JP2016198034A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work vehicle capable of stably improving operation accuracy and stably improving work efficiency.SOLUTION: A riding type rice transplanter 1 includes: a travelling vehicle body 2; a planting device 4 provided on the rear side of the travelling vehicle body for performing work in a farm field; a handle 34 for steering the travelling vehicle body; an automatic steering device 100 for automatically steering the handle; a guide installation device 200 for at least installing a travelling guide member 201 that serves as an indication of a working position in the next row in the farm field at predetermined intervals beforehand while performing work in the farm field; and a CCD camera 300 for acquiring position information on the travelling guide member 201 installed beforehand when performing work in the next row; and a control circuit 400 for controlling the automatic steering device 100 based on the position information acquired by the CCD camera 300 when performing work in the next row.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a work vehicle that travels while performing work in a field.

  The seedling transplanter, which is an example of a conventional work vehicle that travels while performing work on a farm field, automatically steers the steering wheel based on position coordinates by GPS (Global Positioning System) and changes in the operation angle of the aircraft, A function of automatically correcting the advancing direction of the aircraft in the straight direction is provided (see, for example, Patent Document 1 and Patent Document 2).

  As a result, the operator can visually observe the front of the aircraft and can advance the aircraft without operating the handle appropriately to correct the direction of travel, so that the planting accuracy of the seedling is improved and the operator can operate the handle. It is possible to concentrate on other operations, improving operability and work efficiency.

JP 2008-92818 A JP 2005-71142 A

  However, in order to obtain position information based on GPS, a corresponding communication device or processing device is mounted. However, in a work place where it is difficult to receive radio waves from GPS satellites, position information cannot be obtained due to the disruption of radio waves. There is a problem that the traveling direction is disturbed and the working accuracy is lowered.

  An object of the present invention is to provide a work vehicle in which the work accuracy is stably improved and the work efficiency is stably improved in consideration of the problems of the conventional work vehicle.

In order to solve the above-mentioned problem, the present invention described in claim 1
Traveling vehicle body (2),
A working device (4) provided on the rear side of the traveling vehicle body (2) for performing work in a field;
A steering handle (34) for steering the traveling vehicle body (2);
An automatic steering mechanism (100) for automatically steering the steering handle (34);
A guide installation device (200) that preliminarily installs a traveling guide member (201) serving as a guide for a work position in the next row at a predetermined interval while performing work in the field;
A position information acquisition device (300) for acquiring position information of the travel guide member (201) installed in advance when performing work in the next row;
A control device (400) for controlling the automatic steering mechanism (100) based on the position information acquired by the position information acquisition device (300) when performing work in the next row. Work vehicle.

The present invention according to claim 2
A vehicle speed detecting member (420) for detecting information on the vehicle speed of the traveling vehicle body (2);
The control device (400) is configured so that, based on the information on the vehicle speed detected by the vehicle speed detection member (420), the travel guide members (201) installed in the farm are spaced at equal intervals. The work vehicle according to claim 1, wherein the operation of the guide installation device (200) is controlled.

Further, the present invention described in claim 3
The guide installation device (200) includes:
A delivery device (210) for delivering the travel guide members one by one;
A transport device (220L, 220R) having at least a transport function at the time of transporting the travel guide member fed from the feed device (210) toward one of the left and right directions of the travel vehicle body (2); ,
The installation device (230L, 230R) having at least an installation function of installing the traveling guide member conveyed by the conveyance device (220L, 220R) on the farm field. The work vehicle described.

Further, the present invention according to claim 4 provides
The travel guide member (201) is a rod-shaped member,
The delivery device (210)
A plurality of mounting portions (211) for mounting the travel guide members one by one, and a circulation device (215) for circulating and moving the plurality of mounting portions;
Extrusion device (216) for extruding one end side of the traveling guide member placed on the placement portion circulated and moved to a predetermined position by the circulation device (215) toward the conveying device (220L, 220R) side And
The transfer device (220L, 220R)
A first transport mechanism (221) for holding the one end side of the travel guide member extruded by the extrusion device (216) and transporting the travel guide member to the installation device (230L, 230R) side;
Located below the first transport mechanism (221), holds the other end of the travel guide member, and is faster than the transport speed of the first transport mechanism (221) on the installation device (230L, 230R) side. A second transport mechanism (222) for transporting to
A shooter member (223) for guiding the travel guide member conveyed by the first conveyance mechanism (221) and the second conveyance mechanism (222) to the installation device (230L, 230R);
The installation device (230L, 230R) adjusts the posture so that the one end side of the guided traveling guide member is directed upward and sends the other end side of the traveling guide member toward the field. The work vehicle according to claim 3.

