and the lowered position.

  As shown in FIG. 3, when the elevating lever 11 is operated to the planting position, the automatic elevating control is activated in a state where the right and left markers 19 are operated to the retracted position by the electric motor 21, and the electric motor 28 is used for planting. The attachment and fertilization clutches 26 and 27 are operated to the transmission state. As a result, the rotary case 7 is rotationally driven as the seedling platform 10 is reciprocated laterally to the left and right, and the planting arms 8 alternately extract seedlings from the lower part of the seedling platform 10 and plant them on the rice field G2. The fertilizer is fed from the hopper 14 by a predetermined amount by the feeding unit 15, and the fertilizer is supplied to the groove forming device 17 through the hose 18 by the blower 16, and is supplied to the surface G <b> 2 through the groove forming device 17. The

[6]
Next, the operation lever 12 will be described.
As shown in FIGS. 1 and 3, an operation lever 12 is provided on the lower right side below the steering handle 20, and the operation lever 12 extends outward on the right side. The operation lever 12 has a first raised position U1, a second raised position U2, a lower first lowered position D1, a second lowered position D2, a rear right marker position R, and a front left marker position L from the neutral position N. It is configured to be operable in the cross direction and is biased to the neutral position N, and the operation position of the operation lever 12 is input to the control device 23.

As shown in FIG. 3, the function of the operation lever 12 operates as follows in the state where the elevating lever 11 is operated to the automatic position.
When the operating lever 12 is operated to the second ascending position U2 (when the operating lever 12 is operated to the second ascending position U2 and is operated to the neutral position N), the planting and fertilizing clutches 26 and 27 are operated to the disconnected state by the electric motor 28, The automatic elevation control is stopped, the right and left markers 19 are operated to the retracted position by the electric motor 21, the control valve 24 is operated to the supply position by the control device 23, and the hydraulic cylinder 4 is contracted to plant the seedlings. The device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position by the control device 23, and the hydraulic cylinder 4 automatically stops.

  As shown in FIG. 3, when the operation lever 12 is operated to the second lowered position D2 (operated to the second lowered position D2 and operated to the neutral position N), the control valve 24 is operated by the control device 23 to the discharge position. Then, the hydraulic cylinder 4 extends and the seedling planting device 5 descends. When the center grounding float 9 contacts the surface G2, the automatic lifting control is activated and the seedling planting device 5 contacts the surface G2. And stop. After operating the operating lever 12 to the second lowered position D2 (after operating to the second lowered position D2 and operating to the neutral position N), when the operating lever 12 is operated again to the second lowered position D2, the automatic lifting control is performed. In the activated state, the planting and fertilizing clutches 26 and 27 are operated to the transmission state by the electric motor 28.

  For example, in the state where the automatic lifting control is stopped, the planting and fertilizing clutches 26 and 27 are operated to be disconnected by the electric motor 28, and the right and left markers 19 are operated to the retracted position by the electric motor 21, as shown in FIG. As shown, when the operation lever 12 is operated to the first raising position U1, the control valve 24 is operated to the supply position by the control device 23, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position by the control device 23, and the raising of the seedling planting device 5 is stopped.

For example, in the state where the automatic lifting control is stopped, the planting and fertilizing clutches 26 and 27 are operated to be disconnected by the electric motor 28, and the right and left markers 19 are operated to the retracted position by the electric motor 21, as shown in FIG. As shown, when the operation lever 12 is operated to the first lowered position D1, the control valve 24 is operated to the discharge position by the control device 23, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position by the control device 23, and the descent of the seedling planting device 5 is stopped.
Thus, the seedling planting device 5 can be raised and lowered only while the operation lever 12 is operated to the first raised and first lowered positions U1, D1. It can be stopped by raising and lowering to height.

  As shown in FIG. 3, when the operating lever 12 is operated to the right marker position R (operating to the right marker position R and operating to the neutral position N), the right marker 19 is operated to the operating posture by the electric motor 21. . When the operating lever 12 is operated to the left marker position L (operated to the left marker position L and operated to the neutral position N), the left marker 19 is operated to the operating posture by the electric motor 21.

