CN107535147A - Operation Van - Google Patents
Operation Van Download PDFInfo
- Publication number
- CN107535147A CN107535147A CN201710457368.4A CN201710457368A CN107535147A CN 107535147 A CN107535147 A CN 107535147A CN 201710457368 A CN201710457368 A CN 201710457368A CN 107535147 A CN107535147 A CN 107535147A
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- CN
- China
- Prior art keywords
- machine body
- travel
- travel machine
- route
- ridge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 15
- 239000000463 material Substances 0.000 claims description 73
- 230000009183 running Effects 0.000 claims description 33
- 230000004888 barrier function Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 238000012360 testing method Methods 0.000 claims description 7
- 241000209094 Oryza Species 0.000 description 112
- 235000007164 Oryza sativa Nutrition 0.000 description 112
- 235000009566 rice Nutrition 0.000 description 112
- 238000010899 nucleation Methods 0.000 description 63
- 238000002054 transplantation Methods 0.000 description 59
- 238000002372 labelling Methods 0.000 description 38
- 230000009471 action Effects 0.000 description 30
- 238000005259 measurement Methods 0.000 description 24
- 238000003860 storage Methods 0.000 description 20
- 230000007935 neutral effect Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 12
- 239000003337 fertilizer Substances 0.000 description 12
- 238000002360 preparation method Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 239000003814 drug Substances 0.000 description 8
- 238000003306 harvesting Methods 0.000 description 7
- 238000009331 sowing Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- -1 seed Substances 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
Abstract
A kind of operation travel route to be set in the Operation Van in field, it can accurately set operation travel route.The Operation Van possesses the obtaining section of the position data for the peripheral part (B11~B41) for obtaining field.The Operation Van possesses the operation configuration part that the operation travel route (L01~L07) that travel machine body (50) to be travelled is set in field according to position data.
Description
Technical field
The present invention relates to a kind of Operation Van, and it is such as riding type rice transplanter, riding-type seed-sowing machine, the joint receipts for possessing harvesting portion
Cutting mill, the tractor for possessing rotary cultivator attachment etc., while carrying out operation to field while traveling.
Background technology
As disclosed in Patent Document 1, the riding type rice transplanter of an example of Operation Van on field from side ridge
(operation) is travelled to opposite side ridge, is then turned on the ridge side of opposite side ridge, then from opposite side ridge to side
Ridge is travelled (operation), and the traveling from the side in field (opposite side) ridge to opposite side (side) ridge is repeated and (makees
Industry) and turning on side (opposite side) ridge side.
In patent document 1, initial driver carries out steering operation to the front-wheel of travel machine body manually, enters to exercise Operation Van
Travelled along the teaching of ridge traveling, so as to set benchmark travel route (Fig. 7 of patent document 1 datum line).So, when setting
When having determined benchmark travel route, multiple operation travel routes (Fig. 7 of patent document 11 row~Nth column) are with along reference row
The mode that route (ridge) is parallel to each other is sailed, is set in field with separating predetermined distance.
Therefore in patent document 1, in a manner of travel machine body is along the first operation travel route automatic running (operation),
The front-wheel of travel machine body is operated by auto-steering, carries out the first traveling (operation), when the first traveling (operation) terminates and travels machine
When body reaches side ridge, travel machine body is turned on the ridge side of side ridge.Then, with travel machine body along adjacent
The mode of two operation travel route automatic runnings (operation), the front-wheel of travel machine body are operated by auto-steering, carry out the second traveling
(operation).
Without the auto-steering of the front-wheel of travel machine body as described above operate in the case of, with travel machine body along
The mode of operation travel route traveling (operation), driver carry out steering operation to the front-wheel of travel machine body manually.
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2008-92818 publications
The content of the invention
Invent problem to be solved
In patent document 1, in order to set multiple operation travel routes, travelled by initially carrying out teaching so as to set
Benchmark travel route.
In this case, because the front-wheel of driver's manual steering operation travel machine body carries out teaching traveling, therefore work as and drive
When the person of sailing produces error to the steering operation of the front-wheel of travel machine body, benchmark travel route can be produced relative to field error (by
Error can be produced in the orientation of particularly benchmark travel route relative to field), therefore abreast set with benchmark travel route
Operation travel route also can relative to field produce error.
It is an object of the present invention to be set in by operation travel route in the Operation Van in field, can accurately set
Operation travel route.
The solution used to solve the problem
It is a feature of the present invention that Operation Van is formed in such a way.
Possess：Obtaining section, the position data of the peripheral part in field is obtained, and
Possess：Operation configuration part, according to the position data, the operation travel route that travel machine body to be travelled is set
In field.
In the case where obtaining the position data of peripheral part in field by GPS etc., according to the present invention, taken by Operation Van
Obtain position data.
Thus, the Operation Van for achieving position data sets operation travel route according to position data, relative to field
Operation travel route is accurately set, can accurately carry out the traveling (operation) along operation travel route.
In the present invention, it is preferable that
Possess：Automatic ride control portion, in a manner of travel machine body is travelled along the operation travel route, enter automatically
The steering operation of row travel machine body.
According to the present invention, travel machine body is set to carry out traveling machine automatically in a manner of being travelled along operation travel route possessing
In the case of the automatic ride control portion of the steering operation of body, as noted previously, as accurately setting work relative to field
Industry travel route, therefore the traveling (operation) along operation travel route can be accurately carried out automatically.
In the present invention, it is preferable that
In the operation configuration part, possess：
Operation starts over position configuration part, according to the position data, by operation starting position and end of job position
It is set in field；And
Operation travel route configuration part, according to the position data, from the operation starting position to the end of job
Position, the operation travel route is set in field.
Operation Van may be alternately repeated typically on field carries out operation while the state that travels and being used for
To the state of the traveling for the position movement for being intended to perform the next item down operation.
According to the present invention, due to setting operation starting position and end of job position, and from operation starting position to work
Industry end position sets operation travel route, therefore specify that the beginning of the operation of Operation Van, the row along operation travel route
The end of (operation) and operation is sailed, can accurately carry out the traveling (operation) along operation travel route.
In the present invention, it is preferable that
According to the position data, position configuration part is started over by the operation, by multiple operation start bits
Put and be set in field along ridge with multiple end of job positions,
According to the position data, by the operation travel route configuration part, since the operation of side ridge
Position to the end of job position of opposite side ridge, the operation travel route is set in field, also, it is multiple described
Operation travel route is set in field while predetermined distance is separated in a manner of being parallel to each other.
According to the present invention, in the Operation Van for carrying out the traveling (operation) described in [background technology] described above, relative to
Field accurately sets multiple operation travel routes.
According to the present invention, due to according to position data, operation starting position and end of job position being set along ridge
In field, therefore operation starting position and end of job position are easily placed in roughly the same position.
So, when operation starting position and end of job position are placed in roughly the same position, along operation row
Sail route traveling (operation) terminate after, in the case of carrying out the traveling (operation) along ridge, can easily and fitly carry out edge
The traveling (operation) of ridge.
In the present invention, it is preferable that
Possess：Location portion, output represent the location data of the position of travel machine body, and
Possess：Display device, show the operation starting position, the end of job position, the operation travel route
And the position of travel machine body.
According to the present invention, driver is shown in the operation starting position, end of job position, work of display device by visual observation
The position of industry travel route and travel machine body, so as to easily hold the position of present travel machine body and operation start bit
Put, end of job position, the position relationship of operation travel route.
In the present invention, it is preferable that
Possess：Turning route configuration part, according to the position data, since the end of job position to the operation
Position, turning route is set in field.
The Operation Vans such as riding type rice transplanter are carried out as follows traveling (operation) sometimes：Carried out on field along an operation row
The traveling (operation) of route is sailed, at the end of the traveling (operation) along the operation travel route (end of job position), under
One operation travel route is turned, and when reaching next operation travel route (operation starting position), is started along next work
Industry travel route travels (operation).
In the state of above-mentioned, according to the present invention, due to setting turning from end of job position to operation starting position
Route, therefore can accurately carry out the turning along turning route.
In the present invention, it is preferable that
Possess：Automatic turning control unit, in a manner of making travel machine body along the turning route running, enter every trade automatically
Sail the steering operation of body.
According to the present invention, by possessing automatic turning control unit, carried out so as to accurately automatic along turning route
Turn.
In the present invention, it is preferable that
Possess：Turn direction notification unit, notification travel machine body exists in advance before travel machine body enters the turning route
Turn direction on the turning route.
In the case where being turned as described above, according to the present invention, before travel machine body enters turning route, in advance
Report turn direction of the travel machine body on turning route.
Thus, by automatic turning control unit come the automatic turning carried out along turning route in the case of, by advance
Report the turn direction of travel machine body, prediction when easily being turned for driver.Turned manually in driver
Be not in that driver mistakes manual cornering operation by reporting the turn direction of travel machine body in advance in the case of curved operation
(turn direction).
In the present invention, it is preferable that
Possess：Cornering operation moment notification unit, from end of job position the turning to the operation starting position
Under state, notification carry out travel machine body cornering operation at the time of and turn direction.
According to the present invention, in the case where driver carries out cornering operation manually, turning for travel machine body is carried out by reporting
At the time of curved operation and turn direction, driver can inerrably carry out without delay and accurately manual cornering operation.
In the present invention, it is preferable that
Possess：Location portion, detection represent the location data of the position of travel machine body, and
Possess：Display device, show the operation starting position, the end of job position, the operation travel route,
The position of the turning route and travel machine body.
According to the present invention, driver is shown in the operation starting position, end of job position, work of display device by visual observation
The position of industry travel route, turning route and travel machine body, so as to easily hold the position of present travel machine body with
Operation starting position, end of job position, the position relationship of operation travel route and turning route.
In the present invention, it is preferable that
Possess：Material surplus test section, the surplus of the material of loading is detected, and
Possess：Material notification unit, should be in travel machine body along the work to driver's notification when the surplus of material tails off
Supply material after the traveling of industry travel route terminates.
For Operation Van, due to be loaded with such as rice shoot, seed, fertilizer, medicament, traveling fuel material enter
Every trade is sailed (operation), therefore when material tails off, it is necessary to feed material to travel machine body.In this case, due to preparing material
Less important work person material is positioned over ridge and awaited orders, therefore preferably stop travel machine body on ridge side, and from ridge to row
Sail body supply material.
According to the present invention, in the case where the surplus of material tails off, when driver should be in travel machine body along making by notification
After the traveling (operation) of industry travel route terminates during supply this situation of material, driver can be in travel machine body along operation row
Sail route traveling (operation) terminate after, make travel machine body ridge side stop.
Thus, material easily can be fed to travel machine body from ridge in the state of travel machine body is stopped on ridge side.
In the present invention, it is preferable that
The notification of the material notification unit can also be carried out to the less important work person on ridge.
In the case where feeding material from ridge to travel machine body, the less important work person of the preparation of material supply is carried out sometimes
It can be awaited orders on ridge.
, can also be to the less important work person's notification awaited orders on ridge such as in addition to being reported to driver according to the present invention
It should terminate this situation of supply material afterwards in traveling (operation) of the travel machine body along operation travel route described in upper.
Thus, as described above after traveling (operation) of the travel machine body along operation travel route terminates, driver makes row
Sail body on ridge side to stop, less important work person can begin preparing for material supply earlier (such as can reach the ridge in travel machine body
Start before side).
In the present invention, it is preferable that
Possess：Portion is automatically stopped, according to operational order, terminates it in traveling of the travel machine body along the operation travel route
Afterwards, travel machine body is made to be automatically stopped on ridge side.
