JP2011030579A - Paddy field working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a paddy field working vehicle with improved operation of the right and left markers. <P>SOLUTION: The paddy field working vehicle includes a marker operating means 54 configured to operate the right or left marker 19 in operating attitude into a storage attitude at the arrival of the machine body to the levee edge after an operation stroke with the right or left marker 19 operated in operating attitude, and in the beginning of the next operating stroke after turning of the machine body, the opposite side marker 19 to the stored right or left marker 19 is operated into operating attitude. The vehicle is provided with a manual operating tool for work 12 which operates the right or left marker 19 into operating attitude and storing attitude preferential to the marker operating means 54 in operating attitude of the marker operating means 54. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a structure for turning in a paddy field in a paddy field work vehicle such as a riding type rice transplanter or a riding type direct seeder.

In a riding rice transplanter, which is an example of a paddy field work vehicle, when a single work process is completed and the aircraft reaches the shore, the seedling planting device (equivalent to the work device) is raised from the rice field (non-working state) And turn) (turning substantially U-turn). When the turning is finished, the seedling planting device is lowered to the paddy field (corresponding to the working state), and the next work process is started.
For example, in Patent Document 1, it is determined that the turning has started when the aircraft reaches the heel and the front wheel is steered (paragraph number [0038] of Patent Document 1), and the position of the turning stroke of the aircraft is detected. When it is started (corresponding to the airframe position detecting means) and it is detected that the airframe has reached the turning end position, it is determined that the turning has ended.

In patent document 1, when the front wheel is steered and turning is started, the seedling planting device is configured to automatically rise from the surface (corresponding to a non-working state) (paragraph of patent document 1). No. [0039]), by detecting that the aircraft has reached the turning end position, the seedling planting device is configured to automatically descend to the rice field (corresponding to the working state) (Patent Document 1) Paragraph number [0044]).
Thus, at the end of turning, the driver performs a lowering operation of the seedling planting device with the lifting lever so that the driver does not have to perform the lifting operation of the seedling planting device with the lifting lever at the start of the turning. I do not have to.

JP 2002-233220 A

  When the position of the turning stroke of the airframe is detected at the start of turning of the airframe as in Patent Document 1, for example, when a trouble occurs in the airframe position detecting means for detecting the position of the turning stroke of the airframe, the detection of the turning end position is detected. Is not performed properly, and the operation of the working device to the working state is not performed appropriately.

  In the paddy field work vehicle, the present invention detects the position of the turning stroke of the airframe when the turning of the airframe is started, and the operation device is operated to the working state when the turning end position is detected. It is intended to configure so that the operation to the work state is appropriately performed.

[I]
(Constitution)
The first feature of the present invention is that the paddy field vehicle is configured as follows.
The work device provided in the aircraft is configured to be operable in working and non-working states,
Airframe position detecting means for detecting the position of the airframe's turning stroke as the airframe starts turning, turning end position detecting means for detecting a turning end position based on detection by the airframe position detecting means, and turning end position detection Working device operating means for operating the working device to a working state based on the detection of the means,
A travel distance detecting means for detecting the travel distance of the airframe from the start of turning of the airframe, or an elapsed time detecting means for detecting an elapsed time from the start of turning of the airframe,
Work by the work device operating means until the detection value of the travel distance detection means reaches a preset set distance or until the detection value of the elapsed time detection means reaches a preset set time If the operation to the working state of the apparatus is not completed, a stop means for stopping the operation of the working apparatus operating means is provided.

(Function)
According to the first feature of the present invention, when the position of the turning stroke of the airframe is detected as the airframe starts turning, and when the turn end position is detected based on the detection of the position of the airframe turning stroke, Operated in working state.
According to the first aspect of the present invention, the travel distance of the aircraft from the start of turning of the aircraft is detected (or the elapsed time from the start of turning of the aircraft is detected). In this case, when the aircraft makes a normal turn from the start of turning of the airframe, if the airframe position detection means is operating normally, the operation of the work device from the start of turning of the airframe to the working state of the work device is completed. The travel distance or elapsed time expected to be set may be set in advance as the set distance or set time.

According to the first feature of the present invention, the working state of the working device by the working device operating means from the start of turning of the airframe until the traveling distance of the airframe reaches the set distance or until the set time elapses from the start of turning of the airframe. When the operation on is completed, it is determined that the airframe position detecting means is operating normally.
The operation to the working state of the work device by the work device operating means is not completed until the set distance of the cruising distance from the start of turning of the airframe or until the set time elapses from the start of turning of the airframe. Then, it is determined that the machine body position detection means is not operating normally, and the operation of the work device is not performed (the operation of the work device operation means is stopped).

  In this way, by determining whether or not the airframe position detecting means is operating normally based on the set distance or setting time, if it is not appropriate (if the airframe position detecting means is not operating normally) ), The operation of the working device is not performed. In other words, it is possible to avoid a state in which the operation state of the work device is performed in an inappropriate state (in a state where the body position detection unit is not operating normally).

(The invention's effect)
According to the first aspect of the present invention, the paddy work vehicle is configured to detect the position of the turning stroke of the airframe as the turning of the airframe starts, and to operate the work device to the working state when the turning end position is detected. In this case, it is possible to appropriately obtain the state in which the operation state of the work device is performed and the state in which the operation state is not performed, and the work performance of the paddy field work vehicle can be improved.

  For example, in a riding type rice transplanter that is an example of a paddy field work vehicle, the seedling planting device descends to the surface (corresponding to the working state) based on the detection of the turning end position, and planting that transmits power to the seedling planting device When the operation to the transmission state of the attached clutch (corresponding to the working state) is performed, the operation of lowering the seedling planting device to the surface or the operation to the transmission state of the planting clutch is performed at an inappropriate position. It was possible to avoid the situation that was done, and to improve the planting performance of the riding rice transplanter.

[II]
(Constitution)
The second feature of the present invention resides in the following configuration in the paddy field work vehicle of the first feature of the present invention.
Based on the distance traveled by the aircraft and the steering angle from the straight position of the front wheel, the turning radius of the aircraft and the movement angle by which the aircraft has moved relative to the turning center of the aircraft are detected. The position of the aircraft in the traveling direction of the aircraft before the start of turning is detected by a trigonometric function, and the position of the aircraft in the traveling direction of the aircraft before the start of turning is detected as the position of the turning stroke of the aircraft. Further, the airframe position detecting means is configured.

(Function)
According to the second feature of the present invention, the travel distance of the airframe and the steering angle from the straight position of the front wheel are used, and the steering angle from the straight position of the front wheel is added to the travel distance of the airframe. Thus, it is possible to detect in which direction and how much the aircraft has advanced.
In this way, if it is possible to detect how much the aircraft has traveled in which direction, regardless of whether a large turn or a small turn is performed, before the start of the turn (for example, L01 in FIG. 9). The position of the aircraft (see, for example, Y1 in FIG. 10B) in the traveling direction of the aircraft (see, for example, (+ Y) (−Y) in FIG. 9) can be detected.

  For example, as shown in FIGS. 10 (a) and 10 (b), the turning radius R of the aircraft and the turning center C of the aircraft are determined by the traveling distance G of the aircraft and the steering angle A from the straight traveling position A 1 of the front wheel 1. (For example, based on the wheel base W of the front wheel 1 and the rear wheel 2, the steering angle A from the straight travel position A1 of the front wheel 1, etc.) And the turning radius R can be detected, and the moving angle θ of the airframe can be detected based on the turning center C and the turning radius R of the airframe and the travel distance G of the airframe). By detecting the turning radius and movement angle of the airframe, the position of the airframe in the traveling direction of the airframe before the start of turning can be accurately detected by a trigonometric function (for example, R * SIN in FIG. 10B). (Y1 is detected by (θ)).

  According to the second feature of the present invention, regardless of whether a large turn or a small turn is performed, the position of the airframe in the traveling direction of the airframe before the start of the turn is set as the position of the turning stroke of the airframe. If it can be detected, the turning start position is detected (set), and the turning end position is determined from the turning start position based on the position of the airframe in the traveling direction of the airframe before the start of turning (the position of the turning stroke of the airframe). It can be detected with high accuracy.

