JP2012200161A - Movable agricultural machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable agricultural machine, preventing a planting working machine as a working machine of a riding type rice planter and a ridge from coming into contact with each other when the riding type rice planter moves backward in planting work in a field using the riding type rice planter as the moving agricultural machine.SOLUTION: In detecting the backward moving operation of the riding type rice planter 1, when the steering angle of a steering handlebar detected by a steering angle sensor before backward moving operation is located in a rotating area (S601), even if the height position of the planting working machine is set, the planting working machine is lifted to a first position (H1), (S608).

Description

  The present invention relates to, for example, a mobile farm machine such as a riding rice transplanter in which a work machine is provided at the rear of the machine body so as to be movable up and down.

  In general, as a mobile agricultural machine, a riding rice transplanter in which a planting machine is connected to the rear of the machine so that it can be moved up and down, and seedlings are planted by this planting machine while traveling in the field is widely known. In order to prevent the planting machine from being damaged during reverse travel, the rice transplanter has a backup control function that automatically raises the planting work machine to the highest position in conjunction with the reverse operation of the riding rice transplanter. Have.

  Conventionally, if the planting machine is raised to the highest position during this backup control, the planting machine will block the driver's rear view when parking the passenger rice transplanter. A riding rice transplanter has been devised that can set the ascending position of the planting work machine to a position lower than the most elevated position (see, for example, Patent Document 1).

Japanese Patent No. 4073805

  In this way, if the planting work machine is not raised to the set height for backup control, the driver's rear view can be secured even during backup, and the planting work and the raised position and distance are shortened, Improvement of work efficiency can be expected.

  By the way, in the case of a large riding rice transplanter, when seedlings are planted on the headland, the seedlings are planted after being aligned with the corners of the field.

  However, there is a risk that the planting work machine may come into contact with the shore if the raising position of the planting work machine is set lower than the normal ascent position even when the vehicle moves backward after the turn at the bank. there were.

  Therefore, the present invention detects the steering angle of the steering handle of the passenger rice transplanter with the steering angle sensor provided in the passenger rice transplanter, and the reverse operation of the passenger rice transplanter is performed backward from the detected steering angle. It is an object to provide a mobile farm machine that solves the above-mentioned problems by determining whether there is a planting work machine and selecting a rising height position of the planting work machine.

The present invention includes a traveling machine body (2) supported by the front and rear traveling wheels (3, 5), and a work machine (12) attached to the rear of the traveling machine body so as to be movable up and down. ) When the backward movement is detected, the working machine (12) is automatically raised, and the raising height of the working machine (12) is set higher than the first position (H1) and the first position (H1). In a mobile farm machine that can be selected to a low second position (H2),
A control unit (53) that raises the work machine (12) to the first position when the backward movement of the traveling machine body (2) immediately after the turning operation of the traveling machine body (2) is detected; There is a thing.

A reverse sensor (46) for detecting reverse travel of the traveling machine body (2);
A steering angle sensor (52) for detecting a steering angle of a steering handle (7) for steering the front wheel (3) of the traveling body (2),
The control unit (53) is a direction correction region for finely adjusting the direction of the traveling machine body (2) to the steering angle of the steering handle (7), and a turn having a larger steering angle than the direction correction region. Set the area and
Based on the steering angle of the steering handle (7) detected by the steering angle sensor (52), the reverse of the traveling machine body (2) detected by the reverse sensor (46) turns the traveling machine body (2). It is preferable to determine whether or not the vehicle is moving backward.

  The control unit (53) raises the work implement (2) and moves the work implement (2) when the steering angle detected by the steering angle is located in the turning area when the traveling machine body (2) moves forward. The rising height of the machine (12) can be changed between the first position (H1) and the second position (H2).

  In addition, the code | symbol etc. in the said parenthesis are for referring drawings, Comprising: This invention is not limited at all.

  According to the first aspect of the present invention, when the backward movement of the mobile farm machine is detected immediately after the turning operation of the mobile farm machine, the work machine is raised to the first position. In this work, even if the driver fixes the height of the planting work machine at the second position and moves the riding rice transplanter back to the work start position on the shore after the turning operation, Since it can be raised to the first position, it can be prevented that the planting machine is brought into contact with the shore.