As described above, fed after it should be terminated by notification in traveling (operation) of the travel machine body along operation travel route
In the case of material, according to the present invention, by the way that the portion of being automatically stopped is set into working condition in advance according to operational order, when traveling machine
At the end of traveling (operation) of the body along operation travel route, travel machine body can be automatically stopped on ridge side.
Thus, can rightly obtain feeding material from ridge to travel machine body in the state of making travel machine body on ridge side stop
Expect this state.
In the present invention, it is preferable that
After traveling of the travel machine body along the operation travel route terminates, before the portion of being automatically stopped makes travel machine body
Enter ridge and stop.
In the case where feeding material from ridge to travel machine body, have and be adapted to what the front portion from ridge to travel machine body was fed
Material (for example, for possessing the riding type rice transplanter of prepared rice shoot microscope carrier in the front portion of travel machine body, is fed from ridge
In the case of rice shoot, when front portion of the rice shoot from ridge to travel machine body is fed, easily the rice shoot being recharged can be placed
On preparation rice shoot microscope carrier).
In the case where making travel machine body be automatically stopped on ridge side as described above, according to the present invention, make on travel machine body edge
After the traveling (operation) of industry travel route terminates, travel machine body proceeds to ridge and stopped, and is approached in the front portion of travel machine body
Travel machine body stops on ridge side in the state of ridge.
For the anterior material fed from ridge to travel machine body is adapted to, the work of material supply can be improved
Industry.
In the present invention, it is preferable that
After traveling of the travel machine body along the operation travel route terminates, the portion of being automatically stopped turns travel machine body
It is curved, travel machine body is backed to ridge and stop.
In the case where feeding material from ridge to travel machine body, have and be adapted to what the rear portion from ridge to travel machine body was fed
Material (for example, for possess at the rear portion of travel machine body fertilizer apparatus, seeding apparatus, applicator device riding type rice transplanter, multiply
For seat type seed-sowing machine, from ridge supply fertilizer, seed, in the case of medicament, if by fertilizer, seed, medicament from ridge
To travel machine body rear portion supply if, easily by the fertilizer being recharged, seed, medicament be fed to fertilizer apparatus, seeding apparatus,
Applicator device).
In the case where making travel machine body be automatically stopped on ridge side as described above, according to the present invention, make on travel machine body edge
After the traveling (operation) of industry travel route terminates, travel machine body is turned on ridge side, and then travel machine body backs to ridge and stopped
Only.
For the material for being adapted to the rear portion from ridge to travel machine body to feed, the work of material supply can be improved
Industry.
In the present invention, it is preferable that
Possess：Pressure is automatically stopped portion, when the surplus of material is fewer than set amount set in advance, in travel machine body along institute
State operation travel route traveling terminate after, travel machine body is automatically stopped on ridge side.
Even if the portion of being automatically stopped is not published operational order and be in halted state, according to the present invention, if material is remaining
Amount it is fewer than set amount set in advance if, travel machine body also can after the traveling (operation) along operation travel route terminates
Ridge side is automatically stopped.
Thus, can rightly obtain feeding material from ridge to travel machine body in the state of making travel machine body on ridge side stop
Expect this state.
In the present invention, it is preferable that
Self-braking ridge side is to carry out material supply after traveling of the travel machine body along the operation travel route terminates
The ridge specified ridge side.
(effect and invention effect)
In the case where feeding material from ridge to travel machine body, if as in the present invention on the ridge side of specified ridge
Travel machine body is automatically stopped, and from specified ridge to travel machine body if supply material, it is not necessary to by the scattered placement of material
To multiple ridges, material can be put together to the ridge specified.
Thus, in the case where material is transported to field by the less important work person for preparing material by truck from warehouse etc.,
Material is concentrated to the ridge for being transported to and specifying, it is not necessary to material is separated and is transported to multiple ridges.From ridge to traveling
In the case of body supply material, less important work person awaits orders in specified ridge, when travel machine body is in specified ridge
When ridge side stops, less important work person feeds material from ridge to travel machine body, and less important work person need not be moved to multiple
Ridge.
As described previously for for the less important work person for preparing material, the workability of material supply becomes good.
In the present invention, it is preferable that
The operation travel route is the row of the location data based on the position for representing the Operation Van for travelling on field in the past
Sail route.
In addition to riding type rice transplanter and riding-type seed-sowing machine, the various Operation Vans such as united reaper, tractor also can
(operation) is travelled in field, it is also different that Operation Van travels the season of (operation) in field.
According to the present invention, in Operation Van's traveling (operation) in field, and obtain representing the operation for travelling on field
In the case of the location data of the position of car, other Operation Van can utilize above-mentioned location data.
In Operation Van's traveling (operation) in field, and the survey of the position for the Operation Van for representing to travel on field is obtained
In the case of the data of position, in the coming year, same Operation Van can utilize above-mentioned location data.
(structure)
In the present invention, it is preferable that
The position data includes the barrier data for representing to be present in the position of the barrier in field.
There may be the barriers such as trees on field.
According to the present invention, the barrier number for representing to be present in the position of the barrier in field is included due to position data
According to, thus can rightly one side cognitive disorders thing presence while being travelled (operation).
In the present invention, it is preferable that
The position data includes the inclined tilt data of each position in expression field with respect to the horizontal plane.
In each position in field, in addition to horizontal level, it is possible to the position with horizontal plane also be present.Especially
It is the state that ridge side may be in slightly having slope from the center side in field towards ridge.
According to the present invention, because position data includes representing that each position in field with respect to the horizontal plane inclined inclines
Oblique data, therefore the inclination of each position in field can be rightly identified while being travelled (operation).
Brief description of the drawings
Fig. 1 is the overall side view of riding type rice transplanter.
Fig. 2 is the overall top view of riding type rice transplanter.
Fig. 3 be represent front-wheel turning operation system, to front wheels and rear wheels passing power transmission system diagrammatic top
Figure.
Fig. 4 is the figure for the connection status for representing control device and each portion.
Fig. 5 is the top view for the setting state for representing operation travel route and turning route.
Fig. 6 is the top view for the setting state for representing operation travel route and turning route.
Fig. 7 is the top view for the setting state for representing operation travel route and turning route.
Fig. 8 is the top view for representing the state along the operation travel route automatic running (operation) of travel machine body.
Fig. 9 is the top view for representing the state along the operation travel route automatic running (operation) of travel machine body.
Figure 10 is the top view for representing the state along the operation travel route automatic running (operation) of travel machine body.
Figure 11 is the top view of automatic running (operation) state under the turning operation traveling for representing travel machine body.
Figure 12 is that the setting state for representing the operation travel route different from the state shown in Fig. 7 and turning route is bowed
View.
Figure 13 is represented in the first other embodiment to carry out an invention, along the automatic row of the turning route of travel machine body
Sail the top view of (turning) state.
Figure 14 is represented in the second other embodiment to carry out an invention, along the automatic row of the turning route of travel machine body
Sail the top view of (turning) state.
Figure 15 is represented in the 4th other embodiment to carry out an invention, automatic along the operation travel route of travel machine body
Travel the top view of the state of (operation).
Figure 16 is represented in the 5th other embodiment to carry out an invention, automatic along the operation travel route of travel machine body
Travel the top view of the state of (operation).
Figure 17 is represented in the 7th other embodiment to carry out an invention, the connection status in control device and each portion
Figure.
Figure 18 is represented in the 8th other embodiment to carry out an invention, and travel machine body is automatically stopped in the state on ridge side
Top view.
Figure 19 is represented in the 8th other embodiment to carry out an invention, and travel machine body is automatically stopped in the state on ridge side
Top view.
Figure 20 is represented in the 8th other embodiment to carry out an invention, control device and the connection status in each portion
Figure.
Figure 21 is represented in the tenth other embodiment to carry out an invention, and travel machine body is automatically stopped in the state on ridge side
Top view.
Embodiment
The fore-and-aft direction and left and right directions of embodiments of the present invention, as long as described below without illustrating.Traveling
The direct of travel of advance side when body 50 travels is " preceding ", and the direct of travel for retreating side is " rear ".With in the longitudinal direction
Forward on the basis of posture, the direction equivalent to right side is " right side ", and the direction equivalent to left side is " left side ".
[1]
The overall structure of riding type rice transplanter on travelling (operation) on field (paddy field) illustrates.
As shown in Figure 1 and Figure 2, in the travel machine body of the front-wheel 1, right side and the trailing wheel in left side 2 that possess right side and left side
50 rear portion, possess linkage 3 and the hydraulic cylinder 4 of the lifting of drive link mechanism 3, have in the rear support of linkage 3
The seeding transplantation apparatus 5 of six row transplanting types, form the riding type rice transplanter of an example as Operation Van.
As shown in Figure 1 and Figure 2, seeding transplantation apparatus 5 possesses such as lower member, and is configured to six row transplanting types：Three are inserted
Transmission case 6 is planted, is configured with separating predetermined distance in left-right direction；Rotary box 7, rotatably it is supported on transplanting transmission case 6
The right side and left side at rear portion；A pair of transplanting arms 8, it is arranged at the both ends of rotary box 7；Kickboard 9；And rice shoot microscope carrier 10 etc..
As shown in Fig. 1 and Fig. 4, the labelling apparatus 19 in right side and left side be arranged on seeding transplantation apparatus 5 right side and
Left side, and freely it is changed to the effect posture (reference picture 1) that is contacted with farmland face and the storage appearance for leaving farmland face upward
Gesture (reference picture 4).The labelling apparatus 19 in right side and left side is configured to possess：Arm 19a, swings up and down and is freely supported on rice shoot
Transplanting device 5；And rotary body 19b, free rotary ground supporting is in arm 19a top ends.Possess：Motor 21, by right side and
The operation of labelling apparatus 19 in left side is effect posture and storage posture.
[2]
Transmission system on the front-wheel 1 with left side, right side and the passing power of the trailing wheel in left side 2 to the right illustrates.
As shown in Figure 1 and Figure 3, the power for being arranged at the anterior engine 31 of travel machine body 50 passes via transmission belt 32
Hydrostatic stepless speed change device 33 and gearbox 34 are passed, and (is not schemed from the secondary speed-changing device of the inside of gearbox 34
Show) pass to right side and left side via the power transmission shaft (not shown) of front-wheel box of tricks (not shown) and the inside of preceding axle housing 35
Front-wheel 1.
As shown in Figure 1 and Figure 3, the power of secondary speed-changing device is via power transmission shaft 36, the input shaft 38 of rear axle housing 37, fixation
Bevel gear 38a in input shaft 38, the bevel gear 39a being engaged with bevel gear 38a, the power transmission shaft 39 for being fixed with bevel gear 39a, with
And the side clutch 40 in right side and left side passes to the trailing wheel 2 in right side and left side.
As shown in Fig. 1,2,4, possesses gear lever 45 in the left horizontal side of steering wheel 20, stepless speed change device 33 is by gear lever 45
To operate.By gear lever 45, stepless speed change device 33 to advance side F and can be retreated side R from the stepless operations of neutral position N.
As shown in figure 3, steering component 41 around the bottom of gearbox 34 vertical axis P2 swing freely be supported by, as Fig. 1,
3rd, shown in 4, possesses steering wheel 20 in the front side of driver seat 13.Steering component 41 by swinging operation, is being turned by steering wheel 20
To being connected with track rod 42 between component 41 and the front-wheel on right side and left side 1., can be from straight trip position by operating steering wheel 20
Put A1 to the steering limit A3 in right side and left side and steering operation is carried out to the front-wheel 1 in right side and left side.