(The invention's effect)
According to the second feature of the present invention, by detecting the position of the airframe in the traveling direction of the airframe before the start of turning (the position of the turning stroke of the airframe), the turning end position can be detected with high accuracy, and the turning end position Based on this detection, the working device can be appropriately operated to the working state, and the working performance of the paddy field work vehicle can be improved.

[III]
(Constitution)
The third feature of the present invention resides in the following configuration in the paddy field work vehicle of the first or second feature of the present invention.
When a work manipulating tool for operating the work device is operated between the start of turning of the machine body and the operation of the work device by the work device operating means being completed, the operation of the work device is performed. The stop means is configured to stop the operation of the means.

(Function)
In paddy field work vehicles, not only working device operating means for automatically operating the working device to the working state, but also a work human operating tool for the driver to manually operate the working device (for example, lifting and lowering work devices and work) In many cases, an operation lever or the like for operating a work clutch that transmits power to the apparatus is provided.

  According to the third aspect of the present invention, when the work manual operation tool is operated between the start of turning of the airframe and the end of the operation of the work device by the work device operation means, the work device operation means It is determined that the driver's intention to perform an operation (work) different from the operation to the work state of the work device is performed, and the operation of the work device operation means is stopped (interrupted). Thereby, it is possible to easily shift to an operation (work) different from the operation of the work device to the work state by the work device operation means.

(The invention's effect)
According to the third feature of the present invention, the operation of the work device operating means is stopped (interrupted), and the operation (work) different from the operation to the work state of the work device by the work device operating means can be shifted without difficulty. It was possible to improve the work performance of paddy field work vehicles.

[IV]
(Constitution)
According to a fourth aspect of the present invention, any one of the paddy field work vehicles according to the first to third aspects of the present invention is configured as follows.
The operation device operating means is set to an activated and stopped state, and includes an artificial operation tool that is artificially operated.

(Function)
According to the fourth feature of the present invention, when the work device operating means for automatically operating the work device to the working state needs to be operated, when the driver does not need to be operated, the driver operates the human operation tool. Thus, the operation and stop state of the work device operating means can be arbitrarily set.

(The invention's effect)
According to the fourth feature of the present invention, the operation and stop state of the working device operating means can be arbitrarily set by the driver operating the manipulating operation tool, and the working performance of the paddy field work vehicle is improved. I was able to.

[V]
(Constitution)
The fifth feature of the present invention resides in the following configuration in the paddy field work vehicle of the fourth feature of the present invention.
Even when the engine operation is stopped and the engine is started again in a state where the working device operating means is set to the operating state by the human operation tool, the operating state of the working device operating means is maintained. Configure as follows.

(Function)
In the case where the artificial operation tool as described in the preceding item [IV] is provided, in the state where the driver has operated the artificial operation tool to set the operating state of the work device operation means, for example, the driver has stopped the engine. It is assumed that the work device operating means is configured to be automatically set to the stopped state when the operation is performed.
In this configuration, when the engine start operation is performed after the engine stop operation, the state of the work device operation means is different before and after the engine stop and start operations. There is a possibility that it is forgotten that it is set to the stop state (it may be assumed that the working device operating means is in an operating state), which may cause misunderstanding of the driver.

According to the fifth aspect of the present invention, in a state where the driver has operated the human operation tool to set the operating state of the work device operating means, for example, the driver performs the engine stop operation and restarts the engine operation. If so, the operating state of the work device operating means is maintained.
Thus, even when the driver thinks that the work device operation means is in an operating state at the time of engine stop operation, the state of the work device operation means is the same as the operation state before and after the engine stop and start operations. Therefore, there is no misleading driver.

(The invention's effect)
According to the fifth aspect of the present invention, before and after the engine stop and start operations, the state of the working device operating means is the same as the operating state, which does not cause misunderstanding of the driver. The driver's misoperation was reduced.

[VI]
(Constitution)
According to a sixth aspect of the present invention, in any one of the paddy field work vehicles according to the first to fifth aspects of the present invention, there is a configuration as follows.
A turning start operation means that the turning of the airframe is started by operating the working device in a non-working state based on the steering operation of the front wheels,
Based on the detection of the turning end position detecting means, the work device operating means operates the work device to the working state until the machine travels a predetermined distance set in advance, or is set in advance. Until the predetermined time elapses, even if the steering operation of the front wheels is performed, a check means for blocking the operation of the turning start operation means is provided.

(Function)
In the paddy field work vehicle, when the operator operates the work manipulator as described in the previous section [III] and operates the work device in the non-working state, it is determined that the aircraft starts turning. It is often configured to judge.
In addition to this configuration or instead of this configuration, as disclosed in Patent Document 1, a turning start operation means that the turning of the airframe is started by operating the working device in a non-working state based on the steering operation of the front wheels. (For example, when the driver operates the steering wheel to steer the front wheels, the working device is operated to the non-working state and the aircraft starts to turn).

  When the above-mentioned turning start operation means is provided, the following inconvenience may occur. For example, based on the detection of the turning end position, the driver may operate the control handle to correct the orientation of the aircraft immediately after the working device is operated to the working state. In this case, if the operation of the steering handle by the driver becomes large, the turning start operation means may be activated. If the turning start operation means is activated, immediately after the work device is operated to the working state. It will be operated again in a non-working state.

  According to the sixth aspect of the present invention, from when the work device operating means operates the work device to the working state based on the detection of the turning end position detecting means, until the machine travels a predetermined distance set in advance. Or until the predetermined time set in advance elapses, even if the driver operates the steering handle to correct the orientation of the aircraft, the turning start operation means does not operate. As a result, there is no situation in which the working device is operated again in the non-working state immediately after being operated in the working state.

(The invention's effect)
According to the sixth aspect of the present invention, when the turning device is provided with the turning start operation means that the working device is turned into the non-working state based on the steering operation of the front wheel and the turning of the airframe is started, the working device is put into the working state. As a result, it was possible to prevent a situation where the non-working state was operated again immediately after the operation, and the working performance of the paddy field work vehicle could be improved.

[VII]
(Constitution)
According to the 7th characteristic of this invention, it may comprise as follows in any one of the paddy field work vehicles of the 1st-6th characteristic of this invention.
Informing means for informing the operation and stop state of the working device operating means is provided.

(Function)
According to the seventh feature of the present invention, since the driver can recognize what state (actuation and stop state) the work device operation means is, the state of the work device operation means (operation and stop state). The driver's misunderstanding about

(The invention's effect)
The seventh feature of the present invention is that the driver's misunderstanding regarding the state of the work device operating means (actuated and stopped state) is reduced, and the driver's misoperation based on the misunderstanding can be reduced.

It is a whole side view of a riding type rice transplanter. It is a top view which shows the steering operation system of the right and left front wheels, the transmission system to the right and left front wheels, and the right and left rear wheels. Airframe position detection means, turning start position detection means, turning end position detection means, marker operation means, work device operation means, travel distance detection means, elapsed time detection means, stop means, storage means, turning start provided in the control device It is a figure which shows the control system of an operation means, an automatic raising / lowering control means, a check means, and the 1st and 2nd setting switch. It is a figure which shows the flow of the first half of the control of turning at the shore. It is a figure which shows the flow of the second half of the control of turning at the shore. It is a figure which shows the flow of an action | operation of the travel distance detection means, the elapsed time detection means, and a stop means in the turning at the shore. It is a top view which shows the operation | work form (an empty work process and a work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the operation | work form (turning work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the state of turning at the heel. (A) It is a top view which shows the state which detects the steering angle from the straight position of a wheel base, a front wheel, the turning center of an airframe, and the turning radius of an airframe. (B) It is a top view which shows the state which detects the position of the body in the advancing direction of the body of a work process by the turning radius and movement angle of a body.