Further, the present invention according to claim 5 provides:
In addition to the installation function, the installation device (230L, 230R) has a collection function of collecting the traveling guide member installed in the field and sending it to the transfer device (220L, 220R) side,
The transport device (220L, 220R) transports the travel guide member collected and sent by the installation device (230L, 230R) toward the delivery device (210) in addition to the transport function at the time of installation. It has a transport function during collection,
The control device (400)
In the row where the work is being performed, the transfer device (220L, 220R) is caused to execute the installation-time transfer function, and the installation device (230L, 230R) is caused to execute the installation function. 1 control,
When performing the work in the next row of the row, the installation device (230L, 230R), the execution of the recovery function for the travel guide member installed in the adjacent row, A second control is performed to execute the above-mentioned transport function at the time of collection for the transport devices (220L, 220R),
4. The work vehicle according to claim 3, wherein the control device (400) repeats the first control and the second control alternately every time a row in which the work is performed changes. 5.

Further, the present invention according to claim 6 provides
In addition to the installation function, the installation device (230L, 230R) has a collection function of collecting the traveling guide member installed in the field and sending it to the transfer device (220L, 220R) side,
The transport device (220L, 220R) transports the travel guide member collected and sent by the installation device (230L, 230R) toward the delivery device (210) in addition to the transport function at the time of installation. It has a transport function during collection,
The installation devices (230L, 230R) are respectively disposed below both ends of the traveling vehicle body (2),
The delivery device (210) is disposed below the center in the left-right direction of the traveling vehicle body (2),
Between the delivery device (210) and the installation device (230L, 230R) arranged below one of the both ends of the traveling vehicle body (2), and the delivery device (210) The transfer devices (220L, 220R) are respectively disposed between the installation devices (230L, 230R) disposed below the other side of the traveling vehicle body (2),
The delivery device (210) temporarily stores the traveling guide member collected from the installation device (230L, 230R) disposed on the one side or the other side of the traveling vehicle body (2), The stored travel guide member is configured to send out the transport device (220L, 220R) disposed on the other side or the one side,
The control device (400)
In the row in which the work is performed, a collection command for collecting the traveling guide member installed on the farm is sent to the installation device (230L, 230R) and the conveyance device (220L, 220R) on the one side. And outputting an installation command for installing the collected travel guide member on the field to the installation device (230L, 230R) and the transport device (220L, 220R) on the other side. Yes,
The control device (400)
4. The work vehicle according to claim 3, wherein an output destination of the collection command and the installation command is alternately switched every time a column in which the work is performed is changed.

The present invention according to claim 7 provides
When the control device (400) controls the automatic steering mechanism (100) based on the position information, among the position information acquired by the position information acquisition device (300), the control device (400) The distance indicates that the travel guide member is located outside a predetermined range, and the distance at which the travel guide members located outside the range continuously exist is predetermined. The travel direction of the traveling vehicle body (2) is determined by excluding the position information of the traveling guide member located outside the range when the distance is less than the distance. It is a work vehicle given in any one.

Further, the present invention according to claim 8 provides:
A buttock detection device (500L, 500R) provided at a front portion of the traveling vehicle body (2) for detecting a buttock of the field,
The buttocks detection device (500L, 500R)
A detection arm portion (501) having one end portion (501a) projecting toward the buttocks of the field and the other end portion (501b) rotatably attached to the traveling vehicle body (2) side;
An angle detection unit (502) attached to the traveling vehicle body (2) for detecting angle information related to the rotation angle of the detection arm unit (501),
When performing the work at the side of the farm, the control device (400) moves the traveling vehicle body (2) to the saddle of the field based on the angle information detected by the angle detector (502). The work vehicle according to any one of claims 1 to 7, wherein the automatic steering mechanism (100) is controlled to travel at a predetermined distance from the vehicle.

The present invention according to claim 9
A rotary marker (610) that forms a linear groove while rotating on the surface of the field, as a guide for the work position in the next row;
A speed increasing rotation device (620) attached to a rotation shaft of the rotary marker (610) for increasing the rotation speed;
A power generation device (630) that generates power by the rotation increased by the speed increasing rotation device (620),
The work vehicle according to any one of claims 1 to 8, wherein the power generator (630) and a battery mounted on the traveling vehicle body (2) are connected by a charging circuit (640). is there.

According to the present invention as defined in claim 1,
By operating the automatic steering mechanism based on the position of the traveling guide member installed on the field and the current traveling vehicle body, it is possible to move the traveling position according to the immediately preceding work line, improving work accuracy and There is no need for the user to perform detailed operations, and work efficiency is improved.

