JP2008067606A5 - - Google Patents

Description

Control device for work vehicle

  The present invention relates to a work vehicle control device that performs predetermined work machine operation control based on a rolling amount of a traveling wheel during turning.

  As shown in Patent Document 1, there is known a work vehicle control device including a control processing unit that performs work machine operation control based on a predetermined reference position of a turning stroke based on a rolling amount of a running wheel during turning.

  In general, in reciprocating traveling in a field such as rice planting, the planting operation of the planting device is stopped and the planting device is moved by the ascending operation in the aircraft turning process in which the U-turn turns at the turning point from the outward trip to the return trip. Holding at a non-working height position above the farm scene and entering a turning run, when the aircraft turns to the backward direction, the planting device is lowered and the planting device is restarted by operating the planting device.

In detail, the control device for a work vehicle performs an interlocking control of the work machine when the airframe enters a turning stroke by an operator's steering operation, and controls the working machine in a turn-linked manner by comparing the detected rolling amount of the wheel with a predetermined reference position. By performing the “control”, the above-described series of turning operation is automatically processed according to the elapsed distance of the turning travel, thereby reducing the operation burden on the operator accompanying the turning operation of the airframe.
JP 2006-81444 A

  However, if the operator is forced to make a large turn by a corrective operation in response to a partial change in traveling conditions such as changes in the soil quality of the field, the timing of the work equipment operation will be changed along with the change in the turning distance due to the large turn. Deviation will occur. In this case, in the above-described control process, since it becomes clear that the turning is a large turning only by the difference in the elapsed distance at the end of the turning, it cannot be reflected in the work machine operation during the turning. When turning, the “automatic turning control” is turned off, and a complicated series of work machine operations are forced to be performed, which is a limit for reducing the burden on the operator.

  The problem to be solved is to provide a control device for a work vehicle that can suppress the influence of the large turning by reducing the influence of the large turning by reflecting the automatic turning control by surely determining the large turning outside the standard turning. There is.

The invention according to claim 1 is for a work vehicle including a control processing unit (21) that performs work machine operation control when the count of the number of rotations of the traveling wheel (3) during turning travel reaches a predetermined reference position in the turning stroke. in the control device, the control processing unit (21), based on the left and right rotational speed difference of the traveling wheel (3), the work vehicle control device being characterized in that a configuration in which the correction processing of the reference position.

The work vehicle control device performs work machine operation control based on a predetermined reference position based on a count of the number of rotations of the traveling wheel in the turning traveling process of the working vehicle. based on the left and right rotational speed difference, it performs the work machine operation control by the correction reference position which has been subjected to correction processing to the reference position.

In the invention according to claim 2, when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches the work implement clutch transmission position (n2) which is a predetermined reference position of the turning stroke, the planting device (7) In the work vehicle control device including the control processing unit (21) that performs control for transmitting the clutch, the control processing unit (21) is configured such that the difference between the left and right rotational speeds of the traveling wheel (3) is smaller than a predetermined reference value. In addition, the work vehicle control device is characterized in that the reference position is corrected.

The work vehicle control device performs control for transmitting the clutch of the planting device based on the rotation speed count of the traveling wheel in the turning process of the work vehicle. When the left-right rotational speed difference is smaller than a predetermined reference value , control is performed to transmit the clutch of the planting device by the correction reference position subjected to the correction process.

The invention according to claim 3 is for a work vehicle including a control processing unit (21) that performs work machine operation control when the count of the number of rotations of the traveling wheel (3) during turning travel reaches a predetermined reference position of the turning stroke. In the control device, the control processing unit (21) is a work vehicle control device characterized in that the reference position is corrected based on a steering angle.

In the invention according to claim 4, when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches the work implement clutch transmission position (n2) which is a predetermined reference position of the turning stroke, the planting device (7) In the work vehicle control device including a control processing unit (21) that performs control for transmitting the clutch, the control processing unit (21) is configured to correct the reference position based on a steering angle. It is set as the control apparatus for working vehicles.