[1]
As shown in FIG. 1, a link mechanism 3 is supported by a rear part of a machine body supported by right and left front wheels 1 and right and left rear wheels 2 so that the link mechanism 3 can be moved up and down. And a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3 to constitute a riding type rice transplanter as an example of a paddy field work vehicle. 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 three 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 floats 9, a seedling platform 10, and the like are provided and configured in a six-row planting type. A hopper 14 for storing powdered fertilizer and three feed units 15 (corresponding to a working device) are provided on the rear side of the driver seat 13, and a blower 16 is provided below the driver seat 13. It has been. The float 9 is provided with a groove forming device 17, and a hose 18 is connected across the feeding portion 15 and the groove forming device 17.

  As shown in FIGS. 1 and 3, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and are in contact with the surface G <b> 2 to form an indicator (see FIG. 1). , And a retracted posture (see FIG. 3) that is spaced upward from the surface G2, so that it can be operated freely. 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 will be described.
As shown in FIG. 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 front wheel differential is transmitted from the auxiliary transmission (not shown) of the transmission case 34. It is transmitted to the right and left front wheels 1 via a mechanism (not shown) and a transmission shaft (not shown) of the front axle case 35. The hydrostatic continuously variable transmission 33 is configured to be continuously variable from the neutral position to the forward side and the reverse side. As shown in FIG. 1, a shift lever 45 provided on the left side of the steering handle 20 is provided. To operate the hydrostatic continuously variable transmission 33.

  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 swung by the steering handle 20. The tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. Accordingly, by operating the steering handle 20, the right and left front wheels 1 (steering member 41) can be steered from the straight travel position A1 over the right and left steering limits A3.

  As shown in FIGS. 1 and 2, reinforcing right and left frames 49 are connected across the rear portion of the mission case 34 and the body frame 66. A potentiometer 47 is fixed to the left frame 49 on the side of the body, and a linkage rod 48 is connected across the steering member 41 and the detection arm 47a of the potentiometer 47.

  As shown in FIGS. 2 and 3, the position of the steering member 41 is detected by the potentiometer 47, and the detected value of the potentiometer 47 is input to the control device 23, and the right and left front wheels are detected by the detected value of the potentiometer 47. 1 (steering member 41) is detected a steering angle A from a straight traveling position A1.

[3]
Next, the transmission system to the right and left rear wheels 2 will be described.
As shown in FIG. 2, the power of the auxiliary transmission of the transmission case 34 is the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, the bevel gear 39a meshing with the bevel gear 38a, and the bevel gear 39a. Is transmitted to the right and left rear wheels 2 via a fixed transmission shaft 39, right and left side clutches 40, and right and left axles 65.

  As shown in FIG. 2, the right and left side clutches 40 are configured in a frictional multi-plate type and are urged to a transmission state. The right and left operation shafts 43 for operating the right and left side clutches 40 in the disengaged state are supported downward by the rear axle case 37, and the right and left operation shafts 43 extend between the steering member 41 and the right and left operation shafts 43. The left operating rod 44 is connected. 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 (steering member 41) are steered within the range of the straight travel position A1 and the right and left set angles A2, the right and left operation rods 44 The right and left side clutches 40 are operated in the transmission state by the interchange of the long holes 44a. As a result, the aircraft moves straight 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 (steering member 41) are steered to the right steering limit A3 side beyond the right set angle A2, the length of the right operating rod 44 is increased. The right operating rod 44 is pulled beyond the range of the hole 44 a, 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 (steering member 41) are steered to the left steering limit A3 side beyond the left set angle A2, the length of the left operating rod 44 is increased. The left operating rod 44 is pulled beyond the range of the hole 44a, and the left side clutch 40 is operated to the disconnected state 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).

  As shown in FIGS. 2 and 3, right and left rotational speed sensors 50 are provided in the rear axle case 37, and the right and left rotational speed sensors 50 rotate the lower side of the transmission of the right and left side clutches 40. The detection values of the right and left rotation speed sensors 50 are input to the control device 23. Accordingly, the rotation speeds of the right and left rear wheels 2 are detected by the right and left rotation speed sensors 50 regardless of the transmission state and the disconnected state of the right and left side clutches 40.

[4]
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, the power branched from between the hydrostatic continuously variable transmission 33 and the auxiliary transmission is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 25. The The power branched from between the hydrostatic continuously variable transmission 33 and the auxiliary transmission is transmitted to the feeding portion 15 via the fertilizer clutch 27 and the drive rod 30, and is transmitted through the planting and fertilizer clutches 26, 27. And the electric motor 28 operated to the interruption | blocking state is provided.

  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 clutch 27 is operated in the disconnected state, the feeding unit 15 stops and the supply of fertilizer stops.

[5]
Next, the automatic raising / lowering control means 61 of the seedling planting apparatus 5 will be described.
As shown in FIG. 3, an automatic lift control means 61 is provided in the control device 23. A potentiometer 22 for detecting the height of the central float 9 with respect to the seedling planting device 5 is provided, with the rear portion of the central float 9 supported so as to be swingable up and down around the horizontal axis P1 of the seedling planting device 5. The detection value of the potentiometer 22 is input to the control device 23. As the aircraft moves, the center float 9 follows the ground surface G2 by detecting the height of the center float 9 with respect to the seedling planting device 5 based on the detection value of the potentiometer 22, and the surface G2 (center The height from the 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 float 9 with respect to the seedling planting device 5 (height from the field G2 (center float 9) to the seedling planting device 5), the seedling planting device 5 The control valve 24 is operated so as to maintain the set height from the surface G2 (so that the detected value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central float 9) is maintained at the set value). The cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down (the operation state of the automatic lift control means 61).

[6]
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 can be operated and held in an automatic position, a raised position, a neutral position, a lowered position, and a planting position. The operation position of the elevating lever 11 is input to the control device 23. A potentiometer 29 for detecting the vertical angle of the link mechanism 3 relative to the airframe is provided, and the detection value of the potentiometer 29 is input to the control device 23, and the seedling for the airframe is detected by detecting the vertical angle of the link mechanism 3 relative to the airframe. The height of the planting device 5 can be detected.

  As shown in FIG. 3, control is performed as described below in a state where the elevating lever 11 is operated to the raised position, neutral position, lowered position, and planting position (the elevating lever 11 is not operated to the automatic position). The control valve 24 and the electric motors 21 and 28 are operated by the device 23, and the hydraulic cylinder 4, the planting and fertilizing clutches 26 and 27, and the right and left markers 19 are operated. In this case, the functions of the raised position U and the lowered position D of the operation lever 12 described in [7] to be described later are not activated, and only the functions of the right and left marker positions R and L of the operation lever 12 are activated.

  As shown in FIG. 3, when the elevating lever 11 is operated to the raised position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. 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 in a state where the elevating lever 11 is operated to the raised position, 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 means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. In a state where the hydraulic cylinder 4 is operated, the hydraulic cylinder 4 extends and the seedling planting device 5 is lowered. When the central float 9 comes into contact with the rice field G2, the automatic lifting / lowering control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 has a set height from the rice field G2). (The state in which the seedling planting device 5 automatically moves up and down so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central float 9) is maintained at the set value).

As shown in FIG. 3, when the elevating lever 11 is operated to the neutral position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. The hydraulic cylinder 4 stops in a state where it is operated.
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 means 61 is activated in a state where the right and left markers 19 are operated to the retracted posture, and the planting and fertilizing clutch 26, 27 is operated to the transmission state.

[7]
Next, the operation lever 12 (corresponding to a work artificial operation tool) 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 is configured to be operable in a cross direction from the neutral position N to the upward ascending position U, the downward descending position D, the rear right marker position R, and the front left marker position L, and is biased to the neutral position N. The operation position of the operation lever 12 is input to the control device 23.

  In the state where the elevating lever 11 is operated to the automatic position, the control valve 24 and the electric motors 21 and 28 are operated by the control device 23 based on the operation of the operation lever 12 as described below, and the hydraulic cylinder 4, The attachment and fertilization clutches 26 and 27 and the right and left markers 19 are operated.