[7]
Next, a structure related to operation control at the time of cornering will be described.
As shown in FIG. 3, the operation position of the shift lever 45 is input to the control device 23. 2 and 3, a bracket 46 is fixed to the right lateral surface of the mission case 34, and a potentiometer 47 (corresponding to a turning detection means and a steering angle detection means) is fixed to the bracket 46, so that the operation can be performed. A connecting rod 48 is connected through the lower side of the front axle case 35 across the direction member 41 and a detection arm (not shown) of the potentiometer 47. The potentiometer 47 can detect the steering angle of the right and left front wheels 1 (the range of the straight travel position A1 and the right and left steering limits A3) via the steering member 41. A value is input to the control device 23.

  As shown in FIGS. 2 and 3, a ring member 49 having a large number of small irregularities on the outer periphery is externally fitted to the clutch cases of the right and left side clutches 40, and the right and left of the proximity sensor type. The rotation speed sensor 50 is fixed to the upper portion of the rear axle case 37 so as to face the ring member 49, and detection values of the right and left rotation speed sensors 50 are input to the control device 23. As a result, pulses are transmitted from the right and left rotational speed sensors 50 so as to correspond to the respective irregularities of the ring member 49, and the right and left rear wheels are generated by the pulses of the right and left rotational speed sensors 50. The number of rotations of 2 can be detected. In this case, even if the right and left side clutches 40 are operated in the transmission state or in the disconnected state, the rotation numbers of the right and left rear wheels 2 are detected by the right and left rotation number sensors 50. can do.

As shown in FIG. 3, travel distance detection means 51 that detects (accumulates) the first accumulated value C1 of the pulses of the right and left rotational speed sensors 50 and sets the travel distance of the airframe, and the right and left of the cultivation board G1 The second integrated value C2 of the pulses of the slip ratio detecting means 52 for detecting the slip ratio of the rear wheel 2, the automatic lowering means 53, the work clutch operating means 54, and the right and left rotational speed sensors 50 is detected (integrated), and the potentiometer. The control device 23 includes turning angle detection means 55, marker control means 56, and initialization means 57 for detecting the turning angle F1 of the airframe based on the detected value 47 (steering angle of the right and left front wheels 1). It has been.
As a result, the control device 23 performs operation control (first half, middle half, and second half) at the time of turning on the coast as described in [8], [9], [10], and [11] described later.

[8]
Next, the first half of the operation control (rear travel distance L1 and front travel distance L2 in the first half) at the time of turning on the coast will be described with reference to FIGS.
In the riding type rice transplanter provided with the eight-row type seedling planting device 5, as shown in FIG. 7, as shown in FIG. 7, the rear travel stage L1, the first half front travel stage L2, the first half turning course L3, the straight travel stage L4, There is a case where the second half of the turning stroke L5 and the second half of the forward running stroke L6 are performed (the turning at the heel), and the next planting stroke L02 is entered from one planting stroke L01.

  In this one planting stroke L01, for example, it is assumed that the right marker 19 is operated to the acting posture and the left marker 19 is operated to the retracted posture (the acting posture direction MF of the marker 19 described later is set to the right). (Step S0). In this state, the driver performs planting along the index H1 formed on the rice field G2 with the left marker 19 during the previous planting process (not shown) (the seedling planting device 5 is lowered). The transmission state of the planting and fertilization clutches 26 and 27, the transmission state of the right and left side clutches 40), and the aircraft is moved forward. The index H2 of the next planting process L02 is displayed on the surface G2 by the right marker 19. It is formed.

  When the one planting process L01 as described above is completed, the driver performs planting (the seedling planting device 5 is lowered, the planting and fertilizing clutches 26 and 27 are transmitted, right and left side (Transmission state of the clutch 40), the aircraft is moved forward toward kite B, and when the front end of the aircraft reaches kite B (step S1), the shift lever 45 is operated to the neutral position N to stop the aircraft (step). S2) (planting process L01).

  The driver stops the seedling planting device 5 with the elevating lever 11 or the operation lever 12 and raises it (the planting and fertilizing clutches 26 and 27 are disconnected, the seedling planting device 5 is raised) (steps S3 and S4). ) (Blocking position E1 of planting and fertilizing clutches 26, 27). As the seedling planting device 5 is raised, the right marker 19 is operated to the retracted posture, and the right and left markers 19 are operated to the retracted posture (step S5). The shift lever 45 is operated to the reverse side R to move the aircraft backward (step S9). When the aircraft moves backward by a desired travel distance, the shift lever 45 is operated to the neutral position N to stop the aircraft (step S10). ) (Backward progress L1).