  According to the second aspect of the present invention, the reverse sensor and the steering angle sensor provided in the traveling machine body detect the reverse of the mobile agricultural machine and the steering angle of the steering handle, and the control unit determines the steering angle of the steering handle as the direction correction region. The turning area is set to determine whether the reverse movement of the mobile agricultural machine is the reverse immediately after the turning of the mobile agricultural machine based on the detected steering angle. It is possible to determine whether the operation is a turning operation or a direction correction with high accuracy and to determine whether the reverse movement of the mobile agricultural machine is performed immediately after the turning. it can.

  According to the invention according to claim 3, when the mobile farm machine moves forward, when the steering angle located in the turning area is detected, the work machine is raised and the raised height of the work machine can be changed. By changing the rising height of the work machine, it is possible to shorten the time for the work machine to return from the raised position to the work position, so that the work efficiency of the planting work can be improved.

The side view of the riding rice transplanter which concerns on embodiment of this invention. The side view of the hydraulic control mechanism of the riding rice transplanter which concerns on embodiment of this invention. The expansion perspective view of the driving operation part of the riding rice transplanter concerning the embodiment of the present invention. (A) is a figure which shows the structure of the driving operation mechanism of the riding rice transplanter which concerns on embodiment of this invention, (B) is a top view of the lever guide of the main transmission lever of the riding rice transplanter which concerns on embodiment of this invention. The figure which shows the structure of the steering cooperation mechanism of the riding rice transplanter which concerns on embodiment of this invention. The block diagram which shows the control part of the riding rice transplanter which concerns on embodiment of this invention. The flowchart figure which shows the working machine control of the riding rice transplanter which concerns on embodiment of this invention. The flowchart figure which shows the working machine operation control of the planting work machine which concerns on embodiment of this invention. The flowchart figure which shows the raising / lowering control at the time of turning of the planting work machine which concerns on embodiment of this invention. The flowchart figure which shows the raising / lowering control at the time of reverse drive of the planting work machine which concerns on embodiment of this invention. The flowchart figure which shows the raising / lowering control at the time of reverse drive of the planting work machine which concerns on embodiment of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a riding rice transplanter that is a mobile agricultural machine according to the present invention will be described with reference to the drawings. In the following description, the direction is based on a state in which an operator (hereinafter also including the driver) is seated on the driver's seat.

  First, the configuration of the riding rice transplanter 1 according to the present embodiment will be described. As shown in FIG. 1, a riding rice transplanter 1 has an engine (not shown) as a power source of the riding rice transplanter 1 in front of a traveling machine body 2 supported by front and rear traveling wheels 3 and 5 for traveling in a field. ) Is covered and mounted on the bonnet 6, and behind the hood 6, a driving operation unit 10 including a steering handle 7 and a driving seat 9 for steering the riding rice transplanter 1 is provided. ing. In addition, a planting work machine 12 is connected to a rear part of the traveling machine body 2 behind the driving operation unit 10 via a lifting link 11 so as to be lifted and lowered.

  The planting work machine 12 includes a seedling table 13 for placing seedlings to be planted, a float 15 that slides on a field scene and detects unevenness in the field, and the like. The work machine 12 is configured to be lifted and lowered.

  Next, the configuration of a hydraulic control mechanism for expanding and contracting the hydraulic cylinder 11a will be described. A hydraulic control valve 17, which is a hydraulic valve for controlling the expansion / contraction operation of the hydraulic cylinder 11 a, is disposed in the cover below the driver seat 9. As shown in FIG. 2, the hydraulic control valve 17 has a substantially rectangular operating arm 23 in a side view, and a clutch arm 20 for connecting and disconnecting a planting clutch is provided in the vicinity of the operating arm 23. The operating arm 23 that operates the arm 20 and the hydraulic control valve 17 is configured to be operated in conjunction with the work machine operation cam 21. The work implement operation cam 21 is rotationally driven by the work implement operation cam motor 19 and the rotation position thereof is detected by the work implement operation cam potentiometer 22.