As shown in figure 3, the side clutch 40 in right side and left side is configured to many dish rub formula, made by spring (not shown)
With to drive state.Spring is resisted, the side clutch 40 on right side and left side is operated to the behaviour to the right side of dissengaged positions and left side
Make axle 43 and be supported on rear axle housing 37 down, between the operating shaft 43 on steering component 41 and right side and left side, be connected with right side and
The action bars 44 in left side.In the action bars 44 in right side and left side and right side and the coupling part of the operating shaft 43 in left side, possess
The elongated hole 44a of regulation.
As shown in figure 3, when the front-wheel 1 on right side and left side is diverted operation to in-line position A1 and right side and left side
During set angle A2 scope, by right side and the elongated hole 44a of the action bars 44 in left side regulation, the side clutch in right side and left side
Device 40 is operated to drive state.Thus, front-wheel 1, right side and the trailing wheel in left side 2 in right side and left side are passed in power
In the state of (drive state of the side clutch 40 in right side and left side), body advances (retrogressing).
As shown in figure 3, the set angle A2 for exceeding right side when the front-wheel 1 in right side and left side is diverted operation to turn on right side
During to limit A3 sides, the scope that the action bars 44 on right side exceedes the elongated hole 44a of the action bars 44 on right side is pulled operation, right side
Side clutch 40 is operated to dissengaged positions by the operating shaft 43 on right side.Thus, right side and left side are passed in power
Front-wheel 1, left side trailing wheel 2 (turn outside) (drive state of the side clutch 40 in left side) and (turning center of trailing wheel 2 on right side
Side) in the state of (dissengaged positions of the side clutch 40 on right side) rotate freely, body bends to right.
As shown in figure 3, the set angle A2 for exceeding left side when the front-wheel 1 in right side and left side is diverted operation to turn in left side
During to limit A3 sides, the scope that the action bars 44 in left side exceedes the elongated hole 44a of the action bars 44 in left side is pulled operation, left side
Side clutch 40 is operated to dissengaged positions by the operating shaft 43 in left side.Thus, right side and left side are passed in power
Front-wheel 1, right side trailing wheel 2 (turn outside) (drive state of the side clutch 40 on right side) and (turning center of trailing wheel 2 in left side
Side) in the state of (dissengaged positions of the side clutch 40 in left side) rotate freely, body is turned to the left.
As shown in figure 3, when the front-wheel 1 in right side and left side exceedes setting for right (left side) side from the limit A3 sides that turn to of right (left side) side
When determining angle A 2 and being diverted operation to in-line position A1 sides, the side clutch 40 of the right side (left side) side of dissengaged positions is operated to before
It is operated to drive state, the side clutch 40 in right side and left side returns to the state for being operated to drive state.
[3]
On being illustrated to the transmission system of the passing power of seeding transplantation apparatus 5.
As shown in Fig. 1 and Fig. 4, in gearbox 34, from the power of the front branch of secondary speed-changing device via transplanting from
Clutch 26 and PTO shaft 25 pass to seeding transplantation apparatus 5.Possess：Motor 28, transplanting clutch 26 is operated to transmission and cut-out
State.
As shown in Figure 1 and Figure 2, when transplanting clutch 26 is operated to drive state, as rice shoot microscope carrier 10 is left
Right reciprocal traversing driving, paper of the rotary box 7 along Fig. 1 are counterclockwise driven in rotation, and transplanting arm 8 is alternatively from rice shoot microscope carrier
Rice shoot transplanting is taken out to farmland face in 10 bottom.When transplanting clutch 26 is operated to dissengaged positions, rice shoot microscope carrier 10 and rotation
Turnning box 7 stops.
[4]
Automatic lifting control on seeding transplantation apparatus 5 illustrates.
As shown in figure 4, the rear portion of central kickboard 9 swings up and down free side with the transverse axis heart P1 around seeding transplantation apparatus 5
Formula is supported by, and possesses potentiometer type height sensor 22, detects height of the central kickboard 9 relative to seeding transplantation apparatus 5, height
The detected value of sensor 22 is transfused to control device 23.With the traveling of travel machine body 50, central kickboard 9, which is contacted to earth, follows farmland
Face, according to the detected value of height sensor 22, it can detect from farmland face (central kickboard 9) to the height of seeding transplantation apparatus 5.
As shown in figure 4, in control device 23, possess descending operation portion 57 as software, liquid is fed to for operation element oil
Cylinder pressure 4 and the control valve 24 discharged from hydraulic cylinder 4 are operated by descending operation portion 57.When control valve 24 is operated upward raise-position
When putting, working oil is provided to hydraulic cylinder 4, and hydraulic cylinder 4 carries out contraction work, and seeding transplantation apparatus 5 rises.When the quilt of control valve 24
When operating to down position, working oil is discharged from hydraulic cylinder 4, and hydraulic cylinder 4 carries out elongation work, and seeding transplantation apparatus 5 declines.
As shown in figure 4, under the working condition of automatic lifting control, inserted according to from farmland face (central kickboard 9) to rice shoot
The height of planting apparatus 5, (so that highly sensing in a manner of making seeding transplantation apparatus 5 be maintained at apart from farmland face setting height
The detected value (height sensor 22 and central kickboard 9 between the upper and lower every) of device 22 is maintained at the mode of setting value), control valve 24
Operated by descending operation portion 57, hydraulic cylinder 4 carries out flexible work, the automatic lifting of seeding transplantation apparatus 5.
[5]
Illustrated on action bars 12.
As shown in Fig. 1,2,4, the right lateral side in the downside of steering wheel 20 possesses action bars 12, and action bars 12 is to the right on the outside of horizontal stroke
It is prominent.Action bars 12 is configured to freely operate the first lifting position UU1 to upside, the second lifting position from neutral position N
UU2, the first down position DD1 of downside, the second down position DD2, the right labelling apparatus position MR of rear side and a left side for front side
Labelling apparatus position ML ten word directions, it is applied to neutral position N, the operating position of action bars 12 and is transfused to control device
23。
As shown in figure 4, possess：Angular transducer 29, upper lower angle of the linkage 3 relative to travel machine body 50 is detected,
The detected value of angular transducer 29 is transfused to control device 23.In control device 23, possesses clutch operating portion 58 as software
And labelling apparatus operating portion 59.
[6] as be described hereinafter are described, and according to the operation of action bars 12, by descending operation portion 57, control valve 24 is operated to
Rise, neutral and down position, the automatic lifting control described in preceding paragraph [4] turns into work and halted state.
[6] are described as be described hereinafter, and according to the operation of action bars 12, by clutch operating portion 58, motor 28 works, transplanting from
Clutch 26 is operated to transmission and dissengaged positions, and by labelling apparatus operating portion 59, motor 21 works, the mark in right side and left side
Note device 19 is operating as acting on and storing posture.
[6]
Work on each position of the operation according to action bars 12 illustrates.
As shown in figure 4, when operating the lifting position UU2 of action bars 12 to the second, transplanting clutch 26 is operated to cut-out
State, automatic lifting, which controls, turns into halted state, and the labelling apparatus 19 in right side and left side is operated to storage posture, control valve 24
Lifting position is operated to, hydraulic cylinder 4 carries out shrinking work and seeding transplantation apparatus 5 rises.Examined when by angular transducer 29
When measuring seeding transplantation apparatus 5 and reaching upper limit position, control valve 24 is operated to neutral position, and hydraulic cylinder 4 is automatically stopped.
As shown in figure 4, when operating the down position DD2 of action bars 12 to the second, transplanting clutch 26 is operated to cut-out
State, automatic lifting control turn into halted state, and the labelling apparatus 19 on right side and left side is operated to the state of storage posture
Under, control valve 24 is operated to down position, and hydraulic cylinder 4 carries out extending work and seeding transplantation apparatus 5 declines.When central kickboard
9 with farmland face when being grounded, and automatic lifting control turns into working condition, and seeding transplantation apparatus 5 contacts with farmland face and turns into stopping
State.
Action bars 12 is operated to the second down position DD2 and operated to after the N of neutral position, when operating action bars again
During 12 to the second down position DD2, under the working condition of automatic lifting control, transplanting clutch 26 is operated to transmission shape
State.
Under the halted state of automatic lifting control, transplanting clutch 26 is operated to dissengaged positions, on right side and left side
Labelling apparatus 19 be operated in the state of storage posture, as shown in figure 4, when action bars 12 is operated to the first lifting position
During UU1, control valve 24 is operated to lifting position, and hydraulic cylinder 4 carries out contraction work, and seeding transplantation apparatus 5 is only in action bars 12
Rise during being operated to the first lifting position UU1.When action bars 12 is operated to neutral position N, control valve 24 is operated
Rising to neutral position and seeding transplantation apparatus 5 stops.
Under the halted state of automatic lifting control, transplanting clutch 26 is operated to dissengaged positions, on right side and left side
Labelling apparatus 19 be operated in the state of storage posture, as shown in figure 4, when action bars 12 is operated to the first down position
During DD1, control valve 24 is operated to down position, and hydraulic cylinder 4 carries out elongation work, and seeding transplantation apparatus 5 is only in action bars 12
Decline during being operated to the first down position DD1.When action bars 12 is operated to neutral position N, control valve 24 is operated
Decline to neutral position and seeding transplantation apparatus 5 stops.
As described above, can only action bars 12 is operated to first rise and first down position UU1, DD1 during make
The raising and lowering of seeding transplantation apparatus 5, and the raising and lowering of seeding transplantation apparatus 5 can be made to arbitrary height and stopped.
As shown in figure 4, when action bars 12 is operated to right labelling apparatus position MR, right labelling apparatus 19 is operated to work
Use posture.When action bars 12 is operated to left labelling apparatus position ML, left labelling apparatus 19 is operated to effect posture.
[7]
Illustrated on the position detection of travel machine body 50 and the structure of orientation detection.
As shown in Figure 1 and Figure 2, the supporting on the right side of the anterior right part and left part of travel machine body 50 possess with left side
Framework 16, scaffold 16 are supported with prepared rice shoot microscope carrier 15.Across right side and the top of the scaffold 16 in left side, it is linked with
Scaffold 17.
As shown in Figure 1 and Figure 2, in scaffold 17, when overlooking positioned at travel machine body 50 left and right center CL portion
Point, measurement apparatus 30 (equivalent to location portion) is installed.In measurement apparatus 30, possess by satellite location system to obtain position
The reception device (not shown) of data, and the inertial measuring unit of the inclination (angle of pitch, angle of heel) of detection travel machine body 50
(not shown), the output of measurement apparatus 30 represent the location data of the position of travel machine body 50.
As shown in Figure 1 and Figure 2, in rear axle housing 37, when bowing apparent place the part of the left and right center CL in travel machine body 50,
The inertial measuring unit 48 of measurement Inertia information is installed.The inertia measurement of inertial measuring unit 48 and measurement apparatus 30 by
IMU (Inertial Measurement Unit) is formed.
Above-mentioned satellite location system (GNSS：Global Navigation Satelite System) in, as representative
Example can enumerate GPS (Global Positioning System).GPS be use around earth overhead multiple gps satellites,
The control office for carrying out tracking and the control of gps satellite, the reception device that possesses of object (travel machine body 50) for carrying out location come pair
The system that the position of the reception device of measurement apparatus 30 measures.
Inertial measuring unit 48 possesses：Gyrosensor (not shown), the deflection angle (traveling of travel machine body 50 can be detected
The angle of turn of body 50) angular speed；And acceleration transducer (not shown), detect adding for three mutually orthogonal direction of principal axis
Speed.The Inertia information measured by inertial measuring unit 48 includes：The Orientation differences information that is detected by gyrosensor and
The change in location information detected by acceleration transducer.