  In this case, the action posture direction MF of the marker 19 is “left” based on the fact that the right marker 19 is operated to the action posture (the action posture direction MF of the marker 19 is set to “right”). (Steps S6 and S7). Conversely, if the left marker 19 is operated to the acting posture (if the acting posture direction MF of the marker 19 is set to “left”), the acting posture direction MF of the marker 19 is set to “right”. (Steps S6 and S8).

  The driver operates the shift lever 45 to the forward side F to advance the aircraft (step S11). When the aircraft moves forward by a desired travel distance, the steering handle 20 is operated to steer the right and left front wheels 1 in the turning direction, and the right and left front wheels 1 set the right (left) set angle A2. When the steering operation is performed to the right (left) steering limit A3 side, the side clutch 40 outside the turning is maintained in the transmission state as described in [2] above, The side clutch 40 is operated in the disconnected state. The potentiometer 47 detects that the right and left front wheels 1 have been steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S12) (first half). Previous progress L2).

  In this case, after the driver operates the shift lever 45 to the reverse side R (step S9), the average value of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) is It is starting to be detected (integrated) as the first integrated value C1 (travel distance of the aircraft) until the potentiometer 47 detects that the right and left front wheels 1 have reached the right (left) set angle A2. (Steps S6 to S9), the average value of the pulses of the right and left rotational speed sensors 50 (the rotational speeds of the right and left rear wheels 2) is detected as a first integrated value C1 (travel distance of the aircraft) ( Integrated) (step S101) (travel distance detecting means 51).

  Of the first integrated value C1 (travel distance of the aircraft) of the pulse, the first integrated value C1 (travel distance of the aircraft) at the rearward travel distance L1 and the first integrated value C1 of the pulse at the front travel distance L2 of the first half. By seeing the difference from (the distance traveled by the machine body), the shut-off position E2 of the side clutch 40 on the turning center side can be detected, and the shut-off position E1 of the planting and fertilizing clutches 26 and 27 and the turning center The positional relationship with the cutoff position E2 of the side clutch 40 on the side can be detected (step S13).

  If the right and left side clutches 40 are in the transmission state, there is no difference in the rotational speeds of the right and left rear wheels 2, but the right or left side clutch 40 is operated in the disengaged state at the rear travel stage L1. It is assumed that the steering handle 20 may be operated until it is done. As a result, the average value of the pulses of the right and left rotational speed sensors 50 (the rotational speeds of the right and left rear wheels 2) is detected (integrated) as the first integrated value C1 (travel distance of the aircraft). (Step S101).

[9]
Next, the middle half of the operation control at the time of turning on the coast (the first half turning stroke L3, the straight traveling stroke L4, and the second half turning stroke L5) will be described based on FIG. 5 and FIG.
When the positional relationship between the shut-off position E1 of the planting and fertilizing clutches 26 and 27 and the shut-off position E2 of the side clutch 40 on the turning center side is detected (step S13), it is determined that turning at the heel has started. (Corresponding to a state in which the turning detection means has detected that the turn has been started) (determined that the first half of the turning stroke L3 has been entered), the first set value CA1 and the second set value CA2 are set ( Step S14).

  By detecting the positional relationship between the shut-off position E1 of the planting and fertilizing clutches 26, 27 and the shut-off position E2 of the side clutch 40 on the turning center side (step S13), the shut-off position E2 of the side clutch 40 on the turning center side From how many pulses are transmitted (after reaching the distance traveled by the aircraft), when the planting and fertilization clutches 26 and 27 are operated in the transmission state, the planting and fertilization clutches 26 and 27 are disconnected. It is detected whether the position E1 is coincident with the transmission position E5 of the planting and fertilizing clutches 26, 27, and this detected value is set as the first set value CA1 (step S14).

  By detecting the positional relationship between the shut-off position E1 of the planting and fertilizing clutches 26, 27 and the shut-off position E2 of the side clutch 40 on the turning center side (step S13), the shut-off position E2 of the side clutch 40 on the turning center side From how many pulses are transmitted (after reaching the distance traveled by the aircraft), when the seedling planting device 5 is lowered, the seedling planting device can be contacted at an appropriate timing without contacting the heel B Whether or not 5 can be lowered is detected, and this detected value is set as the second set value CA2 (step S14).