  That is, in response to a tilting operation in the vertical direction of a cross operation lever 35 that is an operation tool of the planting work machine 12 described later, the work machine operating cam 21 is disengaged from the planting clutch and the planting work machine 12 is operated. A raised position that is an ascending position, a fixed position where the planting clutch is disengaged and the planting work machine 12 is stopped, and a lowered position where the planting clutch is disengaged and the planting work machine 12 is in the lowered position And the planting work machine 12 by setting the planting clutch to a position where the planting clutch is connected and the planting machine 12 is in the lowered position by the work machine operating cam motor 19. The connection / disconnection of the planting clutch is operated.

  Next, the driving operation unit 10 of the riding rice transplanter according to the present embodiment will be described in detail with reference to FIGS. 3 to 5. As shown in FIG. 3, the steering handle 7 for maneuvering the passenger rice transplanter 1 is attached to the end of a steering shaft (not shown) in the steering column 27, and the steering column 27 is attached to the steering column cover 29. Covered.

  In front of the steering column cover 29, a display unit 30 for displaying instruments of the riding rice transplanter 1 is provided. Further, on the left side of the steering column cover 29, there are provided a turning low position switch 32 and a reverse low position switch 31 for enabling selection of the height position of the planting work machine during work. A raising amount adjustment dial 33 for adjusting the height position of the planting work machine 12 is provided in front of the turning low position switch 32 so as to be rotatable left and right.

  That is, the turning low position switch 32 is a switch for setting the height position of the planting work machine 12 that is normally raised to the highest position during turning to an arbitrary height set by the operator. The reverse position switch 31 is a switch for setting the height position of the planting work machine 12 that is normally raised to the highest position during reverse movement to a height set by the operator. The height position of the planting work machine 12 when the turning low position switch 32 and the reverse low position switch 31 are turned on can be set by the above-described ascent adjustment dial 33. In addition, the said raising amount adjustment dial 33 can set now the height position of the planting work machine 12 from a descent | fall position to the highest rise position, for example, and the height position set by the operator is , It is set to be lower than the highest position.

  Further, on the right side of the steering column cover 29, a cross operation lever 35 for performing the raising / lowering operation of the above-described planting work machine 12 and the drawing-out operation of a drawing marker for drawing a traveling reference line on the field is vertically and forward / backward. It is provided in a swingable state.

  Here, the cross operation lever 35 will be briefly described. For example, the cross operation lever 35 is operated once in the upward direction in a state where the planting work machine 12 is in the working position and the planting clutch is engaged. When the planting clutch is disengaged and is operated upward again, the planting machine is raised. On the contrary, if the planting work machine 12 is operated once downward from the state where the planting work machine 12 is raised and stopped, the planting work machine 12 is lowered, and if operated again downward, the planting clutch is engaged. . Further, by swinging the cross operation lever 35 back and forth, the left and right markers can be swung out. Details of the operation control of the planting machine 12 by the cross operation lever 35 will be described later.

  Next, the steering mechanism and the shift lever mechanism of the riding rice transplanter 1 shown in FIG. 4 will be described in detail. As shown in FIG. 4A, in the steering mechanism of the riding rice transplanter 1, the steering handle 7 is attached to the upper end portion of the steering column 27, and the steering column 27 is supported and fixed substantially at the center of the steering column 27. A support stay 37, which is a member for this purpose, is attached with a lever guide 36 provided at one end. Further, a power steering device 39 is attached to the lower end portion of the steering column 27 in order to convert manual low torque into large torque by hydraulic pressure.

  On the side of the steering handle 7, a main transmission lever 40 is disposed through the lever guide so that the driver can change the travel of the riding rice transplanter 1. As shown in FIG. 4A, the main speed change lever is configured such that a lever knob 40a is attached to one end of the main speed change lever 40 so that the driver can easily grip the main speed change lever. A bracket 40b, which is a support member for rotatably supporting the main transmission lever 40, is attached to the main transmission lever 40, and a plurality of portions of the main transmission lever 40 are bent.