[8]
Structure on automatic running illustrates.
As shown in Fig. 1,2,4, the operating position of gear lever 45 is transfused to control device 23.In the front portion of travel machine body 50,
When overlooking, the left and right center CL of travel machine body 50 position, possesses center mark 14.Possess：Steering motor 51, operate direction
Disk 20 (steering component 41), and possess：Variable speed electric motors, particularly 53, operate gear lever 45.
As shown in figure 4, smart mobile phone 46 (portable information terminal) (equivalent to obtaining section) is equipped with, and it is mono- to possess Wi-Fi
First 47 (equivalent to obtaining sections).Smart mobile phone 46 and Wi-Fi units 47 are configured to mutually carry out channel radio according to Wi-Fi standards
Letter, Wi-Fi units 47 are connected with control device 23 by CAN.Smart mobile phone 46 and outside computer 49 can be by via nets
The RFDC of network communicates with each other.
As shown in figure 4, operation starts over position configuration part 60 (equivalent to operation configuration part), the setting of operation travel route
Portion 61 (equivalent to operation configuration part), automatic ride control portion 62, turning route configuration part 63, automatic turning control unit 64, with
And turn direction notification unit 65 is used as software design patterns in control device 23.
As shown in Fig. 2 and Fig. 4, in the handle portion of gear lever 45, possess automatic ride control portion 62 and oneself artificially
The curved control unit 64 of turn operates the push button operating portion 18 to working condition and halted state, and the operative signals of operating portion 18 are defeated
Enter control device 23.In the front side of steering wheel 20, possesses the display device 27 being made up of liquid crystal display etc., and possess by exporting
The voice output 52 of the compositions such as the loudspeaker of various sound.
[9]
On ridge B1, B2, B3, B4 the ridge border line B11, B21, B31, B41 position data (equivalent to the periphery in field
The position data in portion) acquisition illustrate.
As shown in figure 5, in the field for for example possessing ridge B1, B2, B3, B4, by following (9-1)~(9-5) Suo Shi
Method in any one (or a variety of), be previously obtained ridge B1, B2, B3, B4 ridge border line B11, B21, B31, B41
Position data, and it is stored in computer 49.
(9-1)
Measurement apparatus 30 shown in Fig. 1 and Fig. 2 is removed from travel machine body 50, carries the operator edge of measurement apparatus 30
Ridge border line B11~B41 Walk rows, thus come obtain acquired by measurement apparatus 30 expression operator position location data, make
For ridge border line B11~B41 position data.
(9-2)
By making the riding type rice transplanter (state for being provided with measurement apparatus 30) shown in Fig. 1 and Fig. 2 along ridge border line B11
~B41 is travelled, so as to obtain the location data of the position of the expression travel machine body 50 acquired by measurement apparatus 30, as ridge border line
B11~B41 position data.
In this case, due to measurement apparatus 30 be arranged on travel machine body 50 positioned at the central CL in left and right part (due to
The outer end of travel machine body 50 (seeding transplantation apparatus 5) is located at ridge border line B11~B41), therefore according to acquired by measurement apparatus 30
Expression travel machine body 50 position location data, 1/2 that travel machine body 50 (seeding transplantation apparatus 5) has been leaned on lateral deviation outwardly
The position of transverse width is corrected as the mode of ridge border line B11~B41 position data.
(9-3)
Same riding type rice transplanter (or possessing other riding type rice transplanters of measurement apparatus 30, riding-type seeder)
(operation) was once travelled in field, and achieves the situation of the location data of the position for the travel machine body 50 for representing to run over field
Under, by position data of the location data as ridge border line B11~B41.In this case, first carry out described in preceding paragraph (9-2)
Correction.
(9-4)
In the united reaper for possessing measurement apparatus 30, once (or) traveling (is made for the various Operation Vans such as tractor
Industry) in field, and achieve represent run over field Operation Van position location data in the case of, by the location data
Position data (position data of the peripheral part in the field that other Operation Vans have obtained) as ridge border line B11~B41.
(9-5)
If in the presence of the commercially available storage medium for the position data that have recorded ridge border line B11~B41, then deposited using this
Storage media.
[10]
It is set for illustrating on operation travel route L (L01~L07) and turning route LL1~LL6.
As described in preceding paragraph [9], in the state of ridge border line B11~B41 position data has been stored in computer 49, such as scheme
Shown in 5, when riding type rice transplanter is reached near field (the position K1 of travel machine body 50), ridge border line B11~B41 positional number
Smart mobile phone 46 is sent to according to from computer 49.The position data for ridge border line B11~B41 that smart mobile phone 46 receives is from intelligence
Mobile phone 46 is sent to Wi-Fi units 47, and is sent to control device 23 from Wi-Fi units 47.
Thus, according to ridge border line B11~B41 position data, setting as follows is carried out in control device 23.This
In the case of kind, it is assumed that the vertical view that a ridge border line B11, B21 are parallel and the ridge border line B31, B41 are parallel is rectangular field.
As shown in fig. 6, start over position configuration part 60 by operation, with the ridge border line B11, B21 at a distance of travel machine body
The position of the field center side of 50 (seeding transplantation apparatus 5) width, along the ridge border line B11, B21 setting operation start over line LA1,
LA2 (equivalent to operation starting position and end of job position).With the ridge border line B31, B41 at a distance of the (rice shoot of travel machine body 50
Transplanting device 5) width field center side position, set furrow head (headland) line LB1, LB2 along the ridge border line B31, B41.
Thus, operation starts over line LA1, LA2 and furrow head line LB1, LB2 are shown in display device 27.
In this case, operation starts over position configuration part 60 and can also be configured to：As (9-3) according to preceding paragraph [9]
When having obtained ridge edge line B11~B41 positional information, so that operation starting position C1~C7 described later and end of job position
It is consistent to put operation starting position C1~C7s and end of job position D1~D7 of the D1~D7 with traveling (operation) in the past when the field
The mode of (or as close proximity), correction operation start over line LA1, LA2 and furrow head line LB1, LB2 position.
Then as shown in fig. 6, by operation travel route configuration part 61, the operation in side starts over line LA1 and phase
Between the operation tossed about starts over line LA2, multiple operation travel route L with it is parallel with furrow head line LB1, LB2 and mutually it
Between parallel mode be set in operation with separating predetermined distance W1 (width of travel machine body 50 (seeding transplantation apparatus 5)) and start to tie
Between bunch LA1 and LA2.
Thus, operation starts over line LA1, LA2 and furrow head line LB1, LB2；Operation travel route L；And filled by measurement
The position (location data) for putting 30 obtained travel machine bodies 50 is shown in display device 27.
Then driver specifies the operation starting position for initially starting operation in display device 27.As shown in fig. 7, for example
When specified location K2 is operation starting position, by operation travel route configuration part 61, in multiple operation travel route L,
Since the near operation travel route L of distance and position K2, set in sequence operation travel route L01, L02, L03, L04,
L05, L06, L07, and set operation travel route L01~L07 direction (operation travel route L01 shown in reference picture 7~
L07 arrow).
As shown in fig. 7, the operation positioned at operation travel route L01~L07 top portion starts over line LA1, LA2 position
It is set to operation starting position C1, C2, C3, C4, C5, C6, C7.Operation positioned at operation travel route L01~L07 terminal part is opened
The position of beginning end lines LA1, LA2 is the end of job position D1, D2, D3, D4, D5, D6, D7.
Thus, operation starts over line LA1, LA2 and furrow head line LB1, LB2；Operation starting position C1~C7 and operation knot
Beam position D1~D7；Operation travel route L01~L07；And position (the location of the travel machine body 50 obtained by measurement apparatus 30
Data) it is shown in display device 27.
[11]
It is set for illustrating on turning route LL1~LL6.
As described in preceding paragraph [10], when setting operation starting position C1~C7 and end of job position D1~D7, root
According to ridge border line B11~B41 position data, setting as follows is carried out in control device 23.
As shown in fig. 7, by turning route configuration part 63, from end of job position D1 to operation starting position C2, will bow
The turning route LL1 for being considered as circle is set in field.
Again by turning route configuration part 63, from end of job position D2 to operation starting position C3, from the end of job
Position D3 to operation starting position C4, from end of job position D4 to operation starting position C5, from end of job position D5 to work
Industry starting position C6, from end of job position D6 to operation starting position C7, will overlook for circular turning route LL2, LL3,
LL4, LL5, LL6 are set in field.
Thus, operation starts over line LA1, LA2 and furrow head line LB1, LB2；Operation starting position C1~C7 and operation knot
Beam position D1~D7；Operation travel route L01~L07；Turning route LL1~LL6；And the traveling obtained by measurement apparatus 30
The position (location data) of body 50 is shown in display device 27.
In preceding paragraph [10], as shown in figure 12, such as when specified location K10 is operation starting position, as shown in figure 12
Setting is different from the operation starting position C1~C7 and end of job position D1~D7, operation travel route of the state shown in Fig. 7
L01~L07 and turning route LL1~LL6.
[12]
Traveling (operation) on riding type rice transplanter illustrates (one).
As described in preceding paragraph [10], [11], operation starting position C1~C7 and end of job position D1~D7, work are being set
In the state of industry travel route L01~L07 and turning route LL1~LL6, driver operates operating portion 18, from there through certainly
Travel control unit 62 is moved to carry out operation as follows.
As shown in figure 8, in the state of travel machine body 50 is located at position K1, when driver operates operating portion 18, according to
The position (location data) of the travel machine body 50 obtained by measurement apparatus 30 and the inertia obtained by inertial measuring unit 48 are believed
Breath, variable speed electric motors, particularly 53 (gear lever 45) and steering motor 51 (steering wheel 20) are operated automatically by control device 23.
Thus, as shown in figure 8, travel machine body 50 starts to walk automatically from position K1, along path LC1 automatic runnings, and referred to
The position K2 for being set to the operation starting position that driver initially starts transplanting operation is automatically stopped.
Afterwards, in the state of travel machine body 50 is located at position K2, driver operates operating portion 18 and starts operation.
As shown in figure 8, in the state of travel machine body 50 is located at position K2, when driver operates operating portion 18, as after
[13], [14], [15] stated are described, and control valve 24 is operated by descending operation portion 57, and transplanting clutch 26 (motor 28) is logical
Cross clutch operating portion 58 to be operated, the labelling apparatus 19 (motor 21) in right side and left side is grasped by labelling apparatus operating portion 59
Make, display device 27 and voice output 52 are operated by turn direction notification unit 65.
Same as described above, [13], [14], [15] as be described hereinafter are described, according to the travel machine body obtained by measurement apparatus 30
50 position (location data) and the Inertia information obtained by inertial measuring unit 48, by automatic ride control portion 62 and
Automatic turning control unit 64, gear lever 45 (variable speed electric motors, particularly 53) and steering wheel 20 (steering motor 51) are operated.
[13]
Traveling (operation) on riding type rice transplanter illustrate (secondly).
As shown in fig. 7, in the state of travel machine body 50 is located at position K2, when driver operates operating portion 18, speed change
Bar 45 is operated to defined shift position, and travel machine body 50 is started to walk automatically, and steering wheel 20 is operated, and travel machine body 50 is along operation
Travel route L01 automatic runnings.The prompting for having started to travel (operation) is shown in display device 27, and by voice output
52 are reported with sound.