  As shown in FIG. 3, when the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N), the planting and fertilizing clutches 26 and 27 are operated to the disconnected state and automatically The raising / lowering control means 61 is stopped, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5, and the right and left markers 19 are operated to the retracted posture as will be described later. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  As shown in FIG. 3, when the operation lever 12 is operated to the lowered position D (operated to the lowered position D and operated to the neutral position N), the automatic lifting control means 61 stops and the planting and fertilizing clutches 26, 27 are stopped. Is operated in the shut-off state, and the hydraulic cylinder 4 is extended and the seedling planting device 5 is lowered while the right and left markers 19 are operated in the retracted posture. When the central float 9 comes into contact with the rice field G2, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 is set at a set height from the rice field G2. So that the seedling planting device 5 automatically moves up and down (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value). .

  As described above, after operating the operating lever 12 to the lowered position D (operating to the lowered position D and operating to the neutral position N), operating the operating lever 12 to the lowered position D again (to the lowered position D again). When operated to the neutral position N), the planting and fertilization clutches 26 and 27 are operated in the transmission state with the automatic lifting control means 61 activated.

As shown in FIG. 3, the following operation is performed in a state where the height of the seedling planting device 5 with respect to the body (detected value of the potentiometer 29) is lower than a predetermined height set in advance.
In a state where the right (left) marker 19 is operated to the retracted position, if the operation lever 12 is operated to the right marker position R (left marker position L) for a first set time (relatively short time) or more, the right The (left) marker 19 is operated to the acting posture.
In a state where the right (left) marker 19 is operated to the acting posture, the operation lever 12 is moved to the right marker position R (left marker position L) for a second set time (a time longer than the first set time) or more. When operated, the right (left) marker 19 is operated to the retracted posture.

  As shown in FIG. 3, when the seedling planting device 5 rises and the height of the seedling planting device 5 with respect to the airframe (the detection value of the potentiometer 29) is higher than a predetermined height set in advance, The right and left markers 19 are operated to the retracted posture. In the state where the height of the seedling planting device 5 with respect to the machine body (the detection value of the potentiometer 29) is higher than a predetermined height set in advance, the operation lever 12 is operated to the right and left marker positions R and L as described above. However, regardless of this, the right and left markers 19 are maintained in the retracted posture.

[8]
Next, the working mode of the riding type rice transplanter will be described.
For example, as shown in FIG. 7 and FIG. 8, a riding rice transplanter may adopt the following working mode in a square paddy field in plan view.

  For example, the aircraft is first positioned at a position K1 shown in FIG. 7, the seedling planting device 5 is lowered to the surface G2, and the left marker 19 is operated to the action posture (the right marker 19 is the retracted posture). In this state, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state and travel along the ridge B, and the left marker 19 forms an index of the next work process L01 on the paddy field (empty work process LA1). . In the idling work process LA1, the planting and fertilizing clutches 26 and 27 are not operated in the transmission state, but the seedling planting device 5 is moved down to the surface G2 to travel. This is because it is erased by the float 9 of the seedling planting device 5.

  As shown in FIG. 7, when the aircraft reaches the edge from the empty work process LA1, the seedling planting device 5 is lifted from the field surface G2, and the turn LL1 (left direction) is performed, and the seedling planting device 5 is moved to the field surface G2. The planting and fertilizing clutches 26 and 27 are operated to the transmission state to enter the work process L01. In the work process L01, the left marker 19 is operated to the retracted position, the right marker 19 is operated to the operating position, and the aircraft is caused to travel along the index formed on the surface G2 in the empty work process LA1. While planting seedlings and supplying fertilizer, the right marker 19 forms an index for the next work process L02 on the rice field G2.

  As shown in FIG. 7, when the aircraft reaches the heel from the work process L01, the planting and fertilization clutches 26 and 27 are operated to be disconnected, the seedling planting device 5 is lifted from the field surface G2, and the turn LL2 (right Direction), the seedling planting device 5 is lowered to the field surface G2, the planting and fertilization clutches 26, 27 are operated in the transmission state, and the operation process L02 is entered. In the work process L02, the right marker 19 is operated to the retracted position, the left marker 19 is operated to the action position, and the aircraft is driven along the index formed on the field G2 in the work process L01. While the planting and the supply of fertilizer are performed, an index of the next work process L03 is formed on the rice field G2 by the left marker 19.

  As shown in FIGS. 7 and 8, a plurality of work strokes L01, L02, L03, L04, L05 and turning LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction), When LL5 (left direction) is performed, a portion where planting of seedlings and supply of fertilizer is not performed along the ridge B is formed. In this state, when the aircraft reaches the heel from the work process L05, the planting and fertilization clutches 26 and 27 are operated to be disconnected, the seedling planting device 5 is lifted from the surface G2, and the turn LL6 (right direction). To position the aircraft at the position indicated by K2.

  At the position indicated by K2, the seedling planting device 5 is lowered to the field surface G2, and the planting and fertilizing clutches 26 and 27 are operated in the transmission state to enter the rotating work process LB1. In the turning work process LB1, there is a cocoon B on the left side of the machine, and there are seedlings planted in the work process L05 on the right side of the machine, so the right and left markers 19 are operated to the retracted posture.

  As shown in FIG. 8, when the aircraft reaches the heel from the turning work process LB1, the planting and fertilization clutches 26 and 27 are operated in the disconnected state, and the seedling planting device 5 is raised from the rice field G2 to 90 degrees. By turning and moving backward, the body is positioned at position K3, the seedling planting device 5 is lowered to the field surface G2, and the planting and fertilization clutches 26 and 27 are operated in the transmission state to perform the next turning operation. Enter the process LB2. In the turning work process LB2, as in the turning work process LB1, the right and left markers 19 are operated to the retracted posture.

  Thereafter, as shown in FIG. 8, the two round work steps LB3 and LB4 (seedling planting device 5 is lowered to field G2 and planting and fertilizing clutches 26 and 27 are operated to the transmission state. , The right and left markers 19 are operated to the retracted posture). The turning work process LB3 travels in the reverse direction in the empty work process LA1 shown in FIG. 7, and when the turning work process LB4 is finished, the aircraft reaches the position where the turn LL6 (right direction) is performed. Thereafter, the aircraft is taken out from the exit of the paddy field near the position where the turn LL6 (right direction) is performed.

  As described above, for example, in a square paddy field in plan view as shown in FIGS. 7 and 8, one empty work process LA1, a plurality of work processes L01 to L05, and four rotating work processes LB1 to LB4 are performed. By doing so, seedlings can be planted and fertilizer can be supplied to all parts of the paddy field.

[9]
Next, the control device 23 will be described.
As shown in FIG. 3, the control device 23 includes a body position detecting means 51, a turning start position detecting means 52, a turning end position detecting means 53, a marker operating means 54, a work device operating means 55, a travel distance detecting means 56, a progress. A time detection unit 57, a stop unit 58, a storage unit 59, a turning start operation unit 60, and a check unit 62 are provided.

  The work device operating means 55 is for operating the planting and fertilizing clutches 26 and 27 to the transmission state based on the detection of the turning end position detecting means 53 as described in [14] described later (turning end). This corresponds to a state in which the working device 5 is operated to the working state based on the detection of the position detecting means 53). As shown in FIG. 3, a first setting switch 46 (corresponding to a human operation tool) that can be operated artificially is provided in the vicinity of the steering handle 20, and the operation position of the first setting switch 46 is input to the control device 23. ing. When the first setting switch 46 is operated to the operating position, an operating state in which the work device operating means 55 is operated is set, and when the first setting switch 46 is operated to the stop position, a stop state in which the working device operating means 55 stops is set. Is set.

  In this case, after the first setting switch 46 is operated to the operating position (the operating state of the working device operating means 55), the engine 31 is stopped by a key switch (not shown), and then the key switch is used. When the engine 31 is started, the state where the first setting switch 46 is operated to the operating position (the operating state of the work device operating means 55) is maintained (the first setting switch 46 is operated to the operating position). State (operating state of the working device operating means 55).