  The bracket 40b attached to the main transmission lever 40 is supported by a bearing portion 42 formed at one end portion of a plate 41 which is a support member so as to be turnable in the left-right direction. The plate 41 is configured such that a bearing portion 43 is provided at substantially the center, and that the bearing portion 42 side is bent so as to be formed in a substantially square shape in side view. The bearing portion 43 has one end fixed to a joint surface between the steering column 27 and the power steering device, and is bent and formed in a substantially L shape in a side view, and the other end portion of the bracket 45 as a support member. The plate 41 is supported by a bracket 45 so as to be pivotable back and forth.

  As described above, the main transmission lever 40 is configured to be swingable back and forth and left and right by being supported by the plate 41 and the bracket 45. Further, on the upper side of the bracket 40b attached to one end of the main transmission lever, a reverse operation detection switch 46, which is a reverse sensor for detecting a reverse operation, is a contact portion 47 for switching the switch ON and OFF. Is formed and disposed.

  FIG. 4B is a plan view of the lever guide 36 for performing a forward / backward switching operation by the main transmission lever 40. In the lever guide 36, a forward range 36a having a movable region that can swing back and forth, and a reverse range 36b that also has a movable region that can swing back and forth are movable left and right so as to swing left and right. Each of the forward range 36a, the reverse range 36b and the neutral range 36c is cut out and formed integrally with each other at both ends of a neutral range 36c having a region.

  The reverse operation detection switch 46 is configured such that the reverse operation is detected by contact between a contact portion 47 provided on the reverse operation detection switch 46 and an end portion of the bracket 40b attached to the end portion of the main transmission lever 40. It has become. In the present embodiment, when the driver moves the main transmission lever 40 from the forward range 36a to the reverse range 36b in the neutral range 36c in order to place the main transmission lever 40 in the reverse range, The bracket itself joined to one end of the lever 40 also rotates about the bearing portion 42 of the plate 41 as an axis. Then, one end of the bracket comes into contact with the contact portion 47 provided on the bracket 40b and the reverse operation detection switch 46, and the reverse operation is detected. Therefore, when the main transmission lever 40 is in the reverse range 36b, the reverse operation detection switch 46 is always ON.

  As shown in FIG. 5, the rear wheel 5 of the riding rice transplanter 1 that transmits the power from the engine to the farm scene is configured such that power transmission from the engine can be connected and disconnected by side clutches 49R and 49L. The side clutches 49 </ b> R and 49 </ b> L are configured to be interlocked with the steering handle 7 operation via the steering cooperation mechanism 50.

  When the steering handle 7 is operated as described above, the steering shaft in the steering column 27 rotates, and in conjunction therewith, the pitman arm 51 rotates left and right around the operation shaft 51a. Although not shown, the tie rod connected to the pitman arm 51 and the knuckle arm connected to the tie rod swing in conjunction with the rotation of the pitman arm 51 so that the front wheels also rotate left and right. It has become.

  A steering angle sensor (hereinafter referred to as a steering handle steering angle sensor) 52 for detecting the steering angle of the steering handle 7 is attached to the operation shaft 51a of the pitman arm 51. The steering handle steering angle sensor 52 detects a steering angle that is a rotation angle from the position of the operation shaft 51a that is a reference steering angle of the steering handle 7 (a position of the operation shaft 51a when the riding rice transplanter 1 goes straight), It is configured to detect whether the operation of the steering handle 7 of the riding rice transplanter 1 is turning or direction correction depending on whether the detected steering angle is located in the turning region or the direction correcting region.

  More specifically, the entire rotation area of the operation shaft 51a of the pitman arm 51 is finely adjusted in the turning area for turning the riding rice transplanter 1 by the angle set by the control unit 53 and the traveling direction of the riding rice transplanter 1. If the rotation angle of the operation shaft 51a of the pitman arm 51 detected by the steering wheel steering angle sensor 52 is larger than the set angle, the rotation angle Assuming that the steering angle is in the turning region, the steering handle operation is detected as the turning operation, while the rotation angle of the operation shaft 51a of the pitman arm 51 detected by the steering handle steering angle sensor 52 is equal to or less than the set angle. In the case of the size, the steering wheel operation is detected as direction correction because it is in the direction correction region. To have.

