JP2010207119A - Paddy field working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately perform an operation of a working clutch to a transmission state when the working clutch is automatically operated to a transmission state on the basis of detection of a revolution finish position in a paddy field working vehicle. <P>SOLUTION: The paddy field working vehicle is equipped with right and left markers 19 that are freely operated to an action attitude in which the markers are grounded to the surface of a paddy field and form an index of a next operation stroke L02 on the surface of a paddy field and to a storage attitude above the surface of a paddy field. The paddy field working vehicle is equipped with an operation means for operating the working clutch to a transmission state on the basis of the detection of a revolution finish position E3. When the right or left marker 19 is operated to an action attitude in the operation stroke L01 before the revolution start, the operation means is worked. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

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

  In a riding type rice transplanter, which is an example of a paddy field work vehicle, when a single work process is completed and the aircraft reaches the shore, the seedling planting device (corresponding to the work device) is raised from the surface and turns. (Swivel that makes an approximately U-turn). When the turn is completed, the seedling planting device is lowered onto the rice field and the next work process is started.

  For example, in Patent Document 1, it is determined that a turn has been started when the aircraft reaches the heel and the front wheel is steered (paragraph number [0038] of Patent Document 1), and a distance sensor (FIG. 3 of Patent Document 1). 27), the detection (accumulation) of the travel distance of the airframe is started, and when the travel distance of the airframe reaches the set distance, it is determined that the turn is finished (detection of the turn end position) ( Patent Document 1 paragraph number [0042]).

In patent document 1, it is comprised so that a seedling planting apparatus may descend | fall automatically to a rice field by detecting the turning end position (paragraph number [0044] of patent document 1), and a driver | operator is the end of turning. However, it is not necessary to perform the lowering operation of the seedling planting device by the lifting lever.
In this case, the seedling planting device is automatically lowered onto the surface just before the turning end position is detected (or the driver performs the lowering operation of the seedling planting device with the lifting lever), and the turning end position is detected. Then, it is conceivable that a planting clutch (corresponding to a working clutch) for transmitting power to the seedling planting device (16 in FIG. 3 in Patent Document 1) is automatically operated to a transmission state. Yes.

JP 2002-233220 A

In a riding type rice transplanter that is an example of a paddy field work vehicle, for example, a work form as shown in FIGS. 6 and 7 may be employed in a square paddy field in plan view.
For example, the aircraft is first positioned at a position K1 shown in FIG. 6, the seedling planting device 5 is brought into contact with the rice field, and the left marker 19 is operated to the action posture (the right marker 19 is the retracted posture). In this state, the planting clutch is operated in the disengaged state and travels along the saddle B, and an indicator for the next work process L01 is formed on the paddy field by the left marker 19 (empty work process LA1). The reason why the seedling planting device 5 is grounded on the surface without operating the planting clutch in the transmission state in the empty work process LA1 is to eliminate the passage of the front and rear wheels by the float of the seedling planting device 5. It is.

  For example, as shown in FIG. 6, when the aircraft reaches the shoreline from the aerial work process LA1, the seedling planting device 5 is raised and swiveled LL1, the seedling planting device 5 is lowered and grounded on the rice field, and planted. The attached clutch is operated to the transmission state, and the operation stroke L01 is entered. In the work process L01, the left marker 19 is operated to the retracted position, the right marker 19 is operated to the operating position, and the aircraft is driven along the index formed on the surface in the empty work process LA1. While the planting is performed, an index for the next work process L02 is formed on the rice field by the right marker 19.

  For example, as shown in FIG. 6, when the aircraft reaches the heel from the work process L01, the planting clutch is operated to be in a disengaged state, the seedling planting device 5 is raised to perform the turning LL2, and the seedling planting device 5 is It is lowered and brought into contact with the rice field, and the planting clutch is operated in the transmission state to enter the work process L02. In the work process L02, the right marker 19 is operated to the retracted position, the left marker 19 is operated to the operating position, and the aircraft is driven along the index formed on the surface in the work process L01. While planting, the left marker 19 forms an index for the next work process L03 on the rice field.

For example, as shown in FIGS. 6 and 7, when a plurality of work steps L01, L02, L03, L04, and L05 and turns LL1, LL2, LL3, LL4, and LL5 are performed, seedlings are planted along the heel B. No part is formed. In this state, when the airframe reaches the heel from the work process L05, the planting clutch is operated to the disengaged state, the seedling planting device 5 is raised and the turn LL6 is performed, and the airframe is positioned at the position indicated by K2.
At the position indicated by K2, the seedling planting device 5 is lowered and brought into contact with the rice field, and the planting clutch is operated in the transmission state to enter the rotating work process LB1. In the turning work process LB1, there is a cocoon B on the left side of the machine, and there are seedlings planted in the work process L05 on the right side of the machine, so the right and left markers 19 are operated to the retracted posture.

  For example, as shown in FIG. 7, when the aircraft reaches the heel from the turning work process LB1, the planting clutch is operated to be disconnected, the seedling planting device 5 is raised, and 90 degrees turn and reverse are performed. 7, the aircraft is positioned at position K3, the seedling planting device 5 is lowered and brought into contact with the rice field, the planting clutch is operated in the transmission state, and the turning work process LB2 is started. In the turning work process LB2, as in the turning work process LB1, the right and left markers 19 are operated to the retracted posture.

Thereafter, for example, as shown in FIG. 7, the two round work steps LB3 and LB4 (seedling planting device 5 is lowered and grounded to the surface, the planting clutch is operated in the transmission state, The left marker 19 is operated to the retracted position). The turning work process LB3 travels in the reverse direction in the idle work process LA1 shown in FIG. 6, and when the turning work process LB4 ends, the aircraft reaches the position where the turning LL6 has been performed. Thereafter, the aircraft is taken out from the exit of the paddy field in the vicinity of the position where the turn LL6 is performed.
As described above, for example, in a square paddy field in plan view as shown in FIGS. 6 and 7, one empty work process LA1, a plurality of work processes L01 to L05, and four rotating work processes LB1 to LB4 are performed. By doing so, seedlings can be planted in all parts of the paddy field.

  The present invention includes a working device provided in the airframe and a working clutch that operates power to the working device in a transmission and shut-off state, and contacts the surface to form an index for the next work process on the surface. In the paddy field work vehicle equipped with right and left markers that can be operated in the retracted position upward from the paddy field, the work clutch is automatically operated based on the detection of the turning end position as described in the above [Background Art]. It is an object of the present invention to be configured so that the operation of the work clutch to the transmission state is appropriately performed.

[I]
(Constitution)
The first feature of the present invention is that the paddy field vehicle is configured as follows.
A work device provided in the airframe, and a work clutch for operating the power to the work device to transmit and shut off,
It is equipped with right and left markers that can be operated in an action posture that touches the surface and forms an indicator of the next work process on the surface, and a retracted posture above the surface,
A turn end position detecting means for detecting a turn end position of the airframe by detecting a turn of the airframe as the turn starts from the work stroke, and operating the work clutch in a transmission state based on the detection of the turn end position detecting means. Operating means,
In the work process before the start of turning, the operation means is configured to operate when the right or left marker is operated to the action posture.

(Function)
For example, in a square paddy field as shown in FIG. 6, when entering a work process from an empty work process, the turn LL <b> 1 is a general (standard) turn that makes a substantially U-turn. Similarly, when entering the next work process from the work process, the turns LL2 to LL5 are general (typical) turns that make a substantially U-turn. As described above, since the turn LL1 to LL5 is a general (typical) turn that substantially makes a U-turn, the timing of operating the work clutch in the transmission state in the turns LL1 to LL5 may be constant (same). Many.
As a result, the work clutch is automatically operated to the transmission state based on the detection of the turning end position when entering the work process from the idle work process and when entering the next work process from the work process. Is appropriate. In this case, in the empty work process LA1 and the work processes L01 to L05, the right or left marker 19 is operated to the acting posture.