The driver operates the steering handle 20 to cause the aircraft to travel (first half turning stroke L3, straight traveling stroke L4, and second half turning stroke L5).
From the shut-off position E2 of the side clutch 40 on the turning center side, the pulse of the rotation speed sensor 50 on the turning center side (the rotation speed of the rear wheel 2 on the turning center side) (Travel distance), and is added to the first integrated value C1 (travel distance of the fuselage) of the pulses in the rear travel distance L1 and the front travel distance L2 in the first half (step S102) (travel distance detection means 51) .
From the breaking position E2 of the side clutch 40 on the turning center side, a new pulse of the rotation speed sensor 50 (the rotation speed of the rear wheel 2 outside the turning) is detected as the second integrated value C2 of the pulse in the control device 23. (Integration) is performed (step S103).

Based on the second integrated value C2 of the pulse and the detected value of the potentiometer 47 (the steering angle of the right and left front wheels 1), the turning angle F1 of the airframe is detected (integrated) (step S104) (turning angle detection) Means 55).
In this case, the second integrated value C2 of the pulse and the detected value of the potentiometer 47 (how much the current direction of the aircraft has changed with respect to the orientation of the aircraft at the cutoff position E2 of the side clutch 40 on the turning center side) And the detected value is detected (integrated) as the turning angle F1 of the airframe. If the turning angle F1 of the airframe is 90 degrees, the direction of the airframe is right sideways. If the turning angle F1 of the airframe is 180 degrees, the direction of the airframe is opposite. When the second integrated value C2 of the pulse is increased (when integrated) with the right and left front wheels 1 being steered in the turning direction, the turning angle of the aircraft is increased by the increment of the second integrated value C2 of the pulse. It is detected that F1 has increased. Conversely, even when the right and left front wheels 1 are steered to the straight-ahead position A1, even if the second integrated value C2 of the pulse increases (even if it is integrated), the aircraft only goes straight and the turning angle of the aircraft It is detected that F1 has not changed.

The slip ratios of the right and left rear wheels 2 with respect to the tilling board G1 in the first and second turning strokes L3 and L5 are detected (step S105) (slip ratio detection means 52).
In this case, depending on the relationship between the driving force of the rear wheel 2 on the outer side of the turn (the transmission state of the side clutch 40) and the friction coefficient of the tiller G1, slip occurs on the rear wheel 2 on the outer side of the turn (the transmission state of the side clutch 40). It is thought that it occurs or does not occur. If no power is transmitted to the rear wheel 2 on the turning center side (side clutch 40 is disconnected) and the rear wheel 2 on the turning center side (side clutch 40 is off) is free rotating, the turning center side ( Since the rotation of the rear wheel 2 of the side clutch 40 in the disengaged state is a resistance from the cultivator G1 based on the friction coefficient of the cultivator G1, the rear wheel 2 on the turning center side (in the disengaged state of the side clutch 40). It is considered that almost no slip occurs.

  Thereby, it is considered that the rear wheel 2 at the turning center side (the side clutch 40 is disengaged) in the turning strokes L3 and L5 in the first half and the second half rotates according to the tilling board G1 with almost no slip as the machine runs. Therefore, the pulse (rotation speed) of the rotation speed sensor 50 on the turning center side (side clutch 40 disengaged state) and the pulse (rotation speed) of the rotation speed sensor 50 on the rotation outer side (transmission state of the side clutch 40). Based on the ratio, the slip ratios of the right and left rear wheels 2 with respect to the tiller G1 are detected.

For example, the pulse (number of revolutions) of the rotational speed sensor 50 on the outer side of the turn (the transmission state of the side clutch 40) is compared with the pulse (number of revolutions) of the rotational speed sensor 50 on the turning center side (side clutch 40 is disconnected). If the number of pulses (the number of revolutions) is within a predetermined number of pulses (revolutions) in consideration of the difference between the inner and outer wheels of the rear wheel 2 on the turning outer side and the turning center side, slip occurs on the rear wheel 2 on the outer turning side (the transmission state of the side clutch 40). It can be judged that it is not.
Conversely, the pulse (rotation speed) of the rotation speed sensor 50 on the rotation outer side (transmission state of the side clutch 40) is different from the pulse (rotation speed) of the rotation speed sensor 50 on the turning center side (side clutch 40 disengagement state). If the above-mentioned predetermined number of pulses (the number of revolutions) is exceeded, the pulse (number of revolutions) of the revolution number sensor 50 outside the turning (the transmission state of the side clutch 40) and the turning center side (the side clutch 40 is disconnected) ) To the pulse (rotation speed) of the rotation speed sensor 50, the slip ratios of the right and left rear wheels 2 with respect to the tilling board G1 are detected.