  FIG. 6 shows a block diagram of a control unit of the riding rice transplanter 1 according to the present invention, and the control unit 53 is constituted by a microcomputer. On the input side of the control unit 53, a work preparation switch 55, a work machine operation switch upper side 56, a work machine operation switch lower side 57, a marker switch front side 59, a marker switch rear side 60, a work machine operation cam potentiometer 22, a reverse operation detection The switch 46, the reverse low position switch 31, the turning low position switch 32, and the lift adjustment dial 33 are connected, and the height of the planting work machine 12 relative to the traveling machine body 2 is detected. The lift angle potentiometer 61 and a steering wheel steering angle sensor 52 for detecting the steering angle of the steering wheel 7 by the operation of the driver are connected, and each signal is input to the control unit 53. ing. Further, the work machine operation cam motor 19, the right marker motor 62, and the left marker motor 63 are connected to the output side, and are controlled via the control unit 53 based on signals from the input side.

  The microcomputer constituting the control unit 53 receives a reverse operation from the steering angle detected by the steering wheel steering angle sensor 52 when the reverse operation detecting switch 46 detects the reverse operation of the riding rice transplanter 1. A reverse operation discriminating means 66 for discriminating whether the operation is a reverse operation at the time, and a work implement ascending / descending command for raising and lowering the planting work implement 12 to a height position set at a location determined by the reverse operation discriminating means 66 Means 67 is provided.

  Next, the operation of the lifting control of the planting work machine 12 of the riding rice transplanter 1 according to the present embodiment will be described with reference to FIGS. FIG. 7 shows a main flow of control in the riding rice transplanter 1, and is configured such that different controls are performed by operations by the driver.

  As shown in FIG. 7, when the ignition of the riding rice transplanter 1 is turned on by the driver, the control unit 53 of the riding rice transplanter 1 can control the planting work machine 12 (step in the figure). 1. Hereinafter, simply referred to as S. And after starting the engine of the riding rice transplanter 1 and moving to a farm field, the planting work machine 12 is operated and the planting work is performed.

  At the time of movement to the planting work start position of the farm field, the planting work machine 12 is in an ascending state in order to avoid contact between the planting work machine 12 and the ground. Therefore, after stopping the riding rice planting machine 1 at the planting work start position, the driver operates the cross operation lever 35 which is an operation tool of the planting work machine 12 to start the planting work. The machine 12 is lowered to the planting work position. At this time, the planting work machine 12 is controlled by work machine operation control (S4).

  First, the operation of the work machine operation control will be described. At the planting work start position, the driver operates the cross operation lever 35 upward (S402 in FIG. 8). If the planting work machine 12 is in the “planting state” at that time (S403, S404, S405), the work machine operation cam motor 19 is operated to bring the work machine operation cam 21 into the lowered position, so that the planting work is performed. The machine 12 is set to the lowered position of the automatic elevation control (S406).

  On the other hand, when the operator performs an upward operation of the cross operation lever 35 while the planting work machine 12 is being lowered by automatic lifting (S404, S410), the lowering operation of the planting work machine 12 is stopped. (S412) On the contrary, when the planting work machine 12 is in the lowered position with the planting clutch disengaged (S410), when the operation of the cross operation lever 35 is performed (S402), The planting machine 12 moves up (S405, S410, S411).

  Further, after stopping at the work start position of the field as described above, when the work preparation switch is turned on by the driver (S413) and the planting work machine 12 is not in the “planting state” (S414, S415, S415). S416) When the downward operation of the cross operation lever 35 is performed (S401), the work machine operation cam motor 19 is operated to set the work machine operation cam 21 to the lowered position, and the planting work machine 12 performs automatic lifting control. The lowered position is set (S417).