On the other hand, as shown in FIG. 7, for example, when entering the next turning work process from the turning work process, there is a case of turning 90 degrees and moving backward, and turning LL1 when entering the work process from the empty work process. In addition, the turn is different from the turns LL2 to LL5 in the case of entering the next work process from the work process, and it is difficult to say a typical turn. Therefore, it is difficult to say that the timing of operating the work clutch to the transmission state is constant (same) when entering the next work cycle from the work cycle.
Accordingly, when entering the next turning work process from the turning work process, it is not appropriate that the work clutch is automatically operated to the transmission state based on the detection of the turning end position. In this case, the right and left markers are operated to the retracted posture in the turning work process.

According to the first feature of the present invention, when the right or left marker is operated to the acting posture in the work process before the start of turning, the work clutch is automatically operated to the transmission state based on detection of the turning end position. Is done.
Thus, the work clutch is automatically operated to the transmission state based on the detection of the turning end position, such as when entering the work process from the idle work process and when entering the next work process from the work process. Can be appropriately dealt with based on the fact that the right or left marker is operated to the action posture (the work clutch is automatically activated based on the detection of the turning end position). Operated in transmission state).

  According to the first feature of the present invention, the work clutch is automatically operated to the transmission state based on the detection of the turning end position as in the case of entering the next turning work process from the turning work process. It is possible to respond appropriately to a state that is not so appropriate based on the fact that the right and left markers are operated in the retracted posture (the work clutch is automatically set even if the turning end position is detected). Not operated in transmission state).

(The invention's effect)
According to the first feature of the present invention, when the work clutch is configured to be automatically operated in the transmission state based on the detection of the turning end position in the paddy field work vehicle, the action and the storing posture of the right and left markers are used. Based on the detection of the turning end position, it is possible to appropriately obtain a state in which the work clutch is automatically operated to the transmission state, and the work performance of the paddy field work vehicle can be improved.

[II]
(Constitution)
The second feature of the present invention resides in the following configuration in the paddy field work vehicle of the first feature of the present invention.
In the work process before the start of turning, the operation means is activated when the work device provided on the airframe is capable of moving up and down and touches the surface of the plane, and the right or left marker is operated to the action posture. Configure.

(Function)
As described in the preceding item [I] and as shown in FIG. 6, in the empty work process LA1, in addition to the right or left marker 19 being operated to the working posture, the working device 5 provided to be able to move up and down on the machine body. Is in contact with the rice field (work clutch disengaged). In the work strokes L01 to L05, in addition to the right or left marker 19 being operated to the working posture, the work device 5 is grounded to the surface (work clutch transmission state).
On the other hand, when traveling on a saddle or on a road, generally, the working device is rarely lowered to a position where it touches the surface, and the working device is often raised greatly.

According to the second feature of the present invention, in the work process before the start of turning, if the working device is in contact with the surface and the right or left marker is not operated to the working posture, the work clutch is based on the detection of the turning end position. Is not automatically operated in the transmission state.
As a result, for example, when traveling on a saddle or on a road (a state in which the working device is greatly raised), the right or left marker is accidentally operated to the action posture, and even if a turn is performed after this, The clutch is not operated in the transmission state.

(The invention's effect)
According to the second feature of the present invention, for example, when traveling on a saddle or on a road (a state where the working device is greatly raised), the working clutch is not accidentally operated to the transmission state. In addition, it was possible to reduce waste (for example, a state in which seedlings were released from the seedling planting device onto the basket or the road) due to the operation clutch being operated in the transmission state on the basket or the road.

[III]
(Constitution)
According to the third aspect of the present invention, the paddy field work vehicle according to the first or second aspect of the present invention is configured as follows.
The operation means is configured so that the operation means stops operating when the traveling speed of the airframe is in a high speed state for traveling.

(Function)
Many paddy work vehicles are configured so that the transmission for traveling can be operated from a low speed state for working on paddy fields to a high speed state for moving traveling. Generally, when traveling on the road, In many cases, the transmission is operated in a high speed state for traveling.

  According to the third feature of the present invention, if the traveling speed of the aircraft is in the high speed state for traveling, the work clutch is not automatically operated to the transmission state based on the detection of the turning end position. Thereby, for example, when traveling on the road (the traveling speed of the aircraft is a high speed state for moving traveling), the work clutch is not operated in the transmission state even if turning is performed.

(The invention's effect)
According to the third feature of the present invention, for example, when traveling on the road (the traveling speed of the airframe is a high speed state for moving traveling), the work clutch is not accidentally operated to the transmission state. In addition, waste due to the operation clutch being operated in the transmission state on the road (for example, a state in which the seedling is discharged from the seedling planting device onto the ridge or the road) can be reduced.

[IV]
(Constitution)
According to the 4th characteristic of this invention, it may comprise as follows in any one of the paddy field work vehicles of the 1st-3rd characteristic of this invention.
An artificial operation tool is provided that is capable of artificially operating the operation means in an activated and stopped state.

(Function)
For example, in the paddy field shown in FIG. 6 and FIG. 7, since the exit of the paddy field is near the position K2 (the position where the turning LL6 is performed when turning from the work process L05 to the work process LB1), the work clutch is moved from the work process LB1. Is operated in the transmission state.
Thus, it is appropriate that the work clutch is automatically operated to the transmission state based on the detection of the turning end position when the work process is started from the work process. In this case, the right or left marker is operated to the action posture in the work process.

On the other hand, for example, in the paddy field shown in FIGS. 6 and 7, if the exit of the paddy field is in the vicinity of the position K3 (between the turning work process LB1 and the next turning work process LB2), the empty work process is performed in the turning work process LB1. As in LA1, the work clutch is not operated in the transmission state, and the work clutch is operated in the transmission state from the next round operation stroke LB2. Thereafter, the rotating work strokes LB3 and LB4 are performed with the work clutch operated in the transmission state, and the rotating work stroke LB1 is performed again with the work clutch operated in the transmission state and from the exit of the paddy field in the vicinity of the position K3. Take out the aircraft.
As a result, it is not appropriate that the work clutch is automatically operated in the transmission state based on the detection of the turning end position when the work stroke is started from the work stroke. In this case, the right or left marker is operated to the action posture in the work process.

As described above, when turning around from the work stroke and entering the work stroke, the work clutch is automatically operated to the transmission state based on the detection of the turning end position due to the difference in the position of the exit of the paddy field. There are states that are appropriate and states that are not appropriate.
According to the fourth aspect of the present invention, since the operation means is provided with an artificial operation tool that can be manually operated in the activated and stopped states, the work clutch is automatically set based on the detection of the turning end position as described above. In response to a state in which it is appropriate to operate in the transmission state or a state in which it is not appropriate, the operating means can be operated to the activated and stopped states by operating the artificial operation tool.

(The invention's effect)
According to the fourth aspect of the present invention, in response to a state in which it is appropriate or not appropriate to automatically operate the work clutch in the transmission state based on detection of the turning end position, the operation is performed. The means can be operated in the activated and deactivated states, and the working performance of the paddy field work vehicle can be improved.

[V]
(Constitution)
According to the 5th characteristic of this invention, it may comprise as follows in any one of the paddy field work vehicles of the 1st-4th characteristic of this invention.
Informing means for informing that the operating means is in an operating state is provided.

(Function)
According to the fifth feature of the present invention, the driver is informed that the operating means is in the operating state (the work clutch is automatically operated in the transmission state based on the detection of the turning end position). Thus, it is possible to reduce the misunderstanding of the driver who recognizes that the operating means is in the operating state but is in the stopped state.