  As described in [14], which will be described later, the marker operating means 54 moves the right or left marker 19 on the side opposite to the turning direction of the machine body to the action posture as the seedling planting device 5 is lowered to the field surface G2. To operate. As shown in FIG. 3, a second setting switch 67 that can be manually operated is provided in the vicinity of the steering handle 20, and the operation position of the second setting switch 67 is input to the control device 23. When the second setting switch 67 is operated to the operating position, an operating state in which the marker operating means 54 is operated is set, and when the second setting switch 67 is operated to the stop position, a stopping state in which the marker operating means 54 stops is set. The

  Thereby, by setting the marker operating means 54 to the operating state, the right and left markers 19 are automatically operated to the action and retracted postures, so that the operation lever 12 is moved to the right as described in [7] above. There is no need to operate the left and right marker positions R and L. When the operating lever 12 is operated to the right and left marker positions R and L in the operating state of the marker operating means 54, the right (left) marker 19 is operated to the action and retracted position in preference to the marker operating means 54. In the stop state of the marker operating means 54, it is necessary to operate the operation lever 12 to the right and left marker positions R and L, and to operate the right and left markers 19 to the action and retracted posture.

  As shown in FIGS. 1 and 3, a rod-shaped center mascot 68 is provided at the front of the aircraft, and a display lamp 69 (corresponding to a notification unit) is provided at the upper end of the center mascot 68. As described in [8] above, when the aircraft is driven along the index of the table surface G2, the driver seated on the driver's seat 13 observes the center mascot 68 and the index of the table surface G2, while indicating the index of the table surface G2. Drive the aircraft along A voice means 70 (corresponding to a notification means) having a voice alarm function is provided.

  In the state where the elevating lever 11 is operated to the automatic position and the first setting switch 46 is operated to the operating position, the machine body position detecting means 51, the turning start position detecting means 52, the turning end position detecting means 53, the work device operating means. 55, the travel distance detection means 56, the elapsed time detection means 57, the stop means 58, the turning start operation means 60, the check means 62, the display lamp 69 and the sound means 70 are as described in [10] to [16] below. Operate.

  Airframe position detection means 51 is the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work process LA1 and work processes L01 to L05 (corresponding to the position of the airframe in the moving direction of the airframe before the start of turning). (Corresponding to the position of the turning stroke of the aircraft) (in other words, the coordinates of the aircraft in the traveling direction of the aircraft before the start of turning are detected). As described in [10] to [16] below, the position Y1 of the body in the advancing direction (+ Y) (−Y) of the body during the empty work process LA1 and the work processes L01 to L05 is performed by the machine position detection unit 51. Is detected.

In the riding type rice transplanter equipped with the 6-row type seedling planting device 5, turning LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction), as shown in FIG. As shown in FIG. 9, LL5 (left direction) is composed of a first half turning stroke L1 and a second half turning stroke L2.
Representing the turning LL2 (right direction) performed between the work strokes L01 and L02, the first half turning stroke L1 (the state where the driver has operated the operating lever 12 to the raised position U) and the first half turning stroke L1 (driving) In the following [10] to [16], the person will operate the steering handle 20 without operating the operating lever 12 to the raised position U) and the latter turning stroke L2.

[10]
Next, the first half of the turning stroke L1 (the state where the driver has operated the operation lever 12 to the raised position U) will be described with reference to FIGS.
When the first setting switch 46 is operated to the operating position (step S1), the display lamp 69 is turned on (step S2). When the first setting switch 46 is operated to the stop position (step S1), the display lamp 69 is turned off (step S3). As shown in FIG. 7, when the aircraft is positioned at the position K1, the seedling planting device 5 is moved down to the surface G2, and the aerial work process LA1 is started, as described in the preceding item [7], the driver The left marker 19 is operated to the acting posture by the operation lever 12.

Assume that in the work process L01, the elevating lever 11 is operated to the automatic position, the first setting switch 46 is operated to the operating position (step S1), and the second setting switch 67 is operated to the operating position. Thereby, the state where the seedling planting device 5 is lowered to the field surface G2 (corresponding to the working state of the working device), the operating state of the automatic lifting control means 61, the transmission state of the planting and fertilizing clutches 26 and 27 (the working of the working device) Corresponding to the state), the transmission state of the right and left side clutches 40, the state where the right marker 19 is operated to the operating posture, the left marker 19 is operated to the retracted posture, and the display lamp 69 is lit. (Step S2).
As shown in FIG. 7, “turning direction of the airframe (leftward direction)” is stored in the storage unit 59 because the turning LL1 (leftward direction) is performed between the empty work stroke LA1 and the work stroke L01. (Step S14).

  When the aircraft reaches the heel in the above-described state, the driver operates the operation lever 12 to the raised position U (operated to the raised position U and to the neutral position N) (step S4). When the operation lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S4), the seedling planting device 5 is automatically lowered to the field G2 (step S17), and planted. The voice means 70 informs that the automatic operation to the transmission state (step S22) is performed on the attachment and fertilization clutches 26 and 27 (operation state of the work device operation means 55) by the voice means 70 in Japanese. (Step S5).

  At the same time, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state (step S6) (corresponding to the non-working state of the working device), and the automatic lifting control means 61 stops (step S7). The hydraulic cylinder 4 is contracted to raise the seedling planting device 5 from the surface G2 (step S8) (corresponding to the non-working state of the working device), and the right marker 19 is operated to the retracted posture (step S9). When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

[11]
Next, following the previous item [10], the first half of the turning stroke L1 (the state in which the driver has operated the operating lever 12 to the raised position U) will be described with reference to FIGS.
When the operating lever 12 is operated to the raised position U (step S4) (corresponding to the start of turning from the work stroke L01), the turning direction detection means 52 causes the machine travel direction (+ Y) (+ Y) ( The position Y1 of the machine body at -Y) is set to "0 (origin)", and "0 (origin)" is detected (set) as the turning start position E1 (step S101). At the same time, “0 (origin)” is detected (set) as the turning end position E3 (step S102).

  When the turning start position E1 is detected (set) in step S101, the travel distance detecting means 56 starts detecting (integrating) the travel distance G of the aircraft from the turning start position E1 (step S51), and the elapsed time. Detection of the elapsed time T from the detection (setting) of the turning start position E1 is started by the detection means 57 (step S52).

  Until the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S10) (right and left (Transmission state of the side clutch 40), the travel distance detection means 56 detects the average value of the pulses of the right and left rotational speed sensors 50 (the rotational speed of the right and left rear wheels 2) as the travel distance G of the airframe ( Accumulated). When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S10) (right or left) The travel distance G of the airframe is detected (accumulated) by 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).

  When the driver operates the operating lever 12 to the raised position U, the steering handle 20 is operated almost simultaneously, the right and left front wheels 1 (steering members 41) are steered in the turning direction, and the first half turning stroke L1. to go into. When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S10), the previous item [2] In the state where the side clutch 40 on the outer side of the turn is operated in the transmission state, the side clutch 40 on the turn center side is operated in the disengaged state (step S11).

When the turning start position E1 is detected (set) in step S101, the machine body position detection means 51 performs the machine body in the traveling direction (+ Y) (−Y) of the machine in the work strokes L01 and L02 based on the following equation 1. Detection of the position Y1 is started (step S103).
Formula 1: Y1 = R * SIN (θ)
R: turning radius of the aircraft θ: angle of movement of the aircraft from the turning start position E1

  As shown in FIG. 10 (a), when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is determined, the turning center C of the fuselage is the right and left rear wheels 2 It is determined that the vehicle is positioned on an extension line of the axle 65 (see FIG. 2), and the wheel bases W (the axles of the right and left front wheels 1 and the axles 65 of the right and left rear wheels 2 (see FIG. 2) 2) and the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is detected. When the turning center C of the airframe is detected, the distance between the left and right center of the airframe and the turning center C of the airframe is detected as the turning radius R of the airframe.