The work vehicle control device of the present invention has the following effects.
According to the first aspect of the present invention, since the work implement operation control is performed based on the correction reference position based on the difference between the left and right rotational speeds of the traveling wheels during turning, the work implement is operated when the turning stroke is larger than the predetermined turning. As a result, the influence of fluctuations in the turning motion can be reduced.

According to the second aspect of the present invention, when the difference between the left and right rotational speeds of the traveling wheel during turning is smaller than a predetermined reference value, control is performed to transmit the clutch of the planting device according to the correction reference position. In this case, the operation position of the planting device is adjusted when the rotation is greater than the predetermined turning, and the influence of the fluctuation of the turning operation can be reduced.

According to the third aspect of the present invention, since the work implement operation control is performed based on the correction reference position based on the steering angle, the operation position of the work implement is adjusted when turning more than a predetermined turn in the turning stroke. It is possible to suppress the influence of fluctuations in operation.

According to the invention of claim 4, since the control of transmitting the clutch of the planting device by the correction reference position is performed based on the steering angle, the operation of the planting device when the turn becomes larger than the predetermined turn in the turning stroke The position is adjusted, and the influence of fluctuations in the turning motion can be suppressed to a small level.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
An example of a planting work machine to which the work vehicle control device of the present invention is applied will be described with reference to the rice transplanter shown in the side view of FIG.

  The rice transplanter 1 supports the vehicle so that it can be driven by four wheels by the steering wheels 2 and 2 and the rear wheels 3 and 3. In addition to the steering handle 4, the operator seat 5, the engine 6, and the working unit (planting device) 7. A control device 21 to be described later for controlling various devices is provided.

  The working unit 7 is a planting device as a field work machine attached to the rear part of the machine body so as to be capable of being lifted and lowered via the lifting unit 11, and performs a multi-row planting operation according to the traveling of the machine body through a planting clutch (not shown). In addition, a seedling transfer device 13 that sequentially feeds seedlings in conjunction with planting traveling, an implanting device 14 for implanting the seedlings in the field, a float device 15 for leveling the farm scene, and the like, and discharging fertilizer This fertilizer application device 17 is arranged.

  As shown in the system diagram of FIG. 2, the input / output configuration of the control device 21 receives signals from various switches and sensors, and controls actuators of various devices for airframe traveling and planting device operation.

  On the input side, in addition to a control selection switch 22 for selecting a control pattern for turning the aircraft, a finger lever switch 23a for a planting operation command, and a planting device ascent mode switch 24 for automatic ascent selection of the planting device 7 , HST lever position sensor 25 for detecting a shift operation, steering angle sensor 26 for detecting a steering operation, a time lag adjusting dial 27 for adjusting a time, a brake pedal sensor 28 for detecting a brake operation, and n1 for determining a lowering timing of the working unit A signal is input by connecting a setting dial 29a, an n2 setting dial 29b for determining the clutch timing for operating the working unit, and the like.

  The above-mentioned control selection switch 22 is a dial switch for instructing to limit the operation of the planting device 7 to “right turn only” and “left turn only” in addition to “continuous” for controlling the operation of the planting device 7 in conjunction with the turn of the aircraft. It is.

  On the output side, an electromagnetic hydraulic valve 11b for raising and lowering the planting device 7 via the hydraulic cylinder 11a of the lifting unit 11, a planting clutch operating solenoid 31 for planting operation of the planting device 7, and a fertilizing clutch operation for operating the fertilizer machine A solenoid 32, an HST motor 33 for tilting the HST lever, etc. are connected to control each device.

  The n1 setting dial 29a is a dial that can be adjusted within a predetermined range from “early” to “slow” with “standard” as the center, and the lowered position n1 depending on the rotation amount of the drive shaft corresponding to the instruction is the working unit. Is set as the descending timing. Similarly to the n1 setting dial 29a, the n2 setting dial 29b is a dial that can be adjusted within a predetermined range from “early” to “slow” centering on “standard”, and the rotation amount of the drive shaft corresponding to the instruction Is set as the operation timing of the working unit.