According to the present invention as set forth in claim 2,
In addition to the effect of the first aspect of the invention, by changing the drop timing of the traveling guide member in accordance with the vehicle speed of the traveling vehicle body and making the front and rear intervals of the traveling guide member equal intervals, for example, the position information acquisition device and each Since the distance of the traveling guide member can be kept substantially constant, the traveling direction is prevented from being disturbed due to erroneous detection, and the working accuracy is improved.

According to the third aspect of the present invention,
In addition to the effect of the first or second aspect of the invention, when the feeding device sends out the travel guide members one by one, for example, the travel guide members can be dropped at equal intervals according to the vehicle speed of the travel vehicle body. Therefore, for example, the position information acquisition device is prevented from erroneously detecting the position of the travel guide member, and the work accuracy is improved.

According to the present invention as set forth in claim 4,
In addition to the effect of the invention described in claim 3, for example, the travel guide member is moved to the delivery position by the circulation device in accordance with the vehicle speed, and the travel guide member is moved at equal intervals by operating the push-out device and pushing it out. Since it can be dropped onto the field, for example, the position information acquisition device is prevented from erroneously detecting the position of the travel guide member, and the work accuracy is improved.

  In addition, the second transport mechanism is provided in the middle of the transport path of the first transport mechanism and below, and the transport speed of the second transport mechanism is made faster than the transport speed of the first transport mechanism, so that it travels downstream in the transport direction. Since the guide member can be set to a posture close to the vertical posture, it is not necessary to provide a complicated device for changing the posture of the traveling guide member, and the configuration can be simplified and the number of parts can be reduced.

  Further, even when the traveling guide member falling from the shooter member is in an inclined posture, the installation device adjusts the posture so that one end side of the traveling guide member faces upward and sends the other end side of the traveling guide member toward the field. Since it is a structure, since the dropping attitude | position of a traveling guide member can be made into a substantially perpendicular | vertical attitude | position with respect to a field scene, the space | interval of a traveling guide member becomes equal intervals, and the shift | offset | difference of the advancing direction by misdetection is prevented.

According to the present invention as set forth in claim 5,
In addition to the effect of the invention of claim 3, since the installation device has a recovery function, the travel guide member can be recovered during the operation, so that the operation of removing the travel guide member from the field after the operation can be performed. It becomes unnecessary and the work man-hour is reduced.

  Moreover, since it can prevent that a working device or a person damages a field during collection | recovery work, the field environment after a work is maintained.

  Also, by collecting the travel guide members during work, there is no need to replenish the travel guide members, the work efficiency is improved, and there is no need to load a large number of travel guide members on the travel vehicle body, thus ensuring a working space. In addition, an increase in weight during work is prevented.

According to the invention of claim 6,
In addition to the effects of the invention according to claim 3, the control device alternately installs the output destination of the collection command and the installation command each time the column on which the work is performed, thereby installing the traveling guide member for each column. Therefore, it is not necessary to remove the traveling guide member from the field after work, and the number of work steps is reduced.

  Moreover, since it can prevent that a working device or a person damages a field during collection | recovery work, the field environment after a work is maintained.

  Also, by collecting the travel guide members during work, there is no need to replenish the travel guide members, the work efficiency is improved, and there is no need to load a large number of travel guide members on the travel vehicle body, thus ensuring a working space. In addition, an increase in weight during work is prevented.

According to the present invention as set forth in claim 7,
In addition to the effect of the invention according to any one of claims 1 to 6, since the traveling vehicle body can be prevented from meandering by determining the traveling direction based on the positional information of the plurality of traveling guide members, The work device can work in a straight line, and work accuracy is improved.

  In addition, since the traveling guide member that is determined to be in a position that can prevent the traveling vehicle body from moving straight forward is excluded when determining the traveling direction, it is possible to prevent the straight traveling position from being biased in the left-right direction. And non-working positions are prevented from occurring between work positions, and work accuracy is improved.

According to the present invention as set forth in claim 8,
In addition to the effect of the invention according to any one of claims 1 to 7, based on the angle of the detection arm portion of the buttock detection device, it is determined whether or not the traveling vehicle body is approaching the field edge, By automatically correcting the travel route not too close to the end, it is possible to prevent a non-working position from being generated between the work position at the field end and the work position other than the field end, thereby improving work accuracy.

  Further, since the traveling vehicle body can be prevented from approaching too close to the field edge, the traveling vehicle body and the work device can be prevented from being damaged due to contact with an obstacle such as a wall outside the field.