As shown in FIGS. 10A and 10B, in the state where the turning center C and turning radius R of the airframe are detected, the turning center C and turning radius R of the airframe are detected (accumulated) by the travel distance detecting means 56. The moving angle θ of the airframe is detected based on the travel distance G of the airframe to be operated (corresponding to an arc portion with respect to the turning radius R of the airframe). As described above, the position Y1 of the airframe in the forward direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is detected based on Equation 1 based on the turning radius R and the movement angle θ of the airframe (step S103). .
Thus, the position of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02 when the movement angle θ of the aircraft is in the range of 0 degrees (turning start position E1) to 90 degrees (boundary position E2). Y1 is in a state of moving away from the turning start position E1 to (+ Y).

[12]
Next, following the previous item [11], the first half of the turning stroke L1 (the state in which the driver has operated the operating lever 12 to the raised position U) will be described with reference to FIGS.
When the turning start position E1 is detected (set) in step S101, the travel distance G of the airframe detected (integrated) by the travel distance detecting means 56 and the straight travel of the right and left front wheels 1 (steering member 41). Based on the steering angle A from the position A1, the turning angle F1 of the airframe is detected (integrated) from “0” (step S202). In this case, the angle of the current aircraft orientation relative to the orientation of the aircraft at the turning start position E1 (work process L01) depends on the travel distance G of the aircraft and the right and left front wheels 1 ( This is detected based on the steering angle A from the straight position A1 of the steering member 41), and this 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 side to the direction of the airframe at the turning start position E1 (work process L01), and the turning angle F1 of the airframe is 180 degrees. If so, the direction of the machine body is opposite to the direction of the machine body at the turning start position E1 (work process L01) (work process L02).

  In the state where the right and left front wheels 1 (steering member 41) are steered in the turning direction, if the travel distance G of the airframe increases (accumulated), the increase of the travel distance G of the airframe It is detected (integrated) that the turning angle F1 has increased. On the contrary, in the state where the right and left front wheels 1 (steering member 41) are steered to the straight travel position A1, even if the travel distance G of the fuselage increases (accumulates), the fuselage only moves straight. Thus, it is detected (integrated) that the turning angle F1 of the airframe has not changed.

  In the state where the second setting switch 67 is operated to the operating position (the operating state of the marker operating means 54) (step S201), the turning angle F1 of the airframe is detected (integrated) (step S202). In a state where the 2 setting switch 67 is operated to the stop position (stop state of the marker operation means 54) (step S201), the detection (integration) of the turning angle F1 of the airframe is not performed.

[13]
As described in the preceding paragraphs [10] to [12], the driver operates the operation lever 12 to the raised position U (operates to the raised position U and operates to the neutral position N) (step S4). Apart from entering the turning stroke L1, the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2. Therefore, there is a state where the first half of the turning stroke L1 is entered. Hereinafter, this state will be described with reference to FIGS.

  When the aircraft reaches the heel, the driver operates the steering handle 20 without operating the operating lever 12 to the raised position U, and steers the right and left front wheels 1 (steering member 41) in the turning direction. Suppose that When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S31), the previous item [2] As described above, in the state where the side clutch 40 on the outer side of the turn is operated in the transmission state, the side clutch 40 on the turn center side is operated in the disconnected state (step S33).

  At the same time, the seedling planting device 5 is automatically lowered to the field G2 (step S17), and the planting and fertilizing clutches 26 and 27 are automatically operated to the transmission state (step S22) (operation). The voice means 70 notifies the user that the device operating means 55 has been activated (step S32).

  The planting and fertilization clutches 26 and 27 are operated in the disconnected state by the turning start operation means 60 (step S34) (corresponding to the non-working state of the working device), and the automatic lifting control means 61 stops (step S35). The hydraulic cylinder 4 is contracted to raise the seedling planting device 5 from the surface G2 (step S36) (corresponding to the non-working state of the working device), and the right marker 19 is operated to the retracted posture (step S37). ), The process proceeds from step S37 to step S12. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S31) (from work stroke L01) In step S101, operations similar to those described in [11] and [12] are started.

[14]
Next, the second half of the turning stroke L2 will be described with reference to FIGS.
If the turning angle F1 of the airframe exceeds 90 degrees (boundary position E2), it is determined that the airframe has entered the latter turning stroke L2. Since the direction of the airframe L2 in the second half is opposite to the direction of the airframe in the first half of the turning stroke L1, the position Y1 of the airframe in the moving direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is In this state, the vehicle approaches the turning start position E1 (turning end position E3).

  In this case, when the second setting switch 67 is operated to the operating position (the operating state of the marker operating means 54) (step S12), the turning angle F1 of the airframe is set to the set turning angle FA1 (for example, 100 degrees to 150 degrees). When it reaches (step S13), it is determined that the turning at the shore is performed as usual, the turning direction of the aircraft is detected by the potentiometer 47, and the detected turning direction of the aircraft is stored (updated) in the storage means 59. (Step S14). In the turning LL2 (right direction), the storage means 59 stores (updates) “the turning direction of the airframe (right direction)”.

  When entering the second half of the second turning stroke L2, the driver operates the steering handle 20 to operate the right and left front wheels 1 (steering member 41) to the straight advance position A1 beyond the right (left) set angle A2. (Step S15). As a result, the side clutch 40 on the turning center side is operated to the transmission state (step S16), and the aircraft enters the straight traveling state. When the aircraft enters a straight-ahead state, the calculation according to Equation 1 is not performed, and the average value (negative 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 the work process. It is detected as the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft of L01 and L02.

  When the potentiometer 47 detects that the right and left front wheels 1 (steering member 41) have been operated beyond the right (left) set angle A2 to the straight travel position A1 side (step S15), planting and The seedling planting device 5 is automatically lowered while maintaining the disengagement state of the fertilizer clutches 26 and 27 (step S17).

When the height of the seedling planting device 5 with respect to the aircraft (detected value of the potentiometer 29) becomes lower than a predetermined height set in advance (see [7] in the previous section) due to the lowering of the seedling planting device 5, the marker operation is performed. The means 54 operates the left marker 19 on the opposite side to the “turning direction (right direction) of the aircraft” stored in the storage means 59 to the acting posture (step S19).
In the state where the second setting switch 67 is operated to the operating position (the operating state of the marker operating means 54) (step S18), it is opposite to the “turning direction (right direction) of the aircraft” stored in the storage means 59. The left marker 19 on the side is operated to the acting posture (step S19), and when the second setting switch 67 is operated to the stop position (stopped state of the marker operating means 54) (step S18), The operation to the acting posture of the right or left marker 19 is not performed.

  When the center float 9 comes into contact with the rice field G2 due to the lowering of the seedling planting device 5, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (step S20). (Seedling planting device 5 is maintained at the set height from the field G2 (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value)) The state where the planting device 5 automatically moves up and down).

  When the turning end position detecting means 53 detects that the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 has reached the turning end position E3 (step S21) The planting and fertilizing clutches 26 and 27 are operated to the transmission state by the device operating means 55 (step S22) (corresponding to the state in which the work devices 5 and 15 are operated to the working state based on the detection by the turning end position detecting means 53). ). Thereby, planting of seedlings by the seedling planting device 5 (rotating case 7, planting arm 8) and supply of fertilizer to the field surface G2 by the feeding unit 15 are started, and the next work process L02 is started.

[15]
Next, the operation of the stopping means 58 in the first half and the second half of the turning strokes L1 and L2 will be described with reference to FIGS.
As described in [11] above, when the turning start position E1 is detected (set) in step S101, the traveling distance detection unit 56 detects (accumulates) the traveling distance G of the aircraft from the turning start position E1. Is started (step S51). At the same time, the elapsed time detector 57 starts detecting the elapsed time T from the detection (setting) of the turning start position E1 (step S52).