(The invention's effect)
According to the fifth aspect of the present invention, it is possible to reduce a driver's misunderstanding that the operating means is in an operating state but recognizes that it is in a stopped state. I was able to reduce it.

[VI]
(Constitution)
According to the 6th characteristic of this invention, it may comprise as follows in any one of the paddy field work vehicles of the 1st-5th characteristic of this invention.
With right and left speed sensors that detect the speed of the right and left wheels,
The turning end position detecting means is configured to detect the turning end position of the airframe by detecting the turning of the airframe based on the detection value of the rotation speed sensor on the turning center side,
In the work process before the start of turning, when the difference between the detection values of the right and left rotation speed sensors exceeds a preset value, the operation means is stopped so that the operation means is stopped. Constitute.

(Function)
In the case of including the turning end position detecting means in the preceding item [I], it includes right and left rotational speed sensors for detecting the rotational speeds of the right and left wheels, and based on the detected value of the rotational speed sensor on the turning center side, The turning end position detecting means may be configured to detect the turning of the airframe and detect the turning end position of the airframe.
In this case, during turning, a relatively large difference is generated in the detection values of the right and left rotational speed sensors due to the difference in turning radius of the wheels on the outer side and the center side of the turning. On the other hand, the work process before the start of turning generally involves a lot of straight work, so that there is no significant difference between the detection values of the right and left rotational speed sensors.

  According to the sixth aspect of the present invention, when the difference between the detection values of the right and left rotational speed sensors exceeds a preset value in the work process (straight traveling state) before the start of turning, the right or left It is determined that an abnormality has occurred in the rotation speed sensor, and the operation means is stopped. This prevents a situation where the detection of the turning end position is erroneously performed based on the detected value of the rotation speed sensor on the turning center side where the abnormality has occurred, and the work clutch is erroneously detected based on the erroneous detection of the turning end position. In this way, it is possible to prevent a state that is operated in the transmission state.

(The invention's effect)
According to the sixth aspect of the present invention, when the turning end position detecting means is configured to detect the turning of the airframe and detect the turning end position of the airframe based on the detection value of the rotation speed sensor on the turning center side. It is possible to properly detect abnormality of the right or left rotation speed sensor and prevent the operation clutch from being erroneously operated to the transmission state based on the detection of the wrong turning end position. The work performance of the work vehicle could be improved.

It is a whole side view of a riding type rice transplanter. It is a top view which shows the steering operation system of the right and left front wheels, the transmission system to the right and left front wheels, and the right and left rear wheels. It is a figure which shows the control system of the body position detection means with which the control apparatus was equipped, the turning start position detection means, the turning end position detection means, the operation means, and the automatic raising / lowering control means. It is a figure which shows the flow of control in the state before entering the turning at the shore. It is a figure which shows the flow of control of turning at the end. It is a top view which shows the operation | work form (an empty work process and a work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the operation | work form (turning work process) of the riding type rice transplanter in a paddy field. It is a top view which shows the state at the time of turning at the heel. (A) is a top view which shows the state which detects the steering angle from the straight drive position of a wheel base, a front wheel, the turning center of an airframe, and the turning radius of an airframe. (B) is a top view which shows the state which detects the position of the body in the advancing direction of the body of a work process by the turning radius and movement angle of a body.

[1]
As shown in FIG. 1, a link mechanism 3 is supported by a rear part of a machine body supported by right and left front wheels 1 and right and left rear wheels 2 (corresponding to wheels) so that the link mechanism 3 can be raised and lowered. A single-acting hydraulic cylinder 4 to be driven is provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3 to constitute a riding type rice transplanter as an example of a paddy field work vehicle. Has been. A paddy field generally has a mud or water layer formed on the lower hard cultivator G1, and the uppermost surface of the mud or water layer is a field surface G2, and the right and left front wheels 1, the right and left rear The wheel 2 travels in contact with the tiller G1.

  As shown in FIG. 1, the seedling planting device 5 includes three planting transmission cases 6, a rotary case 7 supported on the left and right of the rear portion of the planting transmission case 6, and rotatably supported at both ends of the rotary case 7. A pair of planting arms 8, a plurality of floats 9, a seedling platform 10, and the like are provided and configured in a six-row planting type. A hopper 14 for storing powdered fertilizer and three feed units 15 (corresponding to a working device) are provided on the rear side of the driver seat 13, and a blower 16 is provided below the driver seat 13. It has been. The float 9 is provided with a groove forming device 17, and a hose 18 is connected across the feeding portion 15 and the groove forming device 17.

  As shown in FIGS. 1 and 3, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and are in contact with the surface G <b> 2 to form an indicator (see FIG. 1). , And a retracted posture (see FIG. 3) that is spaced upward from the surface G2, so that it can be operated freely. The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. The electric motor 21 is provided to operate the right and left markers 19 to the working posture and the retracted posture, and the electric motor 21 is operated by the control device 23.

[2]
Next, the transmission system to the right and left front wheels 1 will be described.
As shown in FIG. 2, the power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 through the transmission belt 32, and the front wheel differential mechanism ( It is transmitted to the right and left front wheels 1 via a transmission shaft (not shown) of the front axle case 35 (not shown).

  As shown in FIGS. 1 and 3, the hydrostatic continuously variable transmission 33 is configured to be continuously variable from the neutral position to the forward side and the reverse side, and is provided on the left side of the steering handle 20. The hydrostatic continuously variable transmission 33 is operated by the shift lever 45. The auxiliary transmission 46 is configured as a gear transmission type, and has a high-speed position for moving traveling, a low-speed position for planting work (for working traveling), and an ultra-low-speed position for crossing the rod. The auxiliary transmission 46 is operated by the auxiliary transmission lever 62 provided on the left side of the driver seat 13, and the operation position of the auxiliary transmission lever 62 is input to the control device 23.

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

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

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

[3]
Next, the transmission system to the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 2, the power of the auxiliary transmission 46 is transmitted to the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, the bevel gear 39a meshing with the bevel gear 38a, and the bevel gear 39a. Is transmitted to the right and left rear wheels 2 via a fixed transmission shaft 39, right and left side clutches 40, and right and left axles 65.

  As shown in FIG. 2, the right and left side clutches 40 are configured in a frictional multi-plate type and are urged to a transmission state. The right and left operation shafts 43 for operating the right and left side clutches 40 in the disengaged state are supported downward by the rear axle case 37, and the right and left operation shafts 43 extend between the steering member 41 and the right and left operation shafts 43. The left operating rod 44 is connected. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered within the range of the straight travel position A1 and the right and left set angles A2, the right and left operation rods 44 The right and left side clutches 40 are operated in the transmission state by the interchange of the long holes 44a. As a result, the aircraft moves forward (reverse) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered to the right steering limit A3 side beyond the right set angle A2, the length of the right operating rod 44 is increased. The right operating rod 44 is pulled beyond the range of the hole 44 a, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43. Thus, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (the right side clutch). The airframe turns to the right in a state of free rotation (40 interruption state).

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered to the left steering limit A3 side beyond the left set angle A2, the length of the left operating rod 44 is increased. The left operating rod 44 is pulled beyond the range of the hole 44a, and the left side clutch 40 is operated to the disconnected state by the left operating shaft 43. Accordingly, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The airframe turns to the left in a state of free rotation (40 interruption state).