  On the other hand, when the operation preparation switch is OFF (S413) and the planting work machine 12 is stopped (S418), the driver performs an operation of the cross operation lever 35 downward (S401). The work machine 12 is set to the lowered position of the automatic lifting control (S418, S419, S424). On the other hand, when the operator operates the cross operation lever 35 downward (S401) during the raising operation of the planting work machine 12 (S418), the raising operation of the planting work machine 12 is stopped. (S420).

  Furthermore, when the planting work machine 12 is in the planting work position (S421), if the driver operates the cross operation lever 35 downward (S401), the work machine operation cam motor 19 is activated. Then, with the working machine operation cam 21 as the planting position, the planting clutch is engaged and the planting work machine 12 enters the “planting state” (S422). In addition, while the planting work machine 12 is lowered to the work position, the “planting clutch engagement waiting state” is set (S423).

  However, when the operation of the upper part of the cross operation lever 35 and the operation of the lower part are not performed, the planting work machine 12 enters the “planting clutch engagement waiting state” and becomes “work machine lowering operation stop”. Is in a “planting state” when the planting clutch is connected (S407, S408, S409). Here, the “waiting state for planting clutch” means a state where the planting clutch has been engaged with the cross operation lever 35 but the planting work machine 12 has not been lowered to the working height in the field. To do.

  The driver moves the riding rice transplanter 1 to the work start position as described above, lowers the planting work machine 12 to the planting work start position, and then starts the traveling of the passenger rice transplanter 1 and planting work. To start. The planting work is performed while reciprocating from the bank to the bank. At this time, when the riding rice transplanter 1 approaches the bank, the operator performs a steering handle operation for turning the riding rice transplanter 1. At this time, when the steering angle detected by the steering handle steering angle sensor 52 provided in the riding rice transplanter 1 is located in the turning region (S3), the planting work machine 12 is controlled by the turning up / down control. (S5).

  Next, the operation of the turning up / down control will be described. When the driver turns the steering handle 7 of the riding rice transplanter 1 and turns it at the bank (S3), the planting machine 12 is automatically raised to the first position in conjunction with the turning operation (S504 in FIG. 9). S506, S507, S508).

  In the present embodiment, the first position is the highest position (indicated by H1 in the figure), and the second position is lower than the highest position and is a position set by the driver (in the figure). Is indicated by H2.)

  However, at this time, when the driver has set the height position for raising the planting work machine 12, if the turning low position switch and work preparation switch are turned on (S501, S502), turning operation When the height position of the planting work machine 12 is lower than the set position (S503), the planting work machine 12 is raised to the set height position (S504), When the planting work machine 12 is already at the set height position during the turning operation, turning is performed in that position (S505).

  And as a final process of the planting work performed by the riding rice transplanter 1, the planting work is performed along the headland near the field, but to start the work, to the planting work start position at the corner of the field, It is necessary to match the planting machine 12. The alignment is performed by the riding rice transplanter 1 while moving along the bank to the vicinity of the work start position in the corner of the field, and the steering handle 7 of the passenger rice transplanter 1 is operated near the work start position. After changing the direction of the riding rice transplanter 1 along the bank, the riding rice transplanter 1 is moved backward to align the riding (S2). At that time, the planting work machine 12 is controlled by the reverse movement control as shown in FIG. 10 (S6).

  Next, the operation of the reverse lift control will be described. As described above, the driver shifts the main shift lever to the reverse range 36b of the lever guide 36 immediately after the operation of the steering handle 7 in order to align the planting work machine 12 with the planting work start position at the corner of the field. Is turned on, a reverse operation is detected by the reverse operation detection switch 46 which is a reverse sensor. Then, when the steering angle detected by the steering wheel steering angle sensor when the reverse operation is detected is located in the turning region (S601), the reverse operation determining means 64 performs the reverse operation on the bank as the reverse operation immediately after the turning operation. To be judged. Then, even if the driver sets the height position of the planting work machine 12 (H2) and performs the work, the planting work machine is detected simultaneously with the detection of the reverse operation by the lift command of the work machine lifting command means 67. 12 is raised to the highest position (H1) (S605, S608). However, when the planting work machine 12 is already at the highest position (S606), the planting machine 12 moves backward at the same position (S607). In the present embodiment, once the planting work machine is raised, it does not descend unless it is manually lowered by the operation tool of the planting work machine 12 such as the cross operation lever 35. Yes.