In this case, when the aircraft makes a normal turn from the turning start position E1, the detection of the turning end position E3 from the turning start position E1 (planting by the work device operating means 55) is performed if the body position detecting means 51 is operating normally. The travel distance that is predicted to have been completed (operation to the transmission state of the attachment and fertilization clutches 26 and 27) is set in advance in the control device 23 as the set distance G1.
When the aircraft makes a normal turn from the turning start position E1, if the airframe position detecting means 51 is operating normally, the turning end position E3 is detected from the turning start position E1 (planting and fertilizing by the work device operating means 55). The elapsed time expected to end the operation of the clutches 26 and 27 in the transmission state) is set in advance in the control device 23 as the set time T1.

  Planting and fertilizing clutches 26 and 27 by the working device operating means 55 until the travel distance G of the machine body reaches the set distance G1 (step S53) and until the elapsed time T reaches the set time T1 (step S54). When the operation to the transmission state (step S22) is completed (step S58), the process proceeds to step S1 (step S62), and it is determined that the body position detection means 51 is operating normally.

  Planting and fertilizing clutches 26, 27 by the work device operating means 55 until the travel distance G of the machine body reaches the set distance G1 (step S53) or until the elapsed time T reaches the set time T1 (step S54). If the operation to the transmission state (step S22) is not completed, it is determined that the body position detecting means 51 is not operating normally, the display lamp 69 blinks (step S59), and the planting and fertilizing clutch 26 is obtained. 27, the automatic operation to the transmission state (step S22) is in a stopped state (stopped state of the work device operation means 55) by the voice means 70 in Japanese voice (step S60). ). At the same time, steps S4 to S22 are stopped (interrupted) by the stop unit 58 (step S61) (corresponding to the state where the operation of the work device operating unit 55 is stopped by the stop unit 58), and the process proceeds to step S1 ( Step S62).

  Until the travel distance G of the aircraft reaches the set distance G1 (step S53) and until the elapsed time T reaches the set time T1 (step S54), the operation lever 12 is moved to the raised position U, the lowered position D, the right and When operated to one of the left marker positions R and L (step S55) (the work device 5 between the start of turning of the machine body and the operation of the work device 5 to the work state by the work device operation means 55 is completed). This corresponds to the state in which the work manipulating tool 12 for operating is operated), the process proceeds to steps S59 and S60, the process proceeds to step S61 by the stopping means 58, and the process proceeds to step S62.

  When the first setting switch 46 is operated from the operating position to the stop position until the travel distance G of the aircraft reaches the set distance G1 (step S53) and until the elapsed time T reaches the set time T1 (step S54). (Step S56), the process proceeds to Steps S59 and S60, the process proceeds to Step S61 by the stopping means 58, and the process proceeds to Step S62.

  The second setting switch 67 is operated from the operating position to the stop position until the traveling distance G of the aircraft reaches the set distance G1 (step S53) and until the elapsed time T reaches the set time T1 (step S54). Then (when operated from the stop position to the operating position) (step S57), the process proceeds to steps S59 and S60, the process proceeds to step S61 by the stop means 58, and the process proceeds to step S62.

[16]
Next, it is detected by the turning end position detecting means 53 that the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 has reached the turning end position E3. A state after the planting and fertilization clutches 26 and 27 are operated in the transmission state by 55 will be described with reference to FIGS. 5 and 9.

  In order to correct the direction of the aircraft after the second half of the turning stroke L2 has ended and the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02 has reached the turning end position E3. The driver may operate the steering handle 20. In this case, if the operation of the steering handle 20 by the driver becomes large, the right and left front wheels 1 (steering member 41) may exceed the right (left) set angle A2, and are described in [13] above. The turning start operation means 60 may be activated.

When the second turning stroke L2 is finished and the planting and fertilizing clutches 26 and 27 are operated to the transmission state by the work device operating means 55 (step S22), the traveling distance detecting means 56 turns the right and left rotational speeds. Based on the average value of the pulses of the sensor 50 (the number of rotations of the right and left rear wheels 2), the detection (integration) of the travel distance G11 of the aircraft from the turning end position E3 is started (step S23). At the same time, the elapsed time detecting means 57 starts detecting the elapsed time T11 from the detection of the turning end position E3 (step S24).
A sufficient travel distance expected to be necessary for correcting the orientation of the aircraft is set in the control device 23 in advance as the predetermined distance G12, and a sufficient elapsed time expected to be required for correcting the orientation of the aircraft is a predetermined time. It is set in advance in the control device 23 as T12.

  Thus, the right and left front wheels 1 (steering member 41) until the aircraft travel distance G11 reaches the predetermined distance G12 (step S25) or until the elapsed time T11 reaches the predetermined time T12 (step S26). ) Exceeds the right (left) set angle A2, the check means 62 prevents the turning start operation means 60 from operating. After the travel distance G11 of the aircraft reaches the predetermined distance G12 (step S25) and the elapsed time T11 reaches the predetermined time T12 (step S26), the process proceeds to step S1.

[First Alternative Embodiment for Implementing the Invention]
In steps S51 to S54 of FIG. 6 in the above-mentioned [Description of the Invention], steps S52 and S54 are not performed instead of detecting (accumulating) the travel distance G of the aircraft and detecting the elapsed time T. It may be configured to delete and only detect (accumulate) the travel distance G of the aircraft. Steps S51 and S53 may be deleted and only the elapsed time T may be detected.

  In steps S23 to S26 of FIG. 5 in the above-mentioned [DETAILED DESCRIPTION OF THE INVENTION], steps S24 and S26 are not performed instead of detecting (accumulating) the travel distance G11 of the aircraft and detecting the elapsed time T11. It may be configured to delete and only detect (accumulate) the travel distance G11 of the aircraft. Steps S23 and S25 may be deleted and only the elapsed time T11 may be detected.

[Second embodiment for carrying out the invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention], instead of storing the turning direction of the fuselage in the storage means 59, the marker operating means 54 and the storage means 59 are described below. You may comprise so that it may operate | move like.

  When the right or left marker 19 of the acting posture is operated to the retracted posture as the seedling planting device 5 rises from the surface G2, the right or left marker 19 operated to the retracted posture is stored in the storage means 59. . As the seedling planting device 5 is lowered to the surface G2, the right or left marker 19 on the opposite side of the right or left marker 19 stored in the storage means 59 is operated to the action posture.

  In this case, as shown in the work process L01 of FIG. 9, when the aircraft reaches the heel in a state where the right marker 19 is operated to the acting posture (the left marker 19 is the retracted posture), the surface of the seedling planting device 5 As the vehicle moves up from G2, the right marker 19 is operated to the retracted position, and the turn LL2 (right direction) is performed to enter the next work process L02, which is opposite to the turn direction (right direction) of the aircraft. The left marker 19 is operated to the action posture.

  In other words, as the seedling planting device 5 rises from the field surface G2, the right marker 19 of the acting posture is operated to the retracted posture, and as the seedling planting device 5 descends to the field surface G2, the seedlings The left marker 19 on the opposite side to the right marker 19 operated to the retracted posture as the planting device 5 rises from the surface G2 is operated to the acting posture. As a result, the right or left marker 19 on the side opposite to the turning direction of the machine body is operated to the operating posture, and the seedling planting device 5 (working device) is operated to the retracted posture as it rises from the surface G2. Manipulating the marker 19 on the opposite side of the right or left marker 19 to the acting posture is synonymous.

[Third Another Mode for Carrying Out the Invention]
In step S103 of FIG. 4 in the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention] [Second Alternative Mode for Carrying Out the Invention], based on Equation 1, Instead of configuring the body position detection means 51 so as to detect the position Y1 of the body in the traveling direction (+ Y) (−Y) of the body in the work process LA1 and work processes L01 to L05, the body position detection means 51, The turning start position detecting unit 52 and the turning end position detecting unit 53 may be configured as follows.