  The control process by the control device 21 performs “automatic turning control” for controlling the operation of the planting device 7 in conjunction with the turning operation of the machine, in addition to the operation control of each device. When the vehicle enters a turn, control processing corresponding to a large turn is performed after making a determination based on the difference between the left and right rotational speeds of the rear wheels or the handle operating angle.

  Specifically, as shown in the flowchart of FIG. 3, when a turning handle operation is performed during planting, the rear wheel inner rotational speed N during turning is counted, and in this case, the inner and outer rear wheel rotations are counted. The speed difference is checked (S21), and if the rotational speed difference is equal to or smaller than a predetermined value, the reference position n is corrected by the coefficient α (S21a). When the difference between the inner and outer rear wheel rotational speeds is not less than the predetermined value, the inner rear wheel rotation speed N is less than or equal to the handle return position n3 (S22), and the handle angle θ is less than or equal to the predetermined value (S23). In the case corresponding to the determination, the reference position n is corrected by the coefficient α (S21a).

  The coefficient α in the correction process (S21a) of the reference position n is set to be larger than 1, and the work implement lowering position n1 and the work implement clutch transmission position n2 are corrected with α × n as a new reference position n. The interrelationship of the reference positions by setting is n1 <n3 <n2, and by performing work machine operation control based on the new reference position (correction reference position) by correction, the turning stroke is larger than the predetermined turning. In this case, the operation position of the working machine is adjusted, and the influence of the fluctuation of the turning operation can be suppressed to a small level.

  For example, in the turning example shown in FIG. 4, since the turning of the first half of the turning and the turning of the radius R2 of the first half and the turning of the radius R2 of the second half is determined by the substantially straight running, Subsequent work machine control operation timing is optimized, and the influence of fluctuations in the turning operation can be suppressed to a small level.

As another control correction, for example, by integration processing of the steering angle θ ° and the rear wheel inner rotation speed n, with respect to the traveling direction at L1 meter forward and L2 meter laterally from the planting “cut” position. Thus, the turning angle a ° can be calculated, so that the position and orientation of the aircraft is determined by such integration processing, and the planting clutch control is performed based on the position of the aircraft, and the determined aircraft Based on the orientation, the planting apparatus can be controlled to descend.

(Single brake turning)
In the case of a rice transplanter that turns with one brake, as shown in the flowchart of FIG. 5, the number of times that the steering angle is greater than a certain value and the rear wheel inner rotational speed becomes 0 is t seconds in the turning portion during turning. When counted n times or more, the inside turning cumulative rotational speed N is corrected according to the steering angle.

  That is, when the stop of the inner rotation of the rear wheel is equal to or higher than the predetermined frequency (S31), if the steering angle is equal to or smaller than the predetermined value c (S32), a value obtained by multiplying the outer rear wheel rotational speed by a coefficient β smaller than 1 is obtained. Addition is performed to correct the count N inside the rear wheel (S33a). If the steering angle is not less than the predetermined value c (S32), the coefficient γ smaller than 1 and larger than the coefficient β is outside. A value multiplied by the rear wheel rotational speed is added to correct the count N inside the rear wheel (S33b).

By applying the correction process to the turn control shown in the flowchart of FIG. 6, it is possible to cope with turning traveling by a single brake.
That is, the ascending mode switch 24 of the planting device 7 is checked (S41), and if it is not in the ascending mode, it waits until the predetermined lowering position n1 is reached by the drive shaft rotation number check (S42), A planting device “down” is commanded (S44) on condition that the angle is equal to or greater than a specified value a (for example, 90 °). On the contrary, in the case of the ascending mode, the planting device “raising” is commanded (S41a). If the handle angle is not equal to or greater than the specified value a, the process is terminated after an alarm output (S43a).