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

[4]
Next, the transmission system to the seedling planting device 5 and the feeding unit 15 will be described.
As shown in FIGS. 1 and 3, in the transmission case 34, the power branched from the auxiliary transmission 46 is transmitted to the seedling planting device 5 through the planting clutch 26 (corresponding to a work clutch) and the PTO shaft 25. The The power branched from the auxiliary transmission 46 is transmitted to the feeding portion 15 via the fertilizer clutch 27 (corresponding to a working clutch) and the drive rod 30, and the planting and fertilizer clutches 26, 27 are operated in the transmission and shut-off states. An electric motor 28 is provided.

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

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

[5]
Next, the automatic raising / lowering control means 61 of the seedling planting apparatus 5 will be described.
As shown in FIG. 3, an automatic lift control means 61 is provided in the control device 23. A potentiometer 22 for detecting the height of the central float 9 with respect to the seedling planting device 5 is provided, with the rear portion of the central float 9 supported so as to be swingable up and down around the horizontal axis P1 of the seedling planting device 5. The detection value of the potentiometer 22 is input to the control device 23. As the aircraft moves, the center float 9 follows the ground surface G2 by detecting the height of the center float 9 with respect to the seedling planting device 5 based on the detection value of the potentiometer 22, and the surface G2 (center The height from the float 9) to the seedling planting device 5 can be detected.

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

  As shown in FIG. 3, based on the height of the center float 9 with respect to the seedling planting device 5 (height from the field G2 (center float 9) to the seedling planting device 5), the seedling planting device 5 The control valve 24 is operated so as to maintain the set height from the surface G2 (so that the detected value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central float 9) is maintained at the set value). The cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down (the operation state of the automatic lift control means 61).

[6]
Next, the lifting lever 11 will be described.
As shown in FIGS. 1 and 3, an elevating lever 11 is provided on the right side of the driver's seat 13, and the elevating lever 11 is configured to be freely operated in an automatic position, a raised position, a neutral position, a lowered position, and a planting position. The operating position of the lift lever 11 is input to the control device 23. A potentiometer 29 for detecting the vertical angle of the link mechanism 3 relative to the airframe is provided, and the detection value of the potentiometer 29 is input to the control device 23, and the seedling for the airframe is detected by detecting the vertical angle of the link mechanism 3 relative to the airframe. The height of the planting device 5 can be detected.

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

  As shown in FIG. 3, when the elevating lever 11 is operated to the raised position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. The hydraulic cylinder 4 is contracted and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position in a state where the elevating lever 11 is operated to the raised position, the hydraulic cylinder 4 automatically stops.

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

As shown in FIG. 3, when the elevating lever 11 is operated to the neutral position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. The hydraulic cylinder 4 stops in a state where it is operated.
Thus, the seedling planting device 5 can be raised and lowered to an arbitrary height and stopped by operating the elevating lever 11 to the raised position, the neutral position, and the lowered position.

  As shown in FIG. 3, when the elevating lever 11 is operated to the planting position, the automatic elevating control means 61 is activated in a state where the right and left markers 19 are operated to the retracted posture, and the planting and fertilizing clutch 26, 27 is operated to the transmission state. As a result, the rotary case 7 is rotationally driven as the seedling platform 10 is reciprocated horizontally to the left and right, and the planting arms 8 alternately take out seedlings from the lower part of the seedling platform 10 and plant them on the field G2. The fertilizer is fed from the hopper 14 by a predetermined amount by the feeding unit 15, and the fertilizer is supplied to the groove forming device 17 through the hose 18 by the blower 16, and is supplied to the surface G <b> 2 through the groove forming device 17. The

[7]
Next, the operation lever 12 will be described.
As shown in FIGS. 1 and 3, an operation lever 12 is provided on the lower right side below the steering handle 20, and the operation lever 12 extends outward on the right side. The operation lever 12 is configured to be operable in a cross direction from the neutral position N to the upward ascending position U, the downward descending position D, the rear right marker position R, and the front left marker position L, and is biased to the neutral position N. The operation position of the operation lever 12 is input to the control device 23.

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

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

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

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

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

  As shown in FIG. 3, when the seedling planting device 5 is raised and the height of the seedling planting device 5 detected by the potentiometer 29 is higher than a predetermined height set in advance, The left marker 19 is operated to the retracted posture. In a state where the height of the seedling planting device 5 detected by the potentiometer 29 is higher than a predetermined height set in advance, even if the operation lever 12 is operated to the right and left marker positions R and L as described above. Regardless of this, the right and left markers 19 are maintained in the retracted posture.

[8]
Next, the working mode of the riding type rice transplanter will be described.
For example, as shown in FIG. 6 and FIG. 7, a riding rice transplanter may adopt the following working mode in a square paddy field in plan view.

  For example, the aircraft is first positioned at a position K1 shown in FIG. 6, the seedling planting device 5 is grounded to the field surface G2, and the left marker 19 is operated to the action posture (the right marker 19 is the retracted posture). In this state, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state and travel along the ridge B, and the left marker 19 forms an index of the next work process L01 on the paddy field (empty work process LA1). . In the idling work process LA1, the planting and fertilizing clutches 26 and 27 are not operated in the transmission state, but the seedling planting device 5 is grounded on the surface G2 and travels because the front wheel 1 and the rear wheel 2 pass. This is because it is erased by the float 9 of the seedling planting device 5.

  As shown in FIG. 6, when the aircraft reaches the shoreline from the empty work process LA1, the seedling planting device 5 is raised and turned LL1, the seedling planting device 5 is lowered and grounded to the rice field G2, and planted. The attaching and fertilizing clutches 26 and 27 are operated to the transmission state to enter the work process L01. In the work process L01, the left marker 19 is operated to the retracted position, the right marker 19 is operated to the operating position, and the aircraft is caused to travel along the index formed on the surface G2 in the empty work process LA1. While planting seedlings and supplying fertilizer to the field surface G2, the index of the next work process L02 is formed on the field surface G2 by the right marker 19.

  As shown in FIG. 6, when the aircraft reaches the heel from the work process L01, the planting and fertilization clutches 26 and 27 are operated in the disconnected state, the seedling planting device 5 is raised, and the turning LL2 is performed, so that the seedling planting is performed. The attaching device 5 is lowered and brought into contact with the field surface G2, and the planting and fertilizing clutches 26 and 27 are operated in the transmission state to enter the work process L02. In the work process L02, the right marker 19 is operated to the retracted position, the left marker 19 is operated to the action position, and the aircraft is driven along the index formed on the field G2 in the work process L01. The marker of the next work process L03 is formed on the rice field G2 by the left marker 19 while planting and supplying fertilizer to the rice field G2.

  As shown in FIGS. 6 and 7, when a plurality of work steps L01, L02, L03, L04, L05 and turns LL1, LL2, LL3, LL4, LL5 are performed, planting of seedlings and fertilizer A portion that is not supplied is formed. In this state, when the airframe reaches the heel from the work process L05, the planting and fertilization clutches 26 and 27 are operated in a disconnected state, the seedling planting device 5 is raised and the turn LL6 is performed, and the position indicated by K2 is reached. Position the aircraft.

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

  As shown in FIG. 7, when the aircraft reaches the heel from the turning work process LB1, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the seedling planting device 5 is raised to turn and reverse 90 degrees. 7, the aircraft is positioned at the position K3 shown in FIG. 7, the seedling planting device 5 is lowered and brought into contact with the rice field G2, and the planting and fertilization clutches 26 and 27 are operated to the transmission state, Enters the rotating work process LB2. In the turning work process LB2, as in the turning work process LB1, the right and left markers 19 are operated to the retracted posture.