[10]
Next, the second half of the operation control (turning in the second half L5 and the forward travel L6 in the second half) during turning at the coast will be described with reference to FIGS.
When the driver operates the steering handle 20 to travel the aircraft and the second integrated value C2 of the pulse reaches the second set value CA2 (step S15) (for example, in the middle of the second turning stroke L5), detection ( The accumulated turning angle F1 of the airframe is corrected based on the slip ratio (step S16). For example, if the slip ratio is large, it can be determined that the turning angle F1 of the airframe has not changed much even though the second integrated value C2 of the pulse is large. Therefore, the slip ratio is changed from the detected (integrated) turning angle F1 of the airframe. The correction value based on it is subtracted.

  As a result, the second integrated value C2 of the pulse reaches the second set value CA2 (step S15), and the corrected turning angle F1 of the fuselage reaches the first set angle FA1 (for example, 150 degrees) ( In step S17), it is determined that the turning at the heel is normally performed, and the seedling planting device 5 in the raised state automatically descends while maintaining the planting and fertilization clutches 26 and 27 in the disconnected state. (Step S18) (automatic lowering means 53).

  When the airframe reaches the end position E4 of the second half of the turning stroke L5, the driver operates the steering handle 20 to steer the right and left front wheels 1 to the straight travel position A1 side. When the steering operation is performed to the straight travel position A1 side beyond the right (left) set angle A2, as described in the preceding item [2], the side clutch 40 outside the turning is maintained in the transmission state, The side clutch 40 on the turning center side is operated to the transmission state. It is detected by the potentiometer 47 that the right and left front wheels 1 have been steered to the straight travel position A1 side beyond the right (left) set angle A2 (step S19) (the second half forward travel distance L5).

  When the potentiometer 47 detects that the right and left front wheels 1 are steered to the straight advance position A1 beyond the right (left) set angle A2 (step S19), the turning at the end is finished. (It is determined that the second half of the previous progress has entered L6). As a result, in the forward travel distance L6 in the latter half, the pulse of the rotation speed sensor 50 on the turning center side (the rotation speed of the rear wheel 2 on the turning center side) is corrected based on the slip ratio (step S20), and the corrected value. Is added to the first accumulated value C1 (travel distance of the aircraft) of the pulses from the rear travel stroke L1 to the second turning stroke L5 to obtain the first accumulated value C1 (travel distance of the aircraft) of the pulses (step S106). ) (Travel distance detection means 51).

  In this case, for example, if the slip ratio is large, it can be determined that the airframe is not moving much even though the first integrated value C1 (travel distance of the airframe) of the pulse is large, so the first pulse of the detected (integrated) pulse is detected. A correction value based on the slip ratio is subtracted from the integrated value C1 (aircraft travel distance), and added (or detected (integrated) the first integrated value C1 (aircraft travel distance) of the pulse is multiplied by the slip ratio. (Corresponding to a state in which the end of turning is detected in consideration of the slip ratio of the wheel detected by the slip ratio detecting means 52).

  When the first integrated value C1 (travel distance of the aircraft) reaches the first set value CA1 (step S21), the detected (integrated) turning angle F1 of the aircraft is corrected based on the slip ratio (step S22). (Step S104). For example, if the slip ratio is large, it can be determined that the turning angle F1 of the airframe has not changed much even though the second integrated value C2 of the pulse is large. Therefore, the slip ratio is changed from the detected (integrated) turning angle F1 of the airframe. The correction value based on the difference is subtracted (corresponding to a state in which the end of turning is detected in consideration of the slip ratio of the wheel detected by the slip ratio detecting means 52).

  Thus, the first integrated value C1 (travel distance of the aircraft) of the pulse reaches the first set value CA1 (step S21), and the corrected turning angle F1 of the aircraft is the second set angle FA2 (for example, 180 degrees). Is reached (step S23), it is determined that the turning at the shore is normally performed (the turning start detected by the turning detection means and the vehicle body detected by the travel distance detection means 51). (Corresponding to a state of detecting the end of a turn based on the travel distance) (based on the steering angle of the wheel detected by the steering angle detection means and the travel distance of the airframe detected by the travel distance detection means 51) , Equivalent to the state of detecting the end of turning).