  Next, the drive shaft rotation number check (S45) waits until a predetermined turning distance n2 ′ is reached, and the fertilizer clutch “” is applied on condition that the handle angle is not equal to or greater than a specified value b (for example, 180 °) for the determination of abnormal operation. "On" is commanded (S47). If the handle angle is equal to or greater than the specified value b, the process is terminated after an alarm output (S43a) as described above.

  Subsequently, it waits until the predetermined clutch-on position n2 is reached by the drive shaft rotation number check (S49), and instructs the planting “ON” (S50) and performs the normal interlocking process by the drive shaft rotation count clear (S51). finish. By this left or right turn control process, the planting device 7 performs a corresponding operation in conjunction with the turning operation of the airframe, thereby performing leveling of the turning process and resuming the planting by straight running after the end of the turning.

(Teach processing)
Next, a teaching process for setting and inputting a traveling pattern in automatic planting traveling will be described.
A dedicated cross lever is provided so that the teaching process can be concentrated on the straight running of the aircraft. As shown in FIG. 7, an explanatory diagram of the operation direction of this cross lever is shown in FIG. 7 in which the backward tilting operation toward the front side starts teaching, the forward tilting operation toward the back side ends teaching, the left side operation is trimmed to the left, The right side operation is configured as a right trim.

  As shown in the input / output signal system diagram of FIG. 8, the input / output configuration of the control unit 21 includes, on the input side, a travel data input instruction and teaching switch 22 for automatic start, and an automatic switch 23 for canceling autonomous straight-ahead steering control. In addition to the input signals of the left and right trim switches 24 for fine adjustment of the setting direction, the vehicle speed sensor 25, the traveling direction sensor 9, the steering angle sensor 4a, etc., various switches and sensor signals are received. The control operation of the front wheel steering electromagnetic hydraulic valve 2v, the target azimuth lamp 26a, the automatic lamp 23a, the abnormal lamp 26b, the azimuth correction lamp 24a, the sound alarm device 26c, and the buzzer 26d is output as display lamps including alarms.

  The control unit 21 enables autonomous straight-ahead steering control only when a predetermined condition is satisfied. That is, in the autonomous straight-ahead steering control, the steering angle of the steering device is operated in a direction in which the azimuth deviation of the aircraft with respect to a separately set target azimuth is reduced based on the azimuth information indicating the aircraft direction. The direction information of the aircraft is based on the signal from the traveling direction sensor 9. The target azimuth is separately set as the azimuth when traveling with the teaching switch 22 turned on.

  Further, after determining a traveling speed suitable for reducing the deviation of the machine direction by actually measuring the field traveling, this is separately set in the control unit 21 as a reference speed. For example, in the case of rice planting traveling where the working traveling speed is approximately 1 m / sec, the limit speed allowed for linear traveling is confirmed by actual vehicle traveling, or the reference speed is set to 0.1 m / sec based on empirical rules, Depending on the field conditions and the like, it is determined in a range up to about 0.3 m / sec.

The control process by the control unit 21 having the above configuration will be described in detail with reference to the flowchart of FIG.
When the teaching switch 22 is on, the travel data is recorded and teaching processing is performed. When the teaching switch 22 is not on, the straight traveling azimuth is calculated based on the recording data of teaching processing (S1, S2a, S2b).

  Next, the traveling direction is controlled (S7) only when the conditions (S3 to S6) for autonomous straight-ahead steering control are satisfied. The conditions for autonomous straight-ahead steering control are when planting is “ON”, the traveling direction is maintained within a certain range for a predetermined time, the vehicle speed is equal to or higher than a predetermined value, and the automatic switch for releasing automatic traveling 23 is not turned on.

When the traveling direction is maintained for a predetermined time, the operability is improved by turning off the teaching switch 22 and handling it as satisfying one condition for automatic driving without requiring an automatic driving start operation. Can do.
In addition, on the premise of regular teaching, it is also possible to start autonomous straight-ahead steering control based on data immediately before by turning on the teaching switch 22.