  Thereafter, as shown in FIG. 7, the two round work steps LB3 and LB4 (seedling planting device 5 is lowered and brought into contact with the field surface G2, and the planting and fertilizing clutches 26 and 27 are set in the transmission state. To operate the right and left markers 19 to the retracted posture). The turning work process LB3 travels in the reverse direction in the idle work process LA1 shown in FIG. 6, and when the turning work process LB4 ends, the aircraft reaches the position where the turning LL6 has been performed. Thereafter, the aircraft is taken out from the exit of the paddy field in the vicinity of the position where the turn LL6 is performed.

  As described above, for example, in a square paddy field in plan view as shown in FIGS. 6 and 7, one empty work process LA1, a plurality of work processes L01 to L05, and four rotating work processes LB1 to LB4 are performed. By doing, seedlings can be planted in all parts of the paddy field and fertilizer can be supplied to the rice field G2.

[9]
Next, in the work mode shown in the previous item [8], FIG. 6 and FIG. 7, when the operating lever 12 is operated to the raised position U while the lifting lever 11 is operated to the automatic position (operating to the raised position U). When operated to the neutral position N), when various conditions are met, the seedling planting device 5 is automatically lowered, and the planting and fertilization clutches 26 and 27 are automatically operated (14 and 15). ] Is performed.

  As a result, in which state the automatic lowering of the seedling planting device 5 and the operation of the planting and automatic application of the fertilizer clutches 26 and 27 (see [14] and [15]) are performed. Will be described based on the following descriptions [10] to [12] and FIGS. 4 and 5.

  As shown in FIG. 3, an artificially operable setting switch 63 (corresponding to an artificial operation tool) is provided in the vicinity of the steering handle 20, and the setting switch 63 is configured to be operated to an operating position and a stopping position. The operation position of the setting switch 63 is input to the control device 23. A display lamp 64 is provided in the vicinity of the steering handle 20 and a buzzer 67 (corresponding to a notification unit) is provided. The display lamp 64 and the buzzer 67 are controlled by the control device 23 as described in [10] to [12] below. 4 and FIG. 5 operates.

In the description of [10] to [12] below and step S3 in FIG. 4, whether or not the seedling planting device 5 is in contact with the field surface G2 is detected as follows.
As shown in the preceding item [5] and FIG. 3, the rear part of the central float 9 is supported so as to be swingable up and down around the horizontal axis P <b> 1 of the seedling planting device 5. The detection value of the potentiometer 22 that detects the height of 9 is input to the control device 23. There is a mechanical lower limit position in the vertical swing of the central float 9, and the detection value of the potentiometer 22 corresponding to the mechanical lower limit position is recognized in advance. When the seedling planting device 5 is lifted so that the central float 9 is positioned above the field surface G2, the central float 9 is positioned at a mechanical lower limit position by its own weight.

  As a result, if the detected value of the potentiometer 22 is within the set range including the detected value corresponding to the mechanical lower limit position, it is determined that the center float 9 is positioned at the mechanical lower limit position. Therefore, it is determined that the seedling planting device 5 is elevated to a position where it does not come into contact with the rice field G2. When the detected value of the potentiometer 22 deviates from the set range including the detected value corresponding to the mechanical lower limit position to the ascending side of the center float 9, the center float 9 moves as the seedling planting device 5 descends. It is determined that the seedling planting device 5 has touched the field surface G2, and it is determined that the seedling planting device 5 has grounded the field surface G2.

[10]
Next, the case of the empty work process LA1 and the work processes L01 to L05 will be described.
In the paddy field, the setting switch 63 is operated to the operating position (step S1), the sub-shift lever 62 (sub-transmission device 46) is operated to the low speed position (step S2), and the aircraft is first positioned at the position K1 shown in FIG. Then, the seedling planting device 5 is brought into contact with the field surface G2 (step S3), and the planting and fertilization clutches 26 and 27 are operated in the disconnected state. The operation lever 12 is operated to the left marker position L for the first set time (steps S4 and S5) (M = 2), and the left marker 19 is operated to the acting posture (the right marker 19 is the retracted posture). . Thereby, the display lamp 64 is turned on (steps S7 and S8). In this state, the empty work process LA1 is performed.

  As shown in FIG. 6, when the airframe reaches the near end from the empty work process LA1, the operation lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10) After turning LL1, the process proceeds to step S21. Thereby, the right and left markers 19 are operated to the retracted posture (step S25), the seedling planting device 5 is automatically lowered, and the planting and fertilizing clutches 26 and 27 are automatically operated to the transmission state (step). S30, S33) (refer to [14] and [15]) are performed, and the operation process L01 is entered (when the right or left marker 19 is operated to the action posture in the operation process LA1 before the start of turning, the operation is performed. (This corresponds to a state in which the means 54 is activated.) (When the work device 5 is grounded and the right or left marker 19 is operated to the action posture in the work process LA1 before the start of turning, the operation means 54 is activated. Equivalent to the state).

  As shown in FIG. 6, when entering the work process L01, the process proceeds from step S34 to step S1 (M = 1), and the display lamp 64 is turned off (steps S7, S9). In the work stroke L01, the control lever 12 is operated to the right marker position R for the first set time (steps S4 and S5) (M = 2), and the right marker 19 is in the acting posture (the left marker 19 is stored). When operated to (posture), the display lamp 64 is turned on (steps S7 and S8).

  As shown in FIG. 6, when the aircraft reaches the near end from the work process L01, the operation lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10). When the turn LL2 is performed, the process proceeds to step S21. As a result, the right and left markers 19 are operated to the retracted posture (step S25), the seedling planting device 5 is automatically lowered, and the planting and fertilizing clutches 26 and 27 are automatically operated to the transmission state (step). S30, S33) (see [14] and [15]) are performed, and the operation process L02 is entered (when the right or left marker 19 is operated to the action posture in the operation process L01 before the start of turning, the operation is performed. (This corresponds to a state in which the means 54 is activated.) (When the work device 5 is grounded and the right or left marker 19 is operated to the action posture in the work process L01 before the start of turning, the operation means 54 is activated. Equivalent to the state).

  As shown in FIG. 6, when the turn LL3 is performed from the work process L02 and the work process L03 is entered, and when the turn LL4 is performed from the work process L03 and the work process L04 is entered, the work process L04 is performed from the work process L04. In the case of entering L05, the same operation as in the case of entering the work process L02 by performing the turning LL2 from the work process L01 described above is performed.

  Thus, in the above-described state, the control lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10), and when the turns LL3, LL4, LL5 are performed, The left marker 19 is operated to the retracted posture (step S25), the seedling planting device 5 is automatically lowered, and the planting and fertilizing clutches 26 and 27 are automatically operated to the transmission state (steps S30 and S33). (Refer to [14] and [15]) is performed (in the work strokes L02, L03, and L04 before the start of turning), when the right or left marker 19 is operated to the action posture, the operation means 54 is activated. (Equivalent) (In the work strokes L02, L03, and L04 before the start of turning, when the work device 5 is grounded and the right or left marker 19 is operated to the action posture, the operation means 54 is activated. It corresponds to the state).

  The process proceeds from step S34 to step S1 (M = 1), the display lamp 64 is extinguished (steps S7, S9), and the operation lever 12 is operated to the right or left marker positions R, L for the first set time. (Steps S4 and S5) (M = 2) When the right or left marker 19 is operated to the action posture, the display lamp 64 is turned on (Steps S7 and S8).

[11]
Next, the case of the rotation work process LB1 to LB4 will be described.
As shown in FIG. 6, the operating lever 12 is operated to the right marker position R over the first set time in the work process L05 (steps S4 and S5) (M = 2), and the right marker 19 is set to the action posture. In the state of operation, when the aircraft reaches the near end from the work stroke L05, the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10). When the turn LL6 is performed, the process proceeds to step S21.