In this case, opened from the position that seeding transplantation apparatus 5 (transplanting arm 8) is slightly sooner in time than when reaching operation starting position C1
Begin, seeding transplantation apparatus 5 be lowered by operation to farmland face (automatic lifting control (with reference to preceding paragraph [4]) working condition, transplanting from
The dissengaged positions of clutch 26), right labelling apparatus 19 is operated to effect posture (left labelling apparatus 19 is storage posture).Rice shoot is inserted
Planting apparatus 5 is lowered by prompting of the operation to farmland face and right labelling apparatus 19 is operated to the prompting of effect posture and is shown
Reported in display device 27, and by voice output 52 with sound.
As shown in Fig. 8 to Fig. 9, when seeding transplantation apparatus 5 (transplanting arm 8) reaches operation starting position C1, transplanting clutch
Device 26 is operated to drive state, the transplanting of rice shoot since the C1 of operation starting position.The prompting for having started to transplanting is shown in
Display device 27, and reported by voice output 52 with sound.
Thus, as shown in figure 9, the edge operation travel route L01 automatic runnings of travel machine body 50 1, while carrying out rice shoot
Transplanting, by right labelling apparatus 19, in the position in farmland face corresponding with operation travel route L02, formed with index (with reference to row
Sail the position K3 of body 50).
As shown in figure 9, on operation travel route L01, when travel machine body 50 reaches setting close to end of job position D1
Apart from when travel machine body 50 close to end of job position D1 prompting and when travel machine body 50 reaches end of job position D1
When display device 27 is shown in by the prompting (being right direction on turning route LL1) turned to turn direction, and by sound
Output device 52 is reported with sound.
As shown in figure 9, when seeding transplantation apparatus 5 (transplanting arm 8) reaches end of job position D1, the quilt of transplanting clutch 26
Operate to dissengaged positions (transplanting of rice shoot stops), seeding transplantation apparatus 5 is raised operation, the right quilt of labelling apparatus 19 from farmland face
Operation extremely storage posture.At the same time, gear lever 45 is operated to compared with defined shift position somewhat low speed side, travels machine
Body 50 along turning route LL1 automatic runnings (steering) (with reference to travel machine body 50 position K4).
The transplanting stopping of rice shoot and seeding transplantation apparatus 5 are raised the prompting of operation, right labelling apparatus 19 is operated to receipts
The prompting that the prompting of posture and steering to the right have started to of receiving is shown in display device 27, and by voice output 52
Reported with sound.
As shown in figure 9, it is slightly sooner in time than on turning route LL1 (with reference to the position K4 of travel machine body 50) from travel machine body 50
Position when reaching operation starting position C2 starts, and seeding transplantation apparatus 5 is lowered by operation to farmland face (with reference to automatic lifting control
Make working condition, the dissengaged positions of transplanting clutch 26 of (preceding paragraph [4])), left labelling apparatus 19 is operating as acting on the posture (right side
Labelling apparatus 19 is storage posture).Seeding transplantation apparatus 5 is lowered by prompting and left labelling apparatus 19 of the operation to farmland face
The prompting for being operating as acting on posture is shown in display device 27, and is reported by voice output 52 with sound.
As shown in Fig. 9 to Figure 10, when seeding transplantation apparatus 5 (transplanting arm 8) reaches operation starting position C2, transplanting clutch
Device 26 is operated to drive state, and the transplanting of rice shoot, gear lever 45 are operated to defined change since the C2 of operation starting position
Fast position.The prompting for having started to transplanting rice shoot is shown in display device 27, and is reported by voice output 52 with sound.By
This, as shown in Figure 10, the edge operation travel route L02 automatic runnings of travel machine body 50 1, while carrying out the transplanting of rice shoot, passes through
Left labelling apparatus 19, in the position in farmland face corresponding with operation travel route L02 formed with index (with reference to travel machine body 50
Position K5).
In the above state, operation starts over line LA1, LA2 and furrow head line LB1, LB2；Operation starting position C1~
C7 and end of job position D1~D7；Operation travel route L01~L07；Turning route LL1~LL6；And by measurement apparatus 30
The position (location data) of obtained travel machine body 50 is shown in display device 27, in display device 27, travel machine body 50
Moved along operation travel route L01, L02 and turning route LL1.
As described above, in the case where travel machine body 50 is along operation travel route L02 automatic runnings, in travel machine body 50
It is secondary along in the state of operation travel route L01 automatic runnings (operation), by right labelling apparatus 19, with operation travel route
The position in farmland face corresponding to L02 is formed with index (the position K3 of the travel machine body 50 of reference picture 9).
Thus, driver is while device 27 are visually displayed that, centre of vision mark 14 and travels road with above-mentioned operation
The index of the position in farmland face corresponding to line L02, it thus can confirm that travel machine body 50 along the automatic rows of operation travel route L02
Sail.
As above, as shown in Fig. 9 and Figure 10, the automatic row of the travel machine body 50 along operation travel route L01~L07 is carried out
Sail the automatic running (turning) of (operation) and the travel machine body 50 along turning route LL1~LL6.
[14]
Traveling (operation) on riding type rice transplanter illustrate (thirdly).
On the state of preceding paragraph [13], on operation travel route L01~L07 and turning route LL1~LL6, driving
In the case that the person's of sailing judgement needs the travel speed of change travel machine body 50, driver can resist variable speed electric motors, particularly 53, will become manually
Fast bar 45 operates that (automatic ride control portion 62 is temporarily ceased to gear lever to high-speed side and low speed side from defined shift position
The state of the operation of 45 (variable speed electric motors, particularlies 53)).
Afterwards, (or driven when travel machine body 50 reaches operation starting position C1~C7 or end of job position D1~D7
When the person of sailing operates operating portion 18) while leaving gear lever 45 (or the hand of driver), pass through automatic ride control portion 62, gear lever
45 are operated to defined shift position.
Equally on operation travel route L01~L07 and turning route LL1~LL6, judge to need to correct in driver
In the case of the direction of travel machine body 50, driver can resist steering motor 51, the manually operated (automatic ride control of steering wheel 20
Portion 62 temporarily ceases the state of the operation to steering wheel 20 (steering motor 51)).
Afterwards, when the hand departure direction disk 20 of driver (or during driver's operation operating portion 18), as above institute is returned
State the state that steering wheel 20 (steering motor 51) is operated by automatic ride control portion 62.
On operation travel route L01~L07 and turning route LL1~LL6, it is being necessary to stop travel machine body 50
In the case of (for example, the rice shoot of preparation rice shoot microscope carrier 15 is replenished to the situation of rice shoot microscope carrier 10 of seeding transplantation apparatus 5 etc.),
Driver, which operates gear lever 45, to neutral position N, makes travel machine body 50 stop the (shape that automatic ride control portion 62 temporarily ceases
State).
In this case, driver can carry out the operation described in preceding paragraph [5] by operating action bars 12.
Afterwards, when driver operates operating portion 18, automatic ride control portion 62 returns to working condition, passes through automatic running
Control unit 62, gear lever 45 are operated to defined shift position, and travel machine body 50 starts to walk.
[15]
Traveling (operation) on riding type rice transplanter illustrates (its four).
In preceding paragraph [13], [14], as shown in figure 11, when travel machine body 50 reaches operation knot from operation travel route L07
Beam position D7, terminate along during operation travel route L01~L07 traveling (operation), travel machine body 50 is in end of job position D7
Stop.
As shown in figure 11, in travel machine body 50 in the state of end of job position D7 stoppings, when driver operates
During portion 18, obtained according to the position (location data) of the travel machine body 50 obtained by measurement apparatus 30 and by inertial measuring unit 48
The Inertia information arrived, by automatic ride control portion 62, variable speed electric motors, particularly 53 (gear lever 45) and (steering wheel of steering motor 51
20) it is operated automatically, travel machine body 50 is along path LC2 automatic runnings, and travel machine body 50 is by the amendment and advance of carry out direction
Retreat, travel machine body 50 is automatically stopped in position K6.
Afterwards, in the state of travel machine body 50 is located at position K6, driver operates operating portion 18 and starts operation of turn-taking.
As shown in figure 11, in the state of travel machine body 50 is located at position K6, when driver operates operating portion 18, rice shoot
Transplanting device 5 is lowered by operation to farmland face (working condition of automatic lifting control (with reference to preceding paragraph [4]), transplanting clutch 26
Dissengaged positions), the labelling apparatus 19 in right side and left side is not operated to effect posture and is to maintain storage posture.Rice shoot transplanting
Device 5 is lowered by prompting of the operation to farmland face and is shown in display device 27, and is reported by voice output 52 with sound.
Afterwards, as shown in figure 11, gear lever 45 is operated to defined shift position, and travel machine body 50 starts to walk automatically, side
Operated to disk 20, travel machine body 50 is along ridge border line B41 and furrow head line LB2 automatic runnings.Started to walk simultaneously with travel machine body 50,
Transplanting clutch 26 is operated to drive state, the transplanting of rice shoot since the K6 of position.The prompting for starting transplanting rice shoot is shown
Reported in display device 27, and by voice output 52 with sound.
Thus, as shown in figure 11, the edge ridge border line B41 of travel machine body 50 1 and furrow head line LB2 automatic runnings, while entering
The transplanting of row rice shoot (operation of turn-taking travels LD1).
As shown in figure 11, in the operation traveling LD1 that turn-takes, when travel machine body 50 is close to ridge border line B21 to setpoint distance,
Travel machine body 50 is shown in display device 27 close to ridge border line B21 prompting, and by voice output 52 with sound report
Know.
As shown in figure 11, terminate when operation of turn-taking travels LD1, when the front portion of travel machine body 50 reaches ridge border line B21, transplanting
Clutch 26 is operated to dissengaged positions (transplanting of rice shoot stops), and seeding transplantation apparatus 5 is raised operation, speed change from farmland face
Bar 45 is operated to neutral position N, and travel machine body 50 stops.
Then when driver operates operating portion 18, travel machine body 50 is by the amendment of carry out direction and forward-reverse, OK
Body 50 is sailed to be automatically stopped in position K7.
As shown in figure 11, in the state of travel machine body 50 is located at position K7, when driver operates operating portion 18, with turning
It is identical to enclose operation traveling LD1, seeding transplantation apparatus 5 is lowered by operation, and (automatic lifting controls (with reference to preceding paragraph [4]) to farmland face
The dissengaged positions of working condition, transplanting clutch 26), the labelling apparatus 19 in right side and left side be not operated to effect posture but
Keep storage posture.Seeding transplantation apparatus 5 is lowered by prompting of the operation to farmland face and is shown in display device 27, and by sound
Output device 52 is reported with sound.
Afterwards, gear lever 45 is operated to defined shift position, and travel machine body 50 is started to walk automatically, and steering wheel 20 is grasped
Make, travel machine body 50 starts over line LA2 automatic runnings along ridge border line B21 and operation, starts to walk simultaneously, to insert with travel machine body 50
Plant clutch 26 and be operated to drive state, the transplanting of rice shoot since the K7 of position.The prompting for starting transplanting rice shoot is shown in
Display device 27, and reported by voice output 52 with sound.
Thus, as shown in figure 11, the edge ridge border line B21 of travel machine body 50 1 and operation start over the automatic rows of line LA2
Sail, while carrying out the transplanting of rice shoot (operation of turn-taking travels LD2).
Afterwards, as shown in figure 11, it is identical with turn-take operation traveling LD1, LD2, carry out from position K8 along ridge border line B31 and
Furrow head line LB1 operation of turn-taking travels LD3 and line LA1 work of turn-taking is started over from position K9 along ridge border line B11 and operation
Industry travels LD4, and when turn-taking, operation traveling LD4 terminates, and during 50 in-position K6 of travel machine body, travel machine body 50 leaves field.