  On the other hand, if the vehicle speed condition is missing, the operator is notified by a combination of a warning lamp and a warning sound or a voice output warning (S5a) to cancel the automatic steering and return to manual steering. As a result, it is possible to prevent the meandering when the vehicle is restarted with the abnormality corrected at the time of stopping during automatic traveling, thereby ensuring safety.

  Similarly, regarding the handling at the start of driving, autonomous straight-ahead steering control is not performed unless the speed exceeds a certain speed, thereby preventing meandering at the time of departure due to abnormal correction at low speed and improving safety. Can do.

  The alarm processing can be configured at a lower cost than a combination of a warning lamp and a warning sound by using voice output.

  In the autonomous straight-ahead steering control, a sound output (S8, S8a) indicating that the traveling direction is being corrected is performed according to the operation of the trim switch. This voice output can prevent misoperation of the switch due to misunderstanding because the direction correction is slight and difficult to confirm.

  In this way, only when the autonomous straight-ahead steering control conditions (S3 to S6) are satisfied, the autonomous straight-ahead steering control is continued until the steering wheel operation (S9) of a predetermined angle or more is performed.

  The control unit 21 configured as described above performs the steering angle operation of the steering device by the autonomous straight-ahead steering control only in a speed range equal to or higher than the predetermined reference speed, and the autonomous straight-ahead steering control is performed at a low speed that does not satisfy the reference speed. It will run according to the field conditions without being performed. Therefore, complex handling for adaptive control that changes the control parameters according to the field condition and traveling speed by determining the traveling speed suitable for reducing the deviation of the aircraft orientation by actual measurement and setting it as the reference speed Therefore, it is possible to reliably prevent abnormal traveling by avoiding instability of autonomous straight-ahead steering control by a highly reliable control unit with a simple configuration.

(GPS driving)
Next, rice transplanter work by GPS (Global Positioning System) will be described.
FIG. 10 shows a travel diagram of a traveling example of a rice transplanter by GPS, and travels from a position A that has entered the field to a planting start position B and measures the distance. By this initial traveling process, it is possible to perform highly efficient planting traveling suitable for a dredging clutchless machine and to control the spacing between adjacent strips.

  Specifically, as shown in the block system diagram of FIG. 11, the internal system of the controller 8 is composed of a main computer 8a, a programmable computer 8b, a motor controller 8c, and the like, and includes a differential GPS device 9a and an attitude measurement device 9b. The actuator group A is driven and controlled through an operation monitor such as an encoder limit switch 8d in response to the position and the orientation of the machine body. The motor controller 8c controls the operation of the equipment such as steering, HST lever, clutch, left and right brake, engine throttle, and lifting / lowering of the working machine under the control of the actuator group A, and controls the planting range by the reciprocating planting process for the multiple planting transplanter. Multiple row planting runs are performed unattended from one end of the field width.

  In this reciprocating planting process, adjacent processes between each process so that the entire field can be planted without excess or deficiency by an integral multiple of the number of planting lines of the transplanter based on the horizontal length of the field (field width of the planting range). Set the distance.

  As shown in the flowchart of FIG. 12, the specific processing in the case of six-row planting is a reading process of the field length and the number of transplanting machines (S1, S2), a process number calculation process (S3), and a remaining number calculation. By the process (S4), the number of strips belonging to the final stroke which is less than the number of planting strips of the transplanter when the field width B is assumed to be reciprocally planted at equal intervals with the size of the planting strips of the transplanter is calculated ( S1-S4).

  In the above process number calculation process (S3), it is assumed in the following that the integration symbol is represented by “*” and the division symbol is represented by “/”. ”/(0.3*6)” is converted into an integer, and the remaining length calculation process (S4) calculates the remaining length by “horizontal length−integerized value * 0.3 * 6”. The remaining number of strips is calculated from “length / 0.3”.