  Thereby, the right and left markers 19 are operated to the retracted posture (step S25), the seedling planting device 5 is automatically lowered, and the planting and fertilizing clutches 26 and 27 are automatically operated to the transmission state (step). S30, S33) ([14] [15]) are performed, and the operation means LB1 is entered (when the right or left marker 19 is operated to the action posture in the operation process before the start of turning, the operation means (Corresponding to a state in which the operation means 54 is activated) (a state in which the operation means 54 is activated when the work device 5 is grounded and the right or left marker 19 is operated to the action posture in the work process L05 before the start of turning). Equivalent).

  As shown in FIG. 7, when the rotating work process LB1 is entered, the process proceeds from step S34 to step S1 (M = 1), and the display lamp 64 is turned off (steps S7 and S9). In the rotating work process LB1, the right and left markers 19 are operated to the retracted posture (because the operation lever 12 is not operated to the right and left marker positions R and L for the first set time) (steps S4 and S7). ) (M = 1), the display lamp 64 is kept off (steps S7 and S9).

  As shown in FIG. 7, when the airframe reaches the heel from the turning work process LB1, even if the operating lever 12 is operated to the raised position U (even if the operating lever 12 is operated to the neutral position N). (Step S10), without proceeding to Step S21, automatic lowering of the seedling planting device 5, planting and operation of the fertilization clutches 26, 27 to the automatic transmission state (Steps S30, S33) ([14] (Refer to [15]) is not performed (corresponding to the state in which the operation means 54 is not operated because the right or left marker 19 is not operated to the action posture in the work process LB1 before the start of turning).

  Thus, the aircraft is positioned at a position K3 shown in FIG. 7 by turning 90 degrees and moving backward. The operating lever 12 is operated to the lowered position D (operated to the lowered position D and operated to the neutral position N), the seedling planting device 5 is lowered and brought into contact with the field surface G2, and the operating lever 12 is again moved to the lowered position D. When operated (operating again to the lowered position D and to the neutral position N), the planting and fertilizing clutches 26 and 27 are operated to the transmission state and enter the rotating work process LB2.

  As shown in FIG. 7, when entering the rotating work process LB3 from the rotating work process LB2, when entering the rotating work process LB4 from the rotating work process LB3, the same as the case of entering the rotating work process LB2 from the rotating work process LB1 described above. Perform the operation.

  Thereby, even if the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) in the above state (step S10), the process does not proceed to step S21, The automatic lowering of the planting device 5 and the operation of the planting and fertilizing clutches 26 and 27 to the automatic transmission state (steps S30 and S33) (see [14] and [15]) are not performed (before turning starts). In the work strokes LB2 and LB3, since the right or left marker 19 is not operated to the action posture, this corresponds to a state where the operation means 54 does not operate).

[12]
Next, cases other than the empty work process LA1, the work processes L01 to L05, and the rotating work processes LB1 to LB4 will be described.
If the operating lever 12 has not been operated to the right marker position R for the first set time in the work stroke L05 shown in the previous item [10] and FIG. 6 (steps S4 and S7) (M = 1), the work stroke L05. When the airframe reaches the heel from the beginning, even if the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10), the process does not proceed to step S21. The automatic lowering of the seedling planting device 5, planting and the operation of the fertilization clutches 26 and 27 to the automatic transmission state (steps S30 and S33) (see [14] and [15]) are not performed (turning). In the work process L05 before the start, since the right or left marker 19 is not operated to the action posture, this corresponds to a state in which the operation means 54 does not operate).

  A state in which the setting switch 63 is operated to the stop position (step S1), without shifting to step S21, the seedling planting device 5 is automatically lowered, and the planting and fertilizing clutches 26 and 27 are automatically transmitted. (Steps S30 and S33) (see [14] and [15]) are not performed (corresponding to a state in which the operation means 54 is operated to be stopped by the artificial operation tool 63).

  When the auxiliary transmission lever 62 (the auxiliary transmission 46) is operated to the high speed position (when traveling on the road B or on the road) (step S2), the auxiliary transmission lever 62 (the auxiliary transmission 46) is moved to the ultra-low speed position (the exit of the paddy field). In the state (step S2) in which it is operated in the case of getting out of the vehicle or over the ridge B (step S2), the process does not proceed to step S21, and the seedling planting device 5 is automatically lowered, planted and the fertilizer clutches 26 and 27 The operation to the automatic transmission state (steps S30 and S33) (see [14] and [15]) is not performed (the operation means 54 stops the operation when the traveling speed of the aircraft is a high speed state for moving traveling). Equivalent to the state to do).

In the paddy field shown in FIG. 6 and FIG. 7, if there is an exit of the paddy field in the vicinity of the position K3 (between the turning work process LB1 and the next turning work process LB2), the turning work process LB1 is similar to the empty work process LA1. Then, the planting and fertilization clutches 26 and 27 are not operated to the transmission state, and the planting and fertilization clutches 26 and 27 are operated to the transmission state from the next turning operation process LB2. Thereafter, the rotating work process LB3, LB4 is performed in a state where the planting and fertilization clutches 26, 27 are operated in the transmission state, and the rotating work process LB1 is performed in the state where the planting and fertilization clutches 26, 27 are operated in the transmission state. Once again, take out the aircraft from the exit of the paddy field near position K3.
In the above-described state, in the operation process L05 shown in FIG. 6, the operation lever 12 is not operated to the right marker position R for the first set time, or the setting switch 63 is set to the stop position before entering the rotation operation process LB1. Just operate.

  As described above, the operation lever 12 is not operated to the right or left marker positions R and L for the first set time, and the operation lever 12 is operated to the right or left marker positions R and L for the second set time. In addition, by operating the setting switch 63 to the stop position and operating the auxiliary speed change lever 62 (the auxiliary speed change device 46) to the high speed position or the ultra low speed position, the process proceeds to steps S6 and S9, and the display lamp 64 is turned off. To do. Thus, the driver automatically descends the seedling planting device 5, planting and operating the fertilizer application clutches 26 and 27 to the automatic transmission state (steps S30 and S33) (see [14] and [15]). It is possible to recognize that the state is not performed.

[13]
Next, the structure regarding the automatic lowering of the seedling planting device 5 described in the preceding items [9] to [12], planting, and the operation of the fertilization clutches 26 and 27 to the automatic transmission state will be described.
As shown in FIG. 3, the control device 23 includes an airframe position detection unit 51, a turning start position detection unit 52, a turning end position detection unit 53, and an operation unit 54. In the state in which the elevating lever 11 is operated to the automatic position, the machine body position detecting means 51, the turning start position detecting means 52, the turning end position detecting means 53, and the operating means 54 are described in [14] and [15] below. Operates as follows.

  As shown in FIG. 8, the airframe position detecting means 51 detects the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work process LA1 and the work processes L01 to L05 (this In other words, the coordinates of the aircraft during turning in the traveling direction of the aircraft before the start of turning are detected). As described in [14] and [15] below, the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the empty work process LA1 and the work processes L01 to L05 is performed by the airframe position detection unit 51. Is detected.

  In the riding type rice transplanter provided with the six-row type seedling planting device 5, the turns LL1 to LL6 shown in FIG. 6 are configured by a first turn process L1 and a second turn process L2 as shown in FIG. Yes. The first half of the turn stroke L1 and the second half of the turn stroke L2 will be described in [14] and [15] below, with the turn LL2 performed between the work strokes L01 and L02 as a representative.

[14]
Next, the first half of the turning stroke L1 will be described with reference to FIGS.
In the working process L01, the seedling planting device 5 contacts the field surface G2, the operating state of the automatic lifting control means 61, the transmission state of the planting and fertilizing clutches 26 and 27, the transmission state of the right and left side clutches 40, The right marker 19 is operated to the operating posture, the left marker 19 is operated to the retracted posture, and the display lamp 64 is lit (step S8). When the aircraft reaches the heel in this state, the driver operates the operation lever 12 to the raised position U (operates to the raised position U to the neutral position N) (step S10).