As above, the rice shoot transplanting in a field is terminated.
[the first other embodiment to carry out an invention]
In above-mentioned [embodiment], although turning route LL1~LL6 shown in Fig. 7~Figure 12 is when overlooking
Circle, but the turning route LL1~LL6 for possessing plan view shape as follows can also be set.
Illustrated using turning route LL1 as representative.As shown in figure 13, on operation travel route L01, travel machine body is worked as
When 50 front portion advances to arrival ridge border line B11, transplanting clutch 26 is operated to dissengaged positions (transplanting of rice shoot stops), seedling
Seedling transplanting device 5 is raised operation from farmland face, and gear lever 45 is operated to neutral position N, and travel machine body 50 stops.In the shape
Under state, seeding transplantation apparatus 5 (transplanting arm 8) is located at end of job position D1.
As shown in figure 13, after travel machine body 50 stops, on turning route LL1, receding portions LL11, advance portion are performed
Divide LL12, turn fractions LL13, advance part LL14, turn fractions LL15 and advance part LL16, seeding transplantation apparatus 5
(transplanting arm 8) is located at operation starting position C2.
[the second other embodiment to carry out an invention]
In above-mentioned [embodiment], although turning route LL1~LL6 shown in Fig. 7~Figure 12 is when overlooking
Circle, but the turning route LL1~LL6 for possessing plan view shape as follows can also be set.
Illustrated using turning route LL1 as representative.As shown in figure 14, on operation travel route L01, travel machine body is worked as
50 it is anterior reach ridge border line B11 somewhat in front of position when, transplanting clutch 26 is operated to the dissengaged positions (transplanting of rice shoot
Stop), seeding transplantation apparatus 5 is raised operation from farmland face, and gear lever 45 is operated to neutral position N, and travel machine body 50 is stopped
Only.In this condition, seeding transplantation apparatus 5 (transplanting arm 8) is located at end of job position D1.
As shown in figure 14, after travel machine body 50 stops, on turning route LL1, turn fractions LL17, advance portion are performed
Divide LL18 and turn fractions LL19, seeding transplantation apparatus 5 (transplanting arm 8) is located at operation starting position C2.
[the 3rd other embodiment to carry out an invention]
Above-mentioned [embodiment], [the first other embodiment to carry out an invention], [second to carry out an invention its
His embodiment] in, it can also form as follows.
In Figure 5, according to ridge border line B11~B41 position data, started over along the ridge border line B31, B41 setting operation
Line LA1, LA2, and set furrow head line LB1, LB2 along the ridge border line B11, B21.
Then, the operation in side is started between line LA1 starts over line LA2 with the operation of opposite side, is made multiple
Operation travel route L (L01~L07) is with parallel with furrow head line LB1, LB2 (ridge border line B11, B21) and parallel between each other
Be set in operation starts over line LA1 to mode with separating predetermined distance W1 (width of travel machine body 50 (seeding transplantation apparatus 5))
Between LA2.
Above-mentioned [embodiment], [the first other embodiment to carry out an invention], [second to carry out an invention other
Embodiment] and this item [the 3rd other embodiment to carry out an invention] described in operation travel route L01~L07 and turn
Detour line LL1~LL6 is also applied for freely supporting the dilatory of rotary cultivator attachment (not shown) in the lifting of the rear portion of travel machine body 50
Machine (example of Operation Van) (not shown).[the 4th other embodiment to carry out an invention]
In the united reaper (not shown) of harvesting field crop, it can also be set as shown in figure 15 upper to replace
Operation travel route L01~L07 and turning route LL1~LL6 shown in Fig. 7~Figure 12 of [embodiment] stated.
As shown in figure 15, on field, travel machine body 50 is made along the parallel travelings of ridge border line B11~B41, in advance by ridge B1
Crop (crop of Figure 11 operation traveling LD1~LD4 that the turn-takes part) harvesting on~B4 ridge side.Thus, according to ridge border line
B11~B41 position data, generation represent to remain in peripheral part line LE1, LE2, LE3, LE4 of the peripheral part of the crop in field.
As shown in figure 15, then, driver specifies the operation start bit for initially starting harvesting in display device 27
Put.As shown in figure 15, such as when specified location K11 is operation starting position, the positional number based on peripheral part line LE1~LE4
According to this and travel machine body 50 width, set operation starting position C1~C9, and set end of job position D1~D9.According to work
Industry starting position C1~C9 and end of job position D1~D9, operation travel route L01~L09 is set, and set operation row
Sail route L01~L09 direction (arrow of operation travel route L01~L09 shown in reference picture 15).
As shown in figure 15, when setting operation starting position C1~C9 and end of job position D1~D9, according to the ridge
Border line B11~B41 (peripheral part line LE1~LE4) position data, from operation starting position C1~C9 to end of job position D1
~D9 setting turning routes LL1.
As shown in figure 15, to be carried out from end of job position D1 to operation starting position C2 turning route LL1 as representative
Illustrate, on turning route LL1, perform turn fractions LL20, the turn fractions LL21 retreated and the advance part of advance
LL22, positioned at operation starting position C2.
[the 5th other embodiment to carry out an invention]
In the united reaper (not shown) of harvesting field crop, it can also be set as shown in figure 16 upper to replace
Operation travel route L01~L07 and turning route LL1~LL6 shown in Fig. 7~Figure 12 of [embodiment] stated.
As shown in figure 16, on field, travel machine body 50 is made along the parallel travelings of ridge border line B11~B41, in advance by ridge B1
Crop (crop of Figure 11 operation traveling LD1~LD4 that the turn-takes part) harvesting on~B4 ridge side.Thus, according to ridge border line
B11~B41 position data, generation represent to remain in peripheral part line LE1, LE2, LE3, LE4 of the peripheral part of the crop in field.
As shown in figure 16, then, driver specifies the operation start bit for initially starting harvesting in display device 27
Put.Such as when specified location K12 is operation starting position, according to peripheral part line LE1~LE4 position data and traveling machine
The width of body 50, operation starting position C1~C7 is set, and set end of job position D1~D7.According to operation starting position C1
~C7 and end of job position D1~D7, set operation travel route L01~L07, and set operation travel route L01~
L07 direction (arrow of operation travel route L01~L07 shown in reference picture 16).
As shown in figure 16, when setting operation starting position C1~C7 and end of job position D1~D7, according to the ridge
Border line B11~B41 (peripheral part line LE1~LE4) position data, from operation starting position C1~C7 to end of job position D1
~D7 setting turning routes LL1~LL6.
[the 6th other embodiment to carry out an invention]
In above-mentioned [embodiment], [the first other embodiment to carry out an invention]~[5th to carry out an invention
Other embodiment] in, it can also be formed in the way of described in following (6-1)~(6-4).
(6-1)
In the case where possessing automatic ride control portion 62 and automatic turning control unit 64, it is configured to manually grasp
Work independently operates in automatic ride control portion 62 to working condition and halted state, and is configured to manually operate solely
On the spot automatic turning control unit 64 is operated to working condition and halted state.
(6-2)
Possess automatic ride control portion 62, but do not possess automatic turning control unit 64.In this case, it is configured to pass through
It is manually operated independently to operate in automatic ride control portion 62 to working condition and halted state.
(6-3)
Possess automatic turning control unit 64, but do not possess automatic ride control portion 62.In this case, it is configured to pass through
It is manually operated independently to operate automatic turning control unit 64 to working condition and halted state.
(6-4)
Automatic ride control portion 62 and automatic turning control unit 64 neither possess.
In preceding paragraph (6-1)~(6-4), in the situation for not possessing automatic ride control portion 62 (by automatic ride control portion 62
Operate to the situation of halted state), the situation that does not possess automatic turning control unit 64 (operates automatic turning control unit 64 to stopping
The only situation of state) under, driver is while visually display that the display of device 27, while operation steering wheel 20 and gear lever 45,
Travel machine body 50 is set to be travelled along operation travel route L01~L07 (L09) and turning route LL1~LL6.
In this case, for riding type rice transplanter, in addition to the display of display device 27, also by visual observation in
The index of the position in heart mark 14 and farmland face corresponding with operation travel route L02~L07, operate steering wheel 20 and become
Fast bar 45, travel machine body 50 is set to be travelled along operation travel route L01~L07.[the 7th other embodiment to carry out an invention]
In above-mentioned [the 6th other embodiment to carry out an invention], in the case where not possessing automatic turning control unit 64
(being configured in the case that automatic turning control unit 64 is operated to halted state), as shown in figure 17, cornering operation moment report
Know that portion 66 can also be used as software design patterns in control device 23.
Thus, (automatic turning control unit 64 is operated in the state for not possessing automatic turning control unit 64 to halted state
State) under, cornering operation moment notification unit 66 is configured to work in the way of described in following (7-1)~(7-4).
(7-1)
As shown in fig. 7, when travel machine body 50 reaches end of job position D1~D6, " by the turning side of travel machine body 50
To and steering wheel 20 operated to turn direction " prompting be shown in display device 27, and by voice output 52 with sound
Sound is reported.
When travel machine body 50 reaches operation starting position C2~C7, the prompting of " operating steering wheel 20 to progressive position "
Display device 27 is shown in, and is reported by voice output 52 with sound.
Thus, the notification for the sound that driver sends according to the display and voice output 52 of display device 27, behaviour
Make steering wheel 20 and gear lever 45.
(7-2)
As shown in figure 13, when travel machine body 50 reaches end of job position D1~D6, " travel machine body 50 is made to stop then
Retreat " (receding portions LL11), " make travel machine body 50 stop and then advance " (advance part LL12), " by travel machine body 50
Turn direction and steering wheel 20 operate to turn direction " (turn fractions LL13), " making travel machine body 50 advance " (advance part
LL14), the turn direction of travel machine body 50 and steering wheel 20 " are operated to " (turn fractions LL15) to turn direction, " make row
Body 50 is sailed to advance " (advance part LL16) is shown in display device 27, and is reported by voice output 52 with sound.
Thus, driver is according to the display of display device 27 and the notification of the sound of voice output 52, operation side
To disk 20 and gear lever 45.
(7-3)
As shown in figure 14, when travel machine body 50 reaches end of job position D1~D6, " by the turning side of travel machine body 50
To and steering wheel 20 to turn direction operate " (turn fractions LL17), " travel machine body 50 is advanced " (advance part LL18),
" operating the turn direction of travel machine body 50 and steering wheel 20 to turn direction " (turn fractions LL19) is shown in display
Device 27, and reported by voice output 52 with sound.
Thus, driver is according to the display of display device 27 and the notification of the sound of voice output 52, operation side
To disk 20 and gear lever 45.
(7-4)
As shown in figure 15, when travel machine body 50 reaches end of job position D1~D8, " by the turning side of travel machine body 50
To and steering wheel 20 to turn direction operate " (the turn fractions LL20 of advance), " by the turn direction of travel machine body 50, side
To disk 20 to turn direction operate and retreat travel machine body 50 " (the turn fractions LL21 of retrogressing), " before making travel machine body 50
Enter " (advance part LL22), display device 27 is shown in, and reported with sound by voice output 52.
Thus, driver is according to the display of display device 27 and the notification of the sound of voice output 52, operation side
To disk 20 and gear lever 45.
In this case, in turning route LL1~LL6 shown in Figure 16, display dress as described above can also be carried out
Put the notification of 27 display and the sound of voice output 52.