  When the steering steering angle of the riding rice transplanter 1 detected by the steering handle steering angle sensor 52 is in the direction correction area for fine adjustment of the direction of the traveling vehicle body (S601), the reverse operation determination means 66 It is judged as a backward movement outside the bank. When the driver has set the height position of the planting work machine 12 and performed the planting work (S602, S603), the height position of the planting work machine 12 remains at the set position (H2). To reverse (S609, S610). However, when the planting work machine 12 is at a position lower than the set position, it is raised to the set position (S604, S608). When the driver has not set the second position, the planting work machine 12 is raised to the highest position (H1) by the normal backup control in conjunction with the reverse operation.

  As described above, when reverse movement is detected immediately after the turning operation of the riding rice transplanter 1, the planting work machine 12 is raised to the first position. Even if the attachment work machine 12 is fixed at the second position (H2) and the work is carried out, if the riding rice transplanter 1 is moved backward to the work start position on the shore after the turning operation, the planting work machine 12 is Since it raises to the 1st position (H2), it can prevent making a planting work machine contact the shore.

  Further, the reverse operation detection switch 46 and the steering handle steering angle sensor 52 provided in the riding rice transplanter 1 detect the reverse and steering steering angles of the riding rice transplanter 1, and the control unit 53 controls the steering angle of the steering handle 7. Is set as the direction correction area and the turning area, and it is determined whether the reverse of the riding rice transplanter 1 is the reverse immediately after the turning of the mobile farming machine based on the detected steering angle. However, it is possible to determine with high accuracy whether it is due to turning operation or due to direction correction, and it is possible to determine with high accuracy whether the reverse movement of the mobile agricultural machine is performed immediately after turning. .

  Furthermore, when the steering angle located in the turning area is detected when the riding rice transplanter 1 moves forward, the working machine is raised and the driver raises the height of the planting work machine 12 to an arbitrary height. It can be changed. Thereby, if the raising height of the planting work machine 12 is set to a low position, the distance between the raised position of the planting work machine 12 and the work position can be shortened. It is possible to shorten the time to return to the plant, and to improve the work efficiency of the planting work.

  Further, in the auto lift control at the time of turning and the backup control at the time of reverse driving, the manufacturing cost can be reduced by adopting a configuration in which the steering angle of the steering handle 7 is detected by one steering angle sensor.

  In addition, the planting work machine 12 that has been lifted during reverse travel is configured so that once it is lifted, it will not be lowered except by an artificial operation, thereby preventing an unexpected drop and preventing a collision with an obstacle. it can.

  In addition, when the height position of the planting work machine is not set at the time of turning up / down control, the planting work machine 12 is raised to the highest position (H1) in conjunction with the turning operation. However, the present invention is not limited to this, and it may be configured to be raised to a position lower than the highest ascent position.

  Moreover, in the reverse raising / lowering control in this embodiment, when the driver has not set the height position of the planting work machine 12, the planting work machine 12 can be raised to the highest position (H1). Although it was set as a structure, it is not restricted to this, It is good also as a structure which raises to a position lower than the highest rise position.

  In addition, in reverse raising / lowering control in the present embodiment, when the height position of the planting work machine 12 is lower than the set position (H2), the planting work machine 12 is set at the set height. Although it was set as the structure raised to a position (H2), you may make it the structure which raises not only to this but to the highest rise position (H1).

  Further, in the reverse movement control in the present embodiment, when the reverse operation is performed by the driver immediately after the turning operation, the planting work machine 12 is raised to the highest position (H1). It is good also as a structure which can be raised to a position lower than the highest ascending position.

  In the present embodiment, the steering wheel steering angle sensor 52 for detecting the steering wheel steering angle is shared for both turning and reverse. However, the steering wheel steering angle sensor 52 may be detected by a separate steering wheel steering angle sensor. Good.