  Subsequent to the above process, the process interval (S5) determines whether or not the number of remaining strips is 3 or less (S6a) so that each stroke interval is widened by “remaining length / number of strokes” so as to eliminate it if applicable. If not applicable, each stroke interval is narrowed by “remaining length / number of strokes” (S6b). That is, the pitch between strokes is determined so that the field width is equally divided as the number of strokes excluding the final stroke if it is 3 or less, and the number of strokes including the final stroke if it is 4 or 5.

  In general, with respect to the field width B in the plan view showing an example of the field in FIG. 13, when the fraction of the planting strips (1-5 strips with a 6-plant transplanter) comes out in the final stroke, It was necessary to remove the supply seedling of 1 row and adjust it as an odd row planting, but as described above, if the final stroke is 4 rows and 5 rows, the intervals of each stroke are reduced so that 6 rows can be planted. By adjusting the inter-stroke pitch D from the beginning so as to widen each stroke so as to eliminate this if it is ~ 3, adjustment work such as a saddle clutch operation becomes unnecessary in the final stroke, Since it is no longer necessary to remove the long mat, the advantage of super-labor saving with the long mat seedling can be achieved by applying it to a GPS unmanned transplanter with a simple configuration that does not require a hook clutch for selective operation of the planting mechanism 14. Living Succoth can.

(Wheel cover)
Next, the wheel cover of a paddy field machine will be described.
Since the front wheel cap described in the patent document (Japanese Patent Application Laid-Open No. 2000-4617) rotates with the wheel, as shown in the plan view (a) and rear view (b) of FIG. Due to the relationship between the road surface and the wheel rudder angle when it is uneven and inclined, if the steering wheel is moved straight, the aircraft tilts to the right and cannot move straight. It enters the wheel, is lifted by the rim and pushed out. At this time, the mud hangs down from the seedling and the seedling is brought down.

  As described above, the above-described one has a problem of falling after the mud is lifted and defeating the seedling, which becomes an obstacle in the case of weeding work. The present proposal solves the above problem by eliminating the action of the cap lifting mud.

  The wheel cover of the paddy field machine is provided with a pair of discs having an interval substantially the same as the tire width of the traveling wheel and is rotatably provided at the end of the axle, and can be applied to the front and rear wheels of the rice transplanter. it can.

  The proposed wheel cover is a semicircular inner cover 101a and an outer cover 101b soaked in muddy water as shown in the side view of the wheel cover mounted state in FIG. 15, and more specifically, a perspective view of the wheel cover in FIG. As shown in the figure (a) and the enlarged sectional view (b), the inner cover 101 a has its support hole sandwiched between the step 102 a of the axle 102 and the boss 103, and the outer cover 101 b has its support hole of the boss 103. It is sandwiched between gaps between the step 103a and the washer 102b, and is configured to be rotatable.

  Under the covers 101a and 101b, pockets 104 are provided for storing muddy water and serving as weights. A protrusion 104a facing the wheel spoke 105 is formed in the pocket 104, and a guide ring 106 is attached to the side surface of the spoke 105 so as to slide with the protrusion 104a, thereby supporting the wheel while suppressing sliding resistance. be able to. At the end of the work, the muddy water can be discharged by inverting both covers 101a and 101b.

  With the above configuration, when assembling, the inner cover 101a is inserted into the axle 102, the outer cover 101b is inserted after the wheels are inserted, and the washer 102b is passed through the axle 102 and fixed with a nut. Easy to assemble and disassemble.

  In addition, the wheel covers 101a and 101b are not related to the rotation of the wheels, and are suspended vertically by the weight of the water that has entered the pocket 104, so that mud moves across the cover. There is no adhesion, and as a result, it is possible to eliminate the problem that mud falls and kills the seedling.

(Wheel cover for road)
Next, the road wheel cover for preventing mud dropping during traveling on the road will be described.
As shown in FIG. 17, the road wheel cover 111 is made of rubber 112 that contacts the wheel and the ground, a cloth 113 made of polyamide such as nylon, which wraps the wheel, a string 114 that binds the cloth, and a cover. A hook 115 or the like is used.