In preceding paragraph (7-1)~(7-4), can also be configured to [13] without described above [embodiment],
[14], the descending operation portion 57 described in [15] to the operation of the raising and lowering of seeding transplantation apparatus 5, clutch operating portion 58 to inserting
The operation of the operation, labelling apparatus operating portion 59 of clutch 26 to right side and the labelling apparatus 19 in left side is planted, but is configured to logical
Cross driver and operate action bars 12 to carry out the raising and lowering of seeding transplantation apparatus 5 operation, the operating of transplanting clutch 26, right
The operation ([5], [6] with reference to above-mentioned [embodiment]) of the labelling apparatus 19 in side and left side.
[the 8th other embodiment to carry out an invention]
In above-mentioned [embodiment], [the first other embodiment to carry out an invention]~[7th to carry out an invention
Other embodiment] in, can also possess structure described below.
As shown in figure 20, detection is placed in the remaining of the rice shoot (equivalent to material) of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15
The material surplus test section 67 of amount is arranged at rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15, the detection of material surplus test section 67
Value is transfused to control device 23.Possesses the manually operated automatic stop switch 54 of driver, the operation of automatic stop switch 54 refers to
Order is transfused to control device 23.
As shown in figure 20, material surplus calculating part 68, material notification unit 69, be automatically stopped portion 70, force be automatically stopped portion
71 are used as software to be arranged at control device 23.Thus, according to the detected value of material surplus test section 67, material surplus meter is passed through
The surplus of rice shoot is calculated shown in calculation portion 68, such as following (8-1), (8-2).
As shown in figure 18, rice shoot is handled upside down by truck etc. and is positioned over ridge B1 (equivalent to specified ridge), auxiliary
Operator awaits orders in ridge B1.
(8-1)
As shown in figure 18, " in the case where travel machine body 50 is entered with the state positioned at operation travel route L01 (L03) (L05)
In the case of one operation travel route L02 (L04) (L06), being confirmed whether to have can complete along two operation travel routes
L02, L03 (L04, L05) (L06, L07) traveling (operation) simultaneously reach ridge B1 rice shoot surplus "
(8-2)
As shown in figure 19, " in the case where travel machine body 50 is entered with the state positioned at operation travel route L02 (L04) (L06)
In the case of one operation travel route L03 (L05) (L07), confirming the rice shoot of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 is
It is no to be finished in the midway of next operation travel route L03 (L05) (L07) "
This reason it is assumed that：Such as when travel machine body 50 shown in Figure 18 is with positioned at position K13 state (operation travel route
When L03) entering next operation travel route L04, by material surplus calculating part 68, rice shoot microscope carrier 10 and pre- has been calculated
The rice shoot of standby rice shoot microscope carrier 15 can be finished in operation travel route L04, L05 midway.
When as above-mentioned state, as shown in Figure 18 and Figure 20, " travel machine body 50 should be made to stop on ridge B1 ridge side
Only carry out the supply of rice shoot " prompting by material notification unit 69, be shown in display device 27, and by voice output 52
Reported with sound, driver operates automatic stop switch 54 by the judgement of itself.
At the same time, notification content same as described above is sent to the intelligence entrained by less important work person from smart mobile phone 46
Mobile phone 55 (portable information terminal), less important work person begin preparing for seedling according to the notification for being dealt into self-contained smart mobile phone 55
The supply of seedling.
When driver operates automatic stop switch 54, it is automatically stopped portion 70 and works.
Thus, in the case where travel machine body 50 as shown in figure 18 is located at position K13 state (operation travel route L03), when driving
When the person of sailing operates automatic stop switch 54, continue automatic running (operation) of the travel machine body 50 along operation travel route L03.
Afterwards, when seeding transplantation apparatus 5 (transplanting arm 8) as shown in figure 18 reaches end of job position D3, transplanting clutch
Device 26 is operated to dissengaged positions (transplanting of rice shoot stops), and seeding transplantation apparatus 5 is raised operation, right mark dress from farmland face
Put 19 and be operated to storage posture.Then, without automatic running (turning) of the travel machine body 50 along turning route LL3, traveling
Body 50 is moved on, and when the front portion of travel machine body 50 is located at ridge border line B11 position K14, travel machine body 50 is automatically stopped.
Thus, on ridge B1, less important work person gives rice shoot the driver of travel machine body 50, is connected to the driving of rice shoot
Rice shoot is replenished to rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 by member.
Then, the work on forcing to be automatically stopped portion 71 illustrates.
In following situations, i.e. be located at position K13 state (operation traveling road even in travel machine body 50 as shown in figure 18
Line L03) under " should make travel machine body 50 ridge B1 ridge side stop, carrying out the supply of rice shoot " prompting reported by material
Portion 69 is shown in display device 27 and reported by voice output 52 with sound, and driver is still automatically stopped without operation
Switch 54 is under such circumstances, it is assumed that：As shown in figure 19, automatic running (steering) of the travel machine body 50 along turning route LL3 enters
OK, travel machine body 50 enters operation travel route L04 (reference position K15).
In this case, according to the detected value of material surplus test section 67, carried out again by material surplus calculating part 68
The calculating of the surplus of rice shoot, " next is entered in travel machine body 50 with the state positioned at operation travel route L04 when calculating
In the case of operation travel route L05, the rice shoot of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 can travel road in next operation
Line L05 midway is finished " as rice shoot surplus state when (surplus equivalent to material is less than set amount set in advance
State), pressure is automatically stopped portion 71 and worked.
As shown in figure 19, when forcing to be automatically stopped the work of portion 71, travel machine body 50 is automatic along operation travel route L04's
Traveling (operation) continues, when seeding transplantation apparatus 5 (transplanting arm 8) reaches end of job position D4, transplanting clutch 26
Dissengaged positions (transplanting of rice shoot stops) being operated to, seeding transplantation apparatus 5 is raised operation, left labelling apparatus 19 from farmland face
It is operated to storage posture.
Then, without automatic running (turning) of the travel machine body 50 along turning route LL4, before travel machine body 50 continues
Enter, when the front portion of travel machine body 50 is located at ridge border line B21 position K16, travel machine body 50 is automatically stopped.
In this case, the less important work person to be awaited orders on ridge B1 needs the rice shoot for being ready for ridge B1 being moved to field
Ridge B2, and carry out the supply of rice shoot in ridge B2.
[the 9th other embodiment to carry out an invention]
In above-mentioned [the 8th other embodiment to carry out an invention], it can also be configured to by forcing to be automatically stopped portion
71, travel machine body 50 is travelled and then stopped in the way of the following description.
In following situations, i.e. even if being located at position K13 state (operation traveling road in travel machine body 50 as shown in figure 18
Line L03) under " should make travel machine body 50 ridge B1 ridge side stop, carrying out the supply of rice shoot " prompting reported by material
Portion 69 is shown in display device 27 and reported by voice output 52 with sound, and driver is still automatically stopped without operation
Switch 54 is under such circumstances, it is assumed that：As shown in figure 19, automatic running (turning) of the travel machine body 50 along turning route LL3 enters
OK, travel machine body 50 enters operation travel route L04 (reference position K15).
In this case, according to the detected value of material surplus test section 67, carried out again by material surplus calculating part 68
The calculating of the surplus of rice shoot, " next is entered in travel machine body 50 with the state positioned at operation travel route L04 when calculating
In the case of operation travel route L05, the rice shoot of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 can travel road in next operation
Line L05 midway is finished " as rice shoot surplus state when (surplus equivalent to material is less than set amount set in advance
State), pressure is automatically stopped portion 71 and worked.
When forcing to be automatically stopped the work of portion 71, automatic running (operation) of the travel machine body 50 along operation travel route L04
Continue, and carry out automatic running (steering) of the travel machine body 50 along turning route LL4, travel machine body 50 enters operation and travelled
Route L05.
In this case, the rice shoot of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 can be in operation travel route L05 midway
It is finished, when the rice shoot of rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 is finished in operation travel route L05 midway, transplanting clutch
Device 26 is operated to dissengaged positions (transplanting of rice shoot stops), and seeding transplantation apparatus 5 is raised operation, right mark dress from farmland face
Put 19 and be operated to storage posture.
Afterwards, traveling of the travel machine body 50 along operation travel route L05 continues, when travel machine body 50 reaches operation knot
Beam position D5, when the front portion of travel machine body 50 is located at ridge border line B11, travel machine body 50 is automatically stopped.
Thus, ridge B1 less important work person gives the rice shoot for being ready for ridge B1 the driver of travel machine body 50, connects
Rice shoot is replenished to rice shoot microscope carrier 10 and preparation rice shoot microscope carrier 15 by the driver to rice shoot.
Afterwards, the manually operated steering wheel 20 of driver and gear lever 45, travel machine body 50 is made along operation travel route L05
Retreat, return to the position (stop position of the transplanting of rice shoot) that above-mentioned transplanting clutch 26 is operated to dissengaged positions, recover
Along the operation travel route L05 of travel machine body 50 automatic running (operation).[the tenth other embodiment to carry out an invention]
In above-mentioned [the 8th other embodiment to carry out an invention], [the 9th other embodiment to carry out an invention],
It can also be configured to by being automatically stopped portion 70, travel machine body 50 is travelled and then stopped in the way of the following description.
As shown in figure 21, in the case where travel machine body 50 is located at position K17 state (operation travel route L03), driver is worked as
When operating automatic stop switch 54, automatic running (operation) of the travel machine body 50 along operation travel route L03 continues.
As shown in figure 21, when seeding transplantation apparatus 5 (transplanting arm 8) reaches end of job position D3, transplanting clutch 26
Dissengaged positions (transplanting of rice shoot stops) being operated to, seeding transplantation apparatus 5 is raised operation, right labelling apparatus 19 from farmland face
It is operated to storage posture.At the same time, gear lever 45 is operated to compared with defined shift position somewhat low speed side, traveling
Body 50 is along turning route LL3 automatic runnings (turning).
As shown in figure 21, even if travel machine body 50 reaches operation starting position C4 (reference positions on turning route LL3
K18), seeding transplantation apparatus 5 can also maintain to be raised state (dissengaged positions, right side and the left side of transplanting clutch 26 of operation
Labelling apparatus 19 storage posture), without automatic running of the ensuing travel machine body 50 along operation travel route L04
(operation), travel machine body 50 directly retreat, when seeding transplantation apparatus 5 is located at ridge border line B11 position K19, travel machine body 50
It is automatically stopped.
For example, for fertilizer apparatus (not shown), seeding apparatus (not shown), applicator device (not shown) are arranged at into row
For sailing the rear portion of body 50, the riding type rice transplanter of linkage 3, riding-type seed-sowing machine, fertilizer, kind are being fed from ridge B1
In the case of son, medicament, if fertilizer, seed, medicament fed from ridge B1 to the rear portion of travel machine body 50, easily will
Fertilizer, seed, the medicament being recharged are replenished to fertilizer apparatus, seeding apparatus, applicator device.
Therefore, in such riding type rice transplanter, riding-type seed-sowing machine, as shown in figure 21, it is adapted to fill in rice shoot transplanting
Stop travel machine body 50 when putting 5 positioned at ridge border line B11 position K19.
[the 11st other embodiment to carry out an invention]
In above-mentioned [the 8th other embodiment to carry out an invention], [the 9th other embodiment to carry out an invention], [reality
Apply the tenth other embodiment of invention] in, it can also be configured to material surplus calculating part 68, material notification unit 69, automatic
Stop 70, pressure be automatically stopped portion 71 function be used for such as seed, fertilizer, medicament, traveling fuel material.