  When the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N) (step S10), the buzzer 67 is intermittently operated (step S21), and the planting and fertilizing clutch 26, 27 is operated in the shut-off state (step S22), and the automatic lift control means 61 stops (step S23). The hydraulic cylinder 4 is contracted to raise the seedling planting device 5 (step S24), and the right marker 19 is operated to the retracted posture (step S25). When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  When an operation signal due to the operation lever 12 being moved to the raised position U is input to the control device 23 (corresponding to the start of turning from the work stroke L01), the turning start position detecting means 52 causes the work strokes L01 and L02 to be detected. The position Y1 of the body in the traveling direction (+ Y) (−Y) of the body is set to “0 (origin)”, and “0 (origin)” is detected (set) as the turning start position E1 (step S101). . At the same time, “0 (origin)” is detected (set) as the turning end position E3 (step S102).

  When the driver operates the operating lever 12 to the raised position U, the steering handle 20 is operated almost simultaneously, the right and left front wheels 1 (steering members 41) are steered in the turning direction, and the first half turning stroke L1. to go into. When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S26), the previous item [2] In the state where the side clutch 40 on the outer side of the turn is operated in the transmission state, the side clutch 40 on the turn center side is operated in the disengaged state (step S27).

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

  As shown in FIG. 9A, when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is determined, the turning center C of the fuselage is the right and left rear wheels 2 It is determined that the vehicle is positioned on an extension line of the axle 65 (see FIG. 2), and the wheel bases W (the axles of the right and left front wheels 1 and the axles 65 of the right and left rear wheels 2 (see FIG. 2) 2) and the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is detected. When the turning center C of the airframe is detected, the distance between the left and right center of the airframe and the turning center C of the airframe is detected as the turning radius R of the airframe.

As shown in FIGS. 9A and 9B, in the state where the turning center C and the turning radius R of the airframe are detected, the pulse of the rotation speed sensor 50 on the turning center side (the rotation speed of the rear wheel 2 on the turning center side). ) To detect the travel distance G of the aircraft (corresponding to the arc portion with respect to the turning radius R of the aircraft), and based on the turning center C of the aircraft and the turning radius R and the traveling distance G of the aircraft, the movement angle θ of the aircraft is Detected. As described above, the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is detected based on Equation 1 based on the turning radius R and the movement angle θ of the airframe (step) S103).
As a result, when the moving angle θ of the airframe is in the range of 0 degrees (turning start position E1) to 90 degrees (boundary position E2), the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02. The position Y1 is in a state of moving away from the turning start position E1 to (+ Y).

[15]
Next, the latter turning process L2 will be described with reference to FIGS.
When the movement angle θ of the aircraft exceeds 90 degrees (boundary position E2), it is determined that the aircraft has entered the second turning stroke L2. Since the direction of the airframe L2 in the second half is opposite to the direction of the airframe in the first half turn L1, the position Y1 of the airframe in the forward direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02. However, it will be in the state which approaches the turning start position E1 (turning end position E3).

  When entering the latter half of the second half of the turning stroke L2, the driver operates the steering handle 20, and operates the right and left front wheels 1 (steering member 41) to the straight travel position A1 (step S28). As a result, the side clutch 40 on the turning center side is operated to the transmission state (step S29), and the aircraft enters the straight traveling state. When the aircraft enters a straight-ahead state, the calculation according to Equation 1 is not performed, and the average value (negative value) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) is the work process. It is detected as the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft of L01 and L02.

  The right and left front wheels 1 (steering member 41) are operated to the straight travel position A1 side beyond the right (left) set angle A2 (step S28), and the side clutch 40 on the turning center side is operated to the transmission state. Then (step S29), at the same time, the planting and fertilization clutches 26 and 27 are maintained in the shut-off state, and the seedling planting device 5 is automatically lowered (step S30).

  When the central float 9 comes into contact with the rice field G2, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 is set at a set height from the rice field G2. So that the seedling planting device 5 automatically moves up and down (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value). (Step S31).

When the turning end position detecting means 53 detects that the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 has reached the turning end position E3 (step S32). An operation signal to the transmission state is output to the electric motor 28 by the operation means 54, and the planting and fertilization clutches 26 and 27 are operated to the transmission state (step S33) (based on the detection of the turning end position detection means 53) This corresponds to a state in which the operation clutches 54 and 27 are operated to the transmission state by the operation means 54).
Thereby, the buzzer 67 is stopped (step S34), and seedling planting by the seedling planting device 5 (rotating case 7, planting arm 8) and supply of fertilizer to the rice field G2 by the feeding unit 15 are started. Then, the next work process L02 is entered.

[16]
Next, abnormality detection of the potentiometer 47 and the right and left rotation speed sensors 50 shown in FIGS. 2 and 3 will be described.
6 and 7, the right and left front wheels 1 (steering member 41) are within the range of the right (left) set angle A2 in the empty work process LA1, the work processes L01 to L05, and the rotating work processes LB1 to LB4. The right and left side clutches 40 are operated in the transmission state. Accordingly, in this state, if the potentiometer 47 and the right and left rotational speed sensors 50 are normal, the detected value of the potentiometer 47 is a value within the range of the right (left) set angle A2, and the right and left rotational speed sensors. A difference of 50 detection values does not occur.

  As a result, the detected value of the potentiometer 47 is a value within the range of the right (left) set angle A2, whereas the difference between the detected values of the right and left rotation speed sensors 50 increases beyond the set value. If the difference between the detection values of the right and left rotational speed sensors 50 does not exceed the set value, but the detection value of the potentiometer 47 exceeds the right (left) set angle A2, the potentiometer 47, it is determined that an abnormality has occurred in any of the right and left rotation speed sensors 50.

  As described above, in the idle work process LA1, the work processes L01 to L05, and the rotating work processes LB1 to LB4, it is determined that an abnormality has occurred in any of the potentiometer 47 and the right and left rotational speed sensors 50. Then, the transition to step S21 in FIG. 5 is prevented, the display lamp 64 is turned off, and a warning buzzer (not shown) is activated. As a result, the driver can recognize that an abnormality has occurred in any of the potentiometer 47 and the right and left rotation speed sensors 50 (work processes LA1, L01 to L05, LB1 to LB4 before the start of turning). In FIG. 5, when the difference between the detection values of the right and left rotation speed sensors 50 increases beyond a preset value, the operation means 54 is stopped).

  Similarly to the above, in the turns LL1 to LL6 shown in FIG. 6, the right and left front wheels 1 (steering member 41) are steered beyond the right (left) set angle A2, and the right or left One of the side clutches 40 is operated in the transmission state, and the other of the right and left side clutches 40 is operated in the disconnected state. Accordingly, if the potentiometer 47 and the right and left rotational speed sensors 50 are normal in this state, the detected value of the potentiometer 47 is a value exceeding the right (left) set angle A2, and the right and left rotational speed sensors 50 are detected. The difference between the detected values is larger than the preset value.

  Thereby, the detected value of the potentiometer 47 is a value exceeding the range of the right (left) set angle A2, whereas the difference between the detected values of the right and left rotation speed sensors 50 does not exceed the set value. In this case, the difference between the detection values of the right and left rotation speed sensors 50 is larger than the set value, whereas the detection value of the potentiometer 47 is within the range of the right (left) set angle A2. If it is a value, it is determined that an abnormality has occurred in any of the potentiometer 47 and the right and left rotation speed sensors 50.