  In this embodiment, the steering wheel steering angle sensor 52 is configured to detect the steering angle from the rotation angle of the operation shaft 51a of the pitman arm 51, but may be configured to detect from the rotation angle of the steering shaft.

  In the present embodiment, the reverse operation determination unit 66 determines whether the reverse operation is on the bank from the region where the steering angle detected by the steering wheel steering angle sensor 52 when the reverse operation is detected. However, the present invention is not limited to this, the steering angle detected by the steering wheel steering angle sensor is stored, and the reverse operation discriminating means from the steering angle before the reverse operation stored when the reverse operation is detected is detected by the reverse operation discriminating means. It may be configured to determine whether the operation is a reverse operation.

  In the present embodiment, the reverse operation of the riding rice transplanter 1 is detected from the main transmission lever. However, the present invention is not limited to this, and the detection may be performed by rotating the axle.

  Further, in the present embodiment, a riding type rice transplanter has been described as an example, but the present invention may naturally be applied to other mobile agricultural machines such as a tractor.

[Other embodiments]
In addition, the operation of the reverse lift control in another embodiment of the present invention will be described. In the present embodiment, when the driver sets the ascending height position of the planting work machine 12 in the reverse lifting control of the planting work machine 12 (second position, indicated by H2 in the figure). It differs in the point of lifting control. Hereinafter, only differences from the above-described embodiment will be described (S611 to S614 are the same as those in the above-described embodiment, and are omitted). About the member of the same structure and an effect | action, the same name and reference code are used.

  As shown in FIG. 11, when the steering angle detected by the steering wheel steering angle sensor 52 is in the direction correction region, the subsequent reverse operation is determined by the reverse operation determination means 66 as a reverse operation other than on the bank. To be judged. Then, when the driver sets the height position of the planting work machine 12 (H2) and performs the planting work, when the reverse operation is performed, the height position of the planting work machine 12 If the planting machine 12 is at a position higher than the set position (H2) (S619), the steering wheel 7 is returned. It is configured to be automatically lowered to the set position in conjunction with the operation (S620).

  As described above, the planting work machine 12 that has been raised to the highest position during reverse travel is lowered to the height position (H2) set by the operator in conjunction with the return operation of the operator's steering handle 7. By adopting the configuration, it is possible to secure the rearward vision when the vehicle is traveling backward without lowering the planting work machine 12, thereby improving work efficiency.

2 traveling body 3 traveling wheel (front wheel)
5 Running wheel (rear wheel)
7 Steering handle 12 Working machine (planting machine)
46 Reverse sensor (backward operation detection switch)
52 Steering angle sensor (steering wheel steering angle sensor)
53 Control part H1 1st position H2 2nd position

Claims (3)

A traveling machine body supported by the front and rear traveling wheels, and a work machine attached to the rear of the traveling machine body so as to be movable up and down, and when the backward movement of the traveling machine body is detected, the work machine is automatically raised. In the mobile farm machine that can select the rising height of the work machine to the first position and the second position lower than the first position,
When the backward movement of the traveling machine body immediately after the turning operation of the traveling machine body is detected, a control unit that raises the work machine to the first position is provided.
A mobile agricultural machine characterized by that. A reverse sensor for detecting reverse travel of the traveling machine body;
A steering angle sensor that detects a steering angle of a steering handle that steers the front wheels of the traveling machine body,
The control unit sets a direction correction area for finely adjusting the direction of the traveling vehicle body and a turning area where the steering angle is larger than the direction correction area for the steering angle of the steering handle,
Based on the steering angle of the steering wheel detected by the steering angle sensor, it is determined whether or not the reverse of the traveling vehicle detected by the reverse sensor is reverse immediately after turning of the traveling aircraft.
The mobile agricultural machine according to claim 1. When the steering angle detected by the steering angle is located in the turning region when the traveling machine body moves forward, the control unit raises the work machine and sets the raised height of the work machine to the first position. And the second position can be changed.
The mobile agricultural machine according to claim 2.

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