Therefore, it is determined that the seedling planting device 5 has reached the position E5 next to the blocking position E1 of the planting and fertilization clutches 26 and 27, and the planting and fertilization clutches 26 and 27 are operated to the transmission state ( Work clutch operating means 54) (step S24).
In this case, since the acting posture direction MF of the marker 19 is set to “left” (step S25), the left marker 19 is operated to the acting posture (step S27) (the right marker 19 is held in the retracted posture). (Corresponding to the marker operating means 56), an index H3 for the next planting process is formed on the field G2. Conversely, if the acting posture direction MF of the marker 19 is set to “right” (step S25), the right marker 19 is operated to the acting posture (step S26) (the left marker 19 is held in the retracted posture). (Corresponding to the marker operating means 56). After this, the next planting process L02 is entered.

[11]
In step S17 of FIG. 5, if the corrected turning angle F1 of the aircraft does not reach the first set angle FA1 (for example, 150 degrees), the turning at the shore has not been performed normally, or After the direction is changed by about 90 degrees, it is determined that the vehicle is moving straight as it is, the subsequent steps S18 to S27 are not performed, and the action posture direction MF of the marker 19 is reset ("right" or " The setting “left” is deleted) (corresponding to the initialization means 57).

  In step S23 of FIG. 5, if the corrected turning angle F1 of the airframe does not reach the second set angle FA2 (for example, 180 degrees), the turning at the shore has not been performed normally, or After the direction is changed by about 90 degrees, it is determined that the vehicle is moving straight as it is, the subsequent steps S24 to S27 are not performed, and the action posture direction MF of the marker 19 is reset ("right" or " The setting “left” is deleted) (corresponding to the initialization means 57).

  Thereby, after this, the driver operates the elevating lever 11 or the operating lever 12 to perform the lowering of the seedling planting device 5, planting, and operation of the fertilization clutches 26 and 27 to the transmission state. When the operation lever 12 is operated to the right marker position R (operated to the right marker position R and operated to the neutral position N), and the right marker 19 is operated to the action posture, the action posture direction MF of the marker 19 is “ Set to “Right”. When the operating lever 12 is operated to the left marker position L (the left marker position L is operated to the neutral position N) and the left marker 19 is operated to the operating posture, the operating posture direction MF of the marker 19 is “ Set to “Left”.

[First Alternative Embodiment of the Invention]
In the above-mentioned [Best Mode for Carrying Out the Invention], step S17 in FIG. 5 is abolished and the second integration of pulses is performed even if the first set time has elapsed from step S1 (or steps S11 and S13). If the value C2 does not reach the second set value CA2 (step S15), the turning at the shore is not performed as usual, or after changing the direction of the aircraft by about 90 degrees, It may be determined that there is, and the subsequent steps S16 to S27 are not performed, and the action posture direction MF of the marker 19 may be reset (the setting of “right” or “left” is deleted). (Corresponding to the initialization means 57).

  In the above-mentioned [Best Mode for Carrying Out the Invention], step S23 in FIG. 5 is abolished, and the first integration of pulses is performed even if the second set time has elapsed from step S1 (or steps S11 and S13). If the value C1 (travel distance of the aircraft) does not reach the first set value CA1 (step S21), the turning at the shore is not performed normally or after the orientation of the aircraft is changed by about 90 degrees In this case, it may be determined that the vehicle travels straight as it is, and the subsequent steps S22 to S27 are not performed, and the action posture direction MF of the marker 19 is reset ("right" or "left"). Is deleted) (corresponding to the initialization means 57).

[Second Embodiment of the Invention]
Detection of second integrated value C2 of pulse and potentiometer 47 in turning angle detecting means 55 (step S104 in FIG. 5) of [Best Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] described above. Rather than detecting (integrating) the turning angle F1 of the airframe based on the value (steering angle of the right and left front wheels 1), the first integrated value C1 of the pulse and the detected value of the potentiometer 47 (right and left) The steering angle F1 of the airframe may be detected (integrated) based on the steering angle of the front wheel 1).

[Third Another Embodiment of the Invention]
In the slip ratio detecting means 52 (step S105 in FIG. 5) of the above-mentioned [Best Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] [Second Alternative Embodiment of the Invention] You may comprise as follows.