  As described above, when it is determined that an abnormality has occurred in any of the potentiometer 47 and the right and left rotational speed sensors 50 in the turns LL1 to LL6 after the transition to step S21 in FIG. Steps S30 to S33 are not performed, the display lamp 64 is turned off, and a warning buzzer (not shown) is activated. Accordingly, the driver can recognize that an abnormality has occurred in any of the potentiometer 47 and the right and left rotation speed sensors 50.

[First Alternative Embodiment for Implementing the Invention]
In step S103 of FIG. 5 of the above-mentioned [Description of the Invention], the aircraft in the advancing direction (+ Y) (−Y) of the aircraft in the empty work process LA1 and the work processes L01 to L05 based on Expression 1. Instead of configuring the body position detection means 51 so as to detect the position Y1, the body position detection means 51, the turning start position detection means 52, and the turning end position detection means 53 may be configured as follows. Good.

  When an operation signal due to the operation lever 12 being moved to the raised position U is input to the control device 23 (step S10), the right and left front wheels 1 (steering member 41) are set to the right (left) set angle. When the potentiometer 47 detects that the operation has exceeded A2 (step S26), integration of detection values of the rotation speed sensor 50 on the turning center side is started (corresponding to the turning position detecting means 51).

Separately from this, when the integration of the detected values of the rotation speed sensor 50 on the turning center side (corresponding to the turning start position E1) is set as the origin (corresponding to the turning start position detecting means 52), it is set with respect to the origin. A value (corresponding to the turning end position E3) is set.
In this case, the turns LL1 to LL6 shown in FIG. 6 are all recognized to have the same turning radius and traveling distance of the aircraft, and the value detected by the rotation speed sensor 50 on the turning center side represents the position of the aircraft. And the above set values are set in advance.

  Before the detected value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the set value, the right and left front wheels 1 (steering member 41) go straight beyond the right (left) set angle A2. The side clutch 40 on the turning center side is operated in the transmission state, and the seedling planting device 5 is automatically lowered.

  Next, when the detected value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the set value described above, it is determined that the turning end position E3 has been reached (corresponding to the turning end position detecting means 53), and the operating means. The operation signal to the transmission state is output to the electric motor 28 by 54, and the planting and fertilization clutches 26 and 27 are operated to the transmission state.

[Second embodiment for carrying out the invention]
In step S4 of FIG. 4 of the above-mentioned [Mode for Carrying Out the Invention] [First Another Mode for Carrying Out the Invention], the operation lever 12 is moved to the right or left marker positions R and L for the first set time. The right and left markers 19 are in the working posture or in the retracted posture by providing a sensor (not shown) that directly contacts the right and left markers 19, not based on whether or not the operation has been performed. It may be configured to detect whether or not and move to steps S5, S6, and S7.

In step S2 of FIG. 4 of the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Mode for Carrying Out the Invention], the rotational speeds of the right and left are not based on the operation position of the auxiliary transmission lever 62. The traveling speed of the airframe is detected based on the detection value of the sensor 50, and the gear ratio (transmission ratio) of the hydrostatic continuously variable transmission 33 and the auxiliary transmission 46 is set to a low speed position for work travel (the traveling speed of the airframe is Value corresponding to the empty work process LA1, the work processes L01 to L05 and the rotating work processes LB1 to LB4) or the high speed position (or the very low speed position) for traveling. It may be configured to detect and shift to steps S3 and S6.
Instead of the display lamp 64 in FIG. 3, a buzzer (not shown) may be activated and stopped, or may be notified by voice. Instead of the buzzer 67 in FIG. 3, a lamp (not shown) May be configured to be turned on and off, or to be notified by voice.

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

In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 8, there are nine regions (0 ° to 10 ° regions, 10 ° to 20 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree area, 20 degree to 30 degree area, 30 degree to 40 degree area, 40 degree to 50 degree area, 50 degree to 60 degree area, 60 degree to 70 degree area, 70 degree to 80 degree area The turning radius R of one aircraft (the turning radius R of the aircraft corresponding to the central angle of the region) is set in each of the nine regions.
For example, in the region of 0 to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 (steering member 41) is 5 degrees (FIG. 9 (a) ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

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

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

[Fourth embodiment for carrying out the invention]
Instead of the above-mentioned [third alternative embodiment for carrying out the invention], the following configuration may be adopted.
In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 8, there are nine regions (0 ° to 10 ° regions, 10 ° to 20 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree area, 20 degree to 30 degree area, 30 degree to 40 degree area, 40 degree to 50 degree area, 50 degree to 60 degree area, 60 degree to 70 degree area, 70 degree to 80 degree area The turning radius R of one airframe (the turning radius R of the airframe corresponding to the maximum angle of the area) is set in each of the nine areas.
For example, in the region of 0 degrees to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 (steering member 41) is 10 degrees (FIG. 9A ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

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

  At 10 degrees to 20 degrees, using the turning radius R of the airframe in the region of 10 degrees to 20 degrees, as described above, at 20 degrees, 30 degrees, ..., 10 degrees to 20 degrees Based on the turning radius of one aircraft in the region of..., The position Y1 of the aircraft in the advancing direction (+ Y) (−Y) of the aircraft in the empty work process LA1 and work processes L01 to L05 based on Equation 1. Detection is performed.

  In the present invention, a rotary cultivator (corresponding to a working device) can be connected to a rotary tiller device (corresponding to a working device) at the rear part of the machine body and a cutting part (corresponding to a working device) can be supported to be lifted and lowered at the front part of the machine body It can also be applied to work vehicles such as combines. It is also possible to configure the body position detection means 51 by GPS. In place of the powdery fertilizer in the hopper 14, the present invention can be applied to a liquid fertilizer or a work vehicle containing powdered or liquid chemicals, seeds, or the like.

2 Wheels 5, 15 Working device 19 Marker 26, 27 Working clutch 50 Rotational speed sensor 53 Turning end position detecting means 54 Operating means 63 Artificial operation tool 67 Notifying means E3 Turning end position G2 Tables LA1, L01 to L05, LB1 Work process

Claims (6)

A work device provided in the airframe, and a work clutch for operating the power to the work device to transmit and shut off,
It is equipped with right and left markers that can be operated in an action posture for grounding on the surface and forming an index of the next work process on the surface and a retracted posture above the surface,
A turn end position detecting means for detecting a turn end position of the airframe by detecting a turn of the airframe as the turn starts from the work stroke, and operating the work clutch in a transmission state based on the detection of the turn end position detecting means. Operating means,
A paddy field vehicle configured to operate the operation means when the right or left marker is operated to an action posture in a work process before the start of turning.   In the work process before the start of turning, the operation means is activated when the work device provided on the airframe is capable of moving up and down and touches the surface of the plane, and the right or left marker is operated to the action posture. The paddy field work vehicle of Claim 1 comprised by these.   The paddy field work vehicle according to claim 1 or 2, wherein the operation means is configured so that the operation means stops operating when the traveling speed of the airframe is in a high speed state for traveling.   The paddy field work vehicle according to any one of claims 1 to 3, further comprising an artificial operation tool that allows the operation means to be artificially operated in an activated state and a stopped state.   The paddy field vehicle according to any one of claims 1 to 4, further comprising notification means for notifying that the operation means is in an operating state. With right and left speed sensors that detect the speed of the right and left wheels,
The turning end position detecting means is configured to detect the turning end position of the airframe by detecting the turning of the airframe based on the detection value of the rotation speed sensor on the turning center side,
In the work process before the start of turning, when the difference between the detection values of the right and left rotational speed sensors exceeds a preset value, the operation means is stopped so that the operation means is stopped. The paddy field work vehicle according to any one of claims 1 to 5, which is configured.

Images