  When the operating lever 12 is operated to the raised position U (or the right and left front wheels 1 (steering member 41) exceed the right (left) set angle A2 and to the right (left) steering limit A3 side. When the steering operation is performed), the integration of the detection value of the rotation speed sensor 50 on the turning center side is started (corresponding to the turning position detection means 51), and separately from this, the detection value of the rotation speed sensor 50 on the turning center side Is set as the origin (corresponding to the turning start position detecting means 52), and a set value (corresponding to the turning end position E3) is set with respect to the origin.

  Turning LL1 (left direction), LL2 (right direction), LL3 (left direction), LL4 (right direction), LL5 (left direction), and turning LL6 (right direction) shown in FIG. 7 are all the same body turns. The radius and the travel distance of the aircraft are recognized, and the detected value of the rotation speed sensor 50 on the turning center side is recognized as a value representing the position of the turning stroke of the aircraft, and corresponds to the above-described set value (corresponding to the turning end position E3). ) Is preset.

Before the detected value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the set value, the right and left front wheels 1 (steering member 41) go straight beyond the right (left) set angle A2. The side clutch 40 on the turning center side is operated in the transmission state, and the seedling planting device 5 is automatically lowered.
Next, when the detected value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the set value described above, it is determined that the turning end position E3 has been reached (corresponding to the turning end position detecting means 53), and planting is performed. And the fertilization clutches 26 and 27 are operated to a transmission state.

[Fourth embodiment for carrying out the invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention] [Second Alternative Mode for Carrying Out the Invention], the right and left front wheels 1 (steering members 41) Every time the steering angle A from the rectilinear position A1 changes, the turning center C and turning radius R of the airframe, the distance traveled by the airframe G, the detection of the moving angle θ of the airframe, the empty work stroke LA1 and the work stroke L01 according to Equation 1 Instead of detecting the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe of L05, the following configuration may be used instead.

In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 9, nine regions (0 ° to 10 ° regions, 10 ° to 20 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree area, 20 degree to 30 degree area, 30 degree to 40 degree area, 40 degree to 50 degree area, 50 degree to 60 degree area, 60 degree to 70 degree area, 70 degree to 80 degree area The turning radius R of one aircraft (the turning radius R of the aircraft corresponding to the central angle of the region) is set in each of the nine regions.
For example, in the region of 0 to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 (steering member 41) is 5 degrees (FIG. 10 (a) ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

  When the steering angle A from the rectilinear position A1 of the right and left front wheels 1 (steering member 41) is in the region of 0 degrees to 10 degrees, the rectilinear position A1 of the right and left front wheels 1 (steering member 41) Even if the steering angle A changes, the turning radius R of one aircraft in the range of 0 to 10 degrees is used regardless of this, and the travel distance G of the aircraft, the detection of the movement angle θ of the aircraft, 1 detects the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and the work strokes L01 to L05.

  At 10 degrees to 20 degrees, as described above, the turning distance R of one aircraft in the region of 10 degrees to 20 degrees is used to detect the traveling distance G of the aircraft and the movement angle θ of the aircraft. The position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and work strokes L01 to L05 according to Equation 1 is detected.

[Fifth alternative embodiment for carrying out the invention]
Instead of the above-mentioned [fourth alternative embodiment for carrying out the invention], the following configuration may be adopted.
In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 9, nine regions (0 ° to 10 ° regions, 10 ° to 20 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree area, 20 degree to 30 degree area, 30 degree to 40 degree area, 40 degree to 50 degree area, 50 degree to 60 degree area, 60 degree to 70 degree area, 70 degree to 80 degree area The turning radius R of one airframe (the turning radius R of the airframe corresponding to the maximum angle of the area) is set in each of the nine areas.
For example, in the region of 0 to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 (steering member 41) is 10 degrees (FIG. 10 (a) ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

  Even if the steering angle A of the right and left front wheels 1 (steering member 41) from the rectilinear position A1 enters the range of 0 degrees to 10 degrees from 0 degrees (straight travel position A1), the empty work process LA1 and work The position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the strokes L01 to L05 is not detected. When the steering angle A from the rectilinear position A1 of the right and left front wheels 1 (steering member 41) reaches 10 degrees, the turning radius R and 10 degrees of one airframe in the range of 0 degrees to 10 degrees gives the formula 1, the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and the work strokes L01 to L05 is detected.

  At 10 degrees to 20 degrees, using the turning radius R of the airframe in the region of 10 degrees to 20 degrees, as described above, at 20 degrees, 30 degrees, ..., 10 degrees to 20 degrees According to the turning radius of one airframe in the region of..., The position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work stroke LA1 and the work strokes L01 to L05 based on Equation 1 Perform detection.

[Sixth Embodiment for Implementing the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention] to [Fifth Alternative Mode for Carrying Out the Invention], the following configuration may be adopted.
For example, when a working clutch that transmits power to the working device is not provided, such as a working device such as a grooving device, the state in which the working device is raised from the field surface G2 is set to the non-working state, and the working device is lowered to the field surface G2. You may comprise so that it may become a working state.

  With this configuration, the operating lever 12 is operated to the raised position U, or the right and left front wheels 1 (steering member 41) are steered beyond the right (left) set angle A2. Thus, the work device is configured to rise from the field surface G2 (non-working state) and to be lowered to the field surface G2 based on the detection of the turning end position E3 (working state).

  In the present invention, a rotary cultivator (corresponding to the working device 5) can be connected to a rotary tiller device (corresponding to the working device 5) at the rear part of the machine body, and a cutting part (corresponding to the working device 5) can be driven to move up and down at the front part of the machine body. It can also be applied to a work vehicle such as a combine that is supported by the above. It is also possible to configure the body position detection means 51 by GPS. The hopper 14 can be applied to a paddy work vehicle in which liquid fertilizer, powdered or liquid chemicals, seeds, etc. are placed instead of the powder fertilizer.

DESCRIPTION OF SYMBOLS 1 Front wheel 5,15 Work apparatus 12 Work human operation tool 31 Engine 46 Human operation tool 51 Airframe position detection means 53 Turning end position detection means 55 Work apparatus operation means 56 Traveling distance detection means 57 Elapsed time detection means 58 Stop means 60 Turn Starting operation means 62 Checking means 69, 70 Notifying means A Steering angle of the front wheels from the straight travel position A1 Straight travel position C Turning center of the aircraft E3 Turning end position G Travel distance of the aircraft G1 Set distance G12 Predetermined distance L1. L2 Aircraft turning stroke R Aircraft turning radius T Elapsed time T1 Set time T12 Predetermined time + Y, -Y Direction of advance of the aircraft before turning Y1 Position of the aircraft's turning stroke Y1 Aircraft's moving direction before the start of turning Position θ Aircraft movement angle

Claims (5)

It is equipped with a right and left marker that can be operated in a working posture that touches the surface and forms an index and a retracted posture that is separated upward from the surface,
When the aircraft reaches the heel after the work process in which the right or left marker is operated to the working posture, the right or left marker of the working posture is operated to the retracted posture, and the aircraft is turned to When entering the work process, comprising marker operating means for operating the marker on the opposite side of the stored right or left marker to the acting posture,
A paddy field work vehicle provided with a work manipulating tool for operating the right and left markers to an action posture and a retracted posture in preference to the marker operation means in an operating state of the marker operation means. Comprising storage means for storing the turning direction of the aircraft,
The marker operating means operates the marker on the opposite side to the stored right or left marker by operating the marker on the opposite side to the turning direction of the aircraft stored in the storage means to the acting posture. The paddy field work vehicle according to claim 1, wherein the paddy field work vehicle is configured to be operated in a posture. When the work process is finished and the aircraft starts to turn, it is configured to detect the current direction of the machine relative to the direction of the machine in the work process as the turning angle of the machine,
3. The paddy field work vehicle according to claim 2, wherein when the turning angle of the airframe reaches a set turning angle, the turning direction of the airframe is stored in the storage means.   The paddy field work vehicle according to claim 3, wherein the set turning angle is set to an angle located within a range of 100 degrees to 150 degrees.   The paddy field work vehicle according to any one of claims 1 to 4, further comprising a setting switch that operates the marker operating means in an activated state and a stopped state and is manually operable.

Images