  By attaching the road wheel cover 111 to the wheels, mud can be prevented from falling on the asphalt road when moving between fields, and the ride comfort is improved by placing the rubber 112 between the roads. can do.

(Seedling tank)
Next, the seedling tank will be described.
FIG. 18 is a side view (a) for explanation of the seedling planting machine and a B arrow view (b) thereof. The seedling presser 122 of the seedling tank 121 is made into a lattice-like shape, and the lower part side of the seedling tank is used as a fulcrum. A rice transplanter with a transport function is configured by opening 90 ° and using the seedling presser as a loading platform. The seedling presser 121 is assembled in a lattice shape with a pipe, and the seedling presser is rotated 90 ° with the lower side of the seedling tank 122 as a fulcrum, so that the seedling presser and the seedling presser can be fixed even when opened.

  The conventional rice transplanter has only fulfilled the seedling planting function, but the seedling retainer 122 turned 90 ° to serve as a loading platform, which also functions as a transporter for carrying luggage on the seedling tank. By adjusting the vertical height of 121, it is possible to load and unload at a height that is easy to work with.

It is a side view of the rice transplanter to which the control device of the present invention is applied. It is an input / output system diagram of a control device. It is a flowchart of control processing of correction processing. It is explanatory drawing of large turning. It is a flowchart of the control process of the correction process of one-brake turning. It is a flowchart of the control processing at the time of airframe turning. It is explanatory drawing of the operation direction of a cross lever. Teaching system input / output configuration diagram It is a flowchart by teaching processing. It is the travel process figure of the rice transplanter by GPS. It is a block system diagram. It is a flowchart of a multiple row planting run. It is a top view which shows an example of an agricultural field. It is the top view (a) and back view (b) of the wheel of a driving | running | working state. It is the side view (a) and principal part sectional drawing (b) of a wheel at the time of wheel cover mounting | wearing. It is the perspective view (a) and enlarged sectional view (b) of a wheel cover. It is an external view of the road wheel cover. It is the side view (a) for description of a seedling transplanter, and its B arrow directional view (b).

1 Rice transplanter 2 Steering wheel 3 Rear wheel 4 Steering handle 4a Rudder angle sensor 7 Planting device (working section)
11 Elevator 14 Planting mechanism (implantation device)
15 Float device 21 Control device (control unit)
31 Planting clutch actuated solenoid N Cumulative rotation speed n1 inside the work implement lowering position (reference position)
n2 Clutch on position (reference position)
n3 Handle return position (reference position)
R1 Radius R2 Radius α Coefficient β Coefficient γ Coefficient θ Steering angle

Claims (4)

In the work vehicle control device including the control processing unit (21) for performing work machine operation control when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches a predetermined reference position of the turning stroke,
The control device for a work vehicle, wherein the control processing unit (21) is configured to correct the reference position based on a difference between left and right rotational speeds of the traveling wheel (3) . Control for transmitting the clutch of the planting device (7) when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches the work implement clutch transmission position (n2) which is a predetermined reference position of the turning stroke. In the work vehicle control device including the processing unit (21),
The control device for a work vehicle characterized in that the control processing section (21) is configured to correct the reference position when the difference between the left and right rotational speeds of the traveling wheel (3) is smaller than a predetermined reference value. . In the work vehicle control device including the control processing unit (21) for performing work machine operation control when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches a predetermined reference position of the turning stroke,
The control device for a work vehicle, wherein the control processing unit (21) is configured to correct the reference position based on a steering angle. Control for transmitting the clutch of the planting device (7) when the count of the number of rotations of the traveling wheel (3) during the turning travel reaches the work implement clutch transmission position (n2) which is a predetermined reference position of the turning stroke. In the work vehicle control device including the processing unit (21),
The control device for a work vehicle, wherein the control processing unit (21) is configured to correct the reference position based on a steering angle.