[the 12nd other embodiment to carry out an invention]
In above-mentioned [embodiment], [the first other embodiment to carry out an invention]~[tenth to carry out an invention
One other embodiment] in, can also possess following (12-1), the structure described in (12-2).
(12-1)
Center side (ridge border line B11~B41 inner side) in field, in the case of the barriers such as trees being present, makes expression
The barrier data of the position for the barrier for being present in field are included in peripheral part (the ridge border line B11~B41 in (being appended to) field
Position data) in.
In this case, in the position that barrier be present, operation travel route L01~L09 is with the roundabout side of obstacle thing
Formula, it is set as case of bending.
On operation travel route L01~L09, when travel machine body 50 reaches barrier, transplanting clutch 26 is operated
To dissengaged positions the transplanting of rice shoot (stop), seeding transplantation apparatus 5 is by from farmland face lifting operations, the labelling apparatus of right (left side) side
19 are operated into storage posture.When travel machine body 50 terminate obstacle thing it is roundabout when, seeding transplantation apparatus 5 is by under the face of farmland
Drop operation (with reference to the working condition of automatic lifting control (preceding paragraph [4])), the labelling apparatus 19 of right (left side) side are operated into effect
Posture, transplanting clutch 26 are operated into drive state, start again at the transplanting of rice shoot.
(12-2)
Make each position in center side (ridge border line B11~B41 inner side) place field in expression field with respect to the horizontal plane
Inclined tilt data be included in and (be appended to) in the peripheral part (ridge border line B11~B41 position data) in field.
The inclined part of presence in field may be such that travel machine body 50 is slid laterally along inclination.Thus, it is configured to be expert at
Sail the position that body 50 may slide laterally, consider sliding laterally for travel machine body 50, make operation travel route L01~L09 to
With sliding laterally side in opposite direction somewhat bias, or delicately perform automatic ride control portion 62 and automatic turning control unit
The operation of 64 pairs of steering motors 51 (steering wheel 20).
[the 13rd other embodiment to carry out an invention]
In above-mentioned [embodiment], [the first other embodiment to carry out an invention]~[tenth to carry out an invention
Two other embodiments] in, control device 23 can also be configured to do not possess operation to start over position configuration part 60, operation row
Sail route configuration part 61 and turning route configuration part 63.
In the case where forming by this way, formed in the way of described in following (13-1)~(13-8).
(13-1)
Operation is started over into position configuration part 60, operation travel route configuration part 61, turning route configuration part 63, acquirement
Portion is as software design patterns in computer being provided separately with travel machine body 50 etc. (such as computer 49 shown in Fig. 4 etc.).
Thus, the operation by being used as software starts over position configuration part 60, operation travel route configuration part 61, turned
Route configuration part 63, obtaining section, form what operation travel route L01~L09 and turning route LL1~LL6 were set
Operation initialization system.
(13-2)
In the structure described in preceding paragraph (13-1), operation is started over into position configuration part 60, operation travel route is set
Portion 61, turning route configuration part 63, obtaining section are arranged at different computers, without being disposed on same computer.
In this case, position configuration part 60, operation travel route configuration part 61, obtaining section are started over by operation,
The operation initialization system set to operation travel route L01~L09 is formed, in addition, can also be configured to pass through work
Industry starts over position configuration part 60, turning route configuration part 63, obtaining section, forms and turning route LL1~LL6 is set
Operation initialization system.
(13-3)
Using operation start over position configuration part 60, operation travel route configuration part 61, turning route configuration part 63 as
Software design patterns are set in addition in computer being provided separately with travel machine body 50 etc. (such as computer 49 shown in Fig. 4 etc.)
Equivalent to the smart mobile phone 46 (portable information terminal) shown in Fig. 4, the obtaining section of Wi-Fi units 47.
Thus, the operation by being used as software starts over position configuration part 60, operation travel route configuration part 61, turned
Route configuration part 63 and the obtaining section as hardware, form to operation travel route L01~L09 and turning route LL1~LL6
The operation initialization system set.
(13-4)
In the structure described in preceding paragraph (13-3), operation is started over into position configuration part 60, operation travel route is set
Portion 61, turning route configuration part 63 are arranged at different computers, without being disposed on same computer.
In this case, the operation by being used as software starts over position configuration part 60, operation travel route configuration part
61st, turning route configuration part 63 and the obtaining section as hardware, the work set to operation travel route L01~L09 is formed
Industry initialization system, in addition, position configuration part 60 can also be started over by being used as the operation of software, turning route is set
Portion 63 and the obtaining section as hardware, form the operation initialization system set to turning route LL1~LL6.
(13-5)
Possess be provided with operation start over position configuration part 60, operation travel route configuration part 61, turning route setting
Portion 63, the special control device of obtaining section, enter as to operation travel route L01~L09 and turning route LL1~LL6
The operation setting device of row setting.
(13-6)
In the structure described in preceding paragraph (13-5), possess be provided with operation start over position configuration part 60, operation traveling
Route configuration part 61, the special control device of obtaining section, as the operation set to operation travel route L01~L09
Setting device, in addition, can also possess be provided with operation start over position configuration part 60, turning route configuration part 63,
The special control device of obtaining section, as the operation setting device set to turning route LL1~LL6.
(13-7)
Possess be provided with operation start over position configuration part 60, operation travel route configuration part 61, turning route setting
The special control device in portion 63, and will be equivalent to smart mobile phone 46 (portable information terminal), Wi-Fi units 47 shown in Fig. 4
Obtaining section be provided separately with control device, by control device and obtaining section be used as to operation travel route L01~L09 with
And the operation setting device that turning route LL1~LL6 is set.
(13-8)
In the structure described in preceding paragraph (13-7), by being provided with, operation starts over position configuration part 60, operation travels road
The special control device and obtaining section of line configuration part 61 are used as the work set to operation travel route L01~L09
Industry setting device, in addition, position configuration part 60, turning route configuration part 63 can also be started over by being provided with operation
Special control device and obtaining section is used as the operation setting device set to turning route LL1~LL6.
It is described by [9] of above-mentioned [embodiment] in the structure described in (13-1)~(13-8) more than
Method (9-1)~(9-4), obtain ridge border line B11~B41's by the obtaining section of operation initialization system (operation setting device)
Position data, and operation travel route L01~L09 (turning route LL1 are set by operation initialization system (operation setting device)
~LL6).
Then, via various means of communication, storage medium, by operation travel route L01~L09 (turning route LL1~
LL6 the control device 23 of travel machine body 50) is passed to from operation initialization system (operation setting device).In this case, Fig. 4 institutes
The smart mobile phone 46 (portable information terminal) and Wi-Fi units 47 shown is not just the obtaining section of the present invention.
Claims (20)
1. a kind of Operation Van, wherein,
Possess：Obtaining section, the position data of the peripheral part in field is obtained, and
Possess：Operation configuration part, according to the position data, the operation travel route that travel machine body to be travelled is set in field
Ground.
2. Operation Van according to claim 1, wherein,
Possess：Automatic ride control portion, enter every trade automatically in a manner of travel machine body is travelled along the operation travel route
Sail the steering operation of body.
3. Operation Van according to claim 1 or 2, wherein,
In the operation configuration part,
Possess：
Operation starts over position configuration part, and according to the position data, operation starting position and end of job position are set
In field；And
Operation travel route configuration part, according to the position data, from the operation starting position to the end of job position,
The operation travel route is set in field.
4. Operation Van according to claim 3, wherein,
According to the position data, position configuration part is started over by the operation, by multiple operation starting positions and
Multiple end of job positions are set in field along ridge,
According to the position data, by the operation travel route configuration part, from the operation starting position of side ridge
To the end of job position of opposite side ridge, the operation travel route is set in field, also, multiple operations
Travel route is set in field while predetermined distance is separated in a manner of being parallel to each other.
5. the Operation Van according to claim 3 or 4, wherein,
Possess：Location portion, output represent the location data of the position of travel machine body, and
Possess：Display device, show the operation starting position, the end of job position, the operation travel route and
The position of travel machine body.
6. the Operation Van according to any one in claim 3~5, wherein,
Possess：Turning route configuration part, according to the position data, from the end of job position to the operation start bit
Put, turning route is set in field.
7. Operation Van according to claim 6, wherein,
Possess：Automatic turning control unit, traveling machine is carried out automatically in a manner of making travel machine body along the turning route running
The steering operation of body.
8. the Operation Van according to claim 6 or 7, wherein,
Possess：Turn direction notification unit, travel machine body is reported in advance before travel machine body enters the turning route described
Turn direction on turning route.
9. the Operation Van according to any one in claim 3~6, wherein,
Possess：Cornering operation moment notification unit, in the turn condition from the end of job position to the operation starting position
Under, notification carry out travel machine body cornering operation at the time of and turn direction.
10. the Operation Van according to any one in claim 6~8, wherein,
Possess：Location portion, detection represent the location data of the position of travel machine body, and
Possess：Display device, show the operation starting position, end of job position, the operation travel route, described
The position of turning route and travel machine body.
11. the Operation Van according to any one in claim 1~10, wherein,
Possess：Material surplus test section, the surplus of the material of loading is detected, and
Possess：Material notification unit, should be in travel machine body along the operation row to driver's notification when the surplus of material tails off
The traveling for sailing route terminates supply material afterwards.
12. Operation Van according to claim 11, wherein,
The notification of the material notification unit can also be carried out to the less important work person on ridge.
13. according to the Operation Van described in claim 11 or 12, wherein,
Possess：Portion is automatically stopped, according to operational order, after traveling of the travel machine body along the operation travel route terminates,
Travel machine body is set to be automatically stopped on ridge side.
14. Operation Van according to claim 13, wherein,
After traveling of the travel machine body along the operation travel route terminates, the portion of being automatically stopped proceeds to travel machine body
Ridge simultaneously stops.
15. Operation Van according to claim 13, wherein,
After traveling of the travel machine body along the operation travel route terminates, the portion of being automatically stopped makes travel machine body turn,
Then travel machine body is backed to ridge and stop.
16. the Operation Van according to any one in claim 11~15, wherein,
Possess：Pressure is automatically stopped portion, when the surplus of material is fewer than set amount set in advance, in travel machine body along the work
After the traveling of industry travel route terminates, travel machine body is set to be automatically stopped on ridge side.
17. the Operation Van according to any one in claim 13~16, wherein,
Self-braking ridge side is the finger for carrying out material supply after traveling of the travel machine body along the operation travel route terminates
The ridge side of fixed ridge.
18. the Operation Van according to any one in claim 1~17, wherein,
The operation travel route is the traveling road of the location data based on the position for representing the Operation Van for travelling on field in the past
Line.
19. the Operation Van according to any one in claim 1~18, wherein,
The position data includes the barrier data for representing to be present in the position of the barrier in field.
20. the Operation Van according to any one in claim 1~19, wherein,
The position data includes the inclined tilt data of each position in expression field with respect to the horizontal plane.
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| JP2016128037A JP6945279B2 (en) | 2016-06-28 | 2016-06-28 | Work platform |
| JP2016-128037 | 2016-06-28 |
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| CN201710457368.4A Active CN107535147B (en) | 2016-06-28 | 2017-06-16 | Working vehicle |
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|---|---|
| JP (1) | JP6945279B2 (en) |
| KR (1) | KR102411514B1 (en) |
| CN (1) | CN107535147B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR102411514B1 (en) | 2022-06-21 |
| KR20180002021A (en) | 2018-01-05 |
| JP2018000039A (en) | 2018-01-11 |
| JP6945279B2 (en) | 2021-10-06 |
| CN107535147B (en) | 2022-09-02 |
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