(1)
The arm portion 19a of the right and left markers 19 shown in FIG. 3 includes a rotation speed sensor (not shown) for detecting the rotation speed of the rotating body 19b, and pulses of the rotation speed sensor 50 for the right and left rear wheels 2 are provided. By comparing (the number of revolutions) with the number of revolutions of the revolution number sensor of the right and left markers 19, the slip ratio of the right and left rear wheels 2 with respect to the tilling board G1 is detected. Thereby, in the planting strokes L01 and L02 in which the right or left marker 19 is operated to the acting posture, it is possible to detect the slip ratio of the right and left rear wheels 2 with respect to the tiller G1.

(2)
In the planting processes L01 and L02 shown in FIG. 7, the actual travel distance of the airframe is detected by GPS, and compared with the pulses (number of rotations) of the rotation speed sensor 50 of the right and left rear wheels 2. The slip ratios of the right and left rear wheels 2 with respect to G1 are detected.

(3)
In the preceding paragraphs (1) and (2) and [Best Mode for Carrying Out the Invention] [First Another Embodiment of the Invention], a rotation speed sensor 50 is provided on the right and left front wheels 1.

[Fourth Embodiment of the Invention]
In the above-mentioned [Best Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] to [Third Alternative Embodiment of the Invention], the right and left markers 19 are placed on the right side of the seedling planting device 5. In addition, the right and left markers 19 may be provided on the right and left sides of the front part of the aircraft instead of being provided on the left side.
As shown in FIG. 7, in the case of performing the rearward travel stroke L1, the first half of the forward travel stroke L2, the first half of the turn stroke L3, the straight travel stroke L4, the second half of the turn stroke L5, and the second half of the forward travel stroke L6 (turning at the edge). In the case of performing only the first half travel distance L2, the first half turn stroke L3, the second half turn stroke L5, and the second half front travel distance L6 (turning on the edge), or only the first half turn stroke L3 and the second half turn stroke L5. It can also be applied to the case of turning (turning on the shore).

Overall side view of riding rice transplanter Plan view showing steering operation system of right and left front wheels, transmission system to right and left front wheels, right and left rear wheels The figure which shows the control system of travel distance detection means, slip ratio detection means, automatic descent means, work clutch operation means, turning angle detection means, marker control means, and initialization means The figure which shows the flow of operation control at the time of turning at the shore The figure which shows the flow of operation control at the time of turning at the shore The figure which shows the flow of operation control at the time of turning at the shore Plan view showing the state when turning on the shore

Explanation of symbols

5 Ground Work Device 19 Marker 47 Turning Detection Means, Steering Angle Detection Means 51 Travel Distance Detection Means 52 Slip Rate Detection Means 56 Marker Control Means 57 Initialization Means G2 Tabu

Claims (5)

Connect the ground work device to the rear part of the aircraft so that it can be raised and lowered,
Provided in the right and left side of the ground work device or the fuselage are the right and left markers that can be operated in a working posture that contacts the surface and forms an index of the work process, and a retracted posture that is separated from the surface. A turning detection means for detecting that it has been started, and a travel distance detection means for detecting the travel distance of the airframe based on the number of rotations of the wheels,
Based on the turning start detected by the turning detection means and the travel distance of the airframe detected by the travel distance detection means, configured to detect the end of turning,
When the ground work device is raised, the marker control means operates the marker in the acting posture to the retracted posture, and manipulates the marker on the opposite side of the marker that has been manipulated to the acting posture based on the detection of the end of turning Paddy field work machine equipped with. The turning detection means comprises the steering angle detection means for detecting the steering angle of the freely steerable wheel,
2. The end of turning is detected based on the steering angle of the wheel detected by the steering angle detection means and the travel distance of the airframe detected by the travel distance detection means. The paddy field machine described. Slip rate detection means for detecting the slip rate of the wheel with respect to the paddy field,
The paddy field work machine according to claim 1 or 2, wherein a turn end is detected in consideration of a slip ratio of a wheel detected by the slip ratio detecting means.   Initializing the operation of the marker control means from the start of turning detected by the turning detection means if the end of turning is not detected even if the travel distance of the airframe detected by the travel distance detection means exceeds a set distance The paddy field work machine according to any one of claims 1 to 3, further comprising a converting means.   The initialization means which initializes the operation | movement of the said marker control means is provided when the completion | finish of turning is not detected even if setting time passes after the turning start detected by the said turning detection means. The paddy field machine as described in any one of.

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