According to the present invention as set forth in claim 9,
In addition to the effect of the invention according to any one of claims 1 to 8, since electric power can be generated using the rotation of the rotary marker, each working part of the traveling vehicle body (for example, a headlamp, a blower motor) Since the electricity consumed by the seedling rail switching motor, HST control motor, etc.) can be supplemented, the work is prevented from being interrupted due to insufficient charging of the battery, and the work efficiency is improved.

The left view of the riding rice transplanter in Embodiment 1 concerning this invention The left side schematic diagram of the riding rice transplanter in Embodiment 1 concerning this invention Plane schematic diagram of the riding rice transplanter in the first embodiment It is the figure which showed typically the structure of the guide installation apparatus of the riding rice transplanter in this Embodiment 1, and the schematic diagram which looked ahead from the back of the traveling vehicle body (A): Schematic plan view of the left transfer device shown in FIG. 4, (b): Schematic plan view of the right transfer device shown in FIG. The block diagram which shows the connection relationship between the control circuit of the riding rice transplanter in this Embodiment 1, various apparatuses, and various sensors. The top view which showed typically the driving | running route in the planting work by the riding rice transplanter of this Embodiment 1 (A): A schematic plan view of the second passenger rice transplanter of the second embodiment, (b): A schematic left side view of the second passenger rice transplanter of the second embodiment. (A): Schematic side view of third passenger rice transplanter of the third embodiment, (b): enlarged plan view of part A of FIG. 9 (a) Plan view of the riding rice transplanter explaining the expansion of the expanded seedling frame and the addition of the fertilizer bag stay in the riding rice transplanter of the present embodiment 10 is a schematic perspective view of the main part of FIG. The schematic side view of the principal part of the passenger rice transplanter showing another configuration example in the passenger rice transplanter of the present embodiment Front view of FIG. Schematic perspective view of another configuration example shown in FIG. 12 and FIG. The plane schematic diagram which shows another example of the riding rice transplanter concerning this Embodiment (A): Hydraulic circuit diagram of an operating member of a riding type rice transplanter showing a configuration for preventing vibration, (b): Enlarged sectional view of the inline type check valve described in FIG. 16 (a) Enlarged sectional view of a check valve using springs of unequal pitch Enlarged sectional view of a check valve with a choke throttle Hydraulic circuit diagram of the actuating member of a riding type rice transplanter showing a configuration that reduces oil leaks Hydraulic circuit diagram showing the configuration in which the pilot check valve is arranged in the relief metal

  Hereinafter, a riding rice transplanter according to an embodiment of a work vehicle of the present invention will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a left side view of the riding rice transplanter according to the present embodiment.

  2 and 3 are a left side schematic diagram and a plan schematic diagram of the riding rice transplanter according to the present embodiment.

  As shown in FIGS. 1 to 3, the riding rice transplanter 1 according to the present embodiment has a planting device 4 mounted on the rear side of the traveling vehicle body 2 so as to be movable up and down via a lifting link device (not shown). 2 is provided with a main body portion of the fertilizer applicator 5.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 as drive wheels, and a transmission case 12 is disposed at a front portion of the fuselage. A front wheel final case (not shown) is provided on the left and right sides of the case 12, and the left and right front wheels 10 are provided on the left and right front wheel axles 9 protruding outward from respective front wheel support portions that can change the steering direction of the left and right front wheel final cases. , 10 are attached.

  Further, the front end portion of the vehicle body main frame 15 is fixed to the rear portion of the transmission case 12, and on the other hand, a rear wheel vertical movement fulcrum shaft provided horizontally at the center of the rear end of the vehicle body main frame 15 is used as a fulcrum. A left and right rear wheel gear case (not shown) is supported in a freely rolling manner, and rear wheels 11 and 11 are attached to a rear wheel axle 17 projecting outward from the left and right rear wheel gear cases.

  The left and right rear wheel gear cases are powered by left and right rear wheel transmission shafts (not shown) that project from the rear wall of the transmission case 12 obliquely rearward in plan view and are connected to the left and right rear wheel gear cases. It is configured to be transmitted.

  The engine 20 is mounted on the vehicle body main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission (not shown) and an HST (hydrostatic continuously variable transmission) 23. Is done. The rotational power transmitted to the transmission case 12 is shifted by the transmission in the transmission case 12 and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final case to drive the front wheels 10 and 10, and the rest is transmitted to the left and right rear wheel gear cases to drive the left and right rear wheels 11 and 11.

  Moreover, the external extraction power extracted from the right side surface of the transmission case 12 is transmitted to the planting device 4 by a planting transmission shaft (not shown).

  Power is extracted from the right rear wheel gear case by the drive shaft and transmitted to the fertilizer feeding mechanism of the fertilizer applicator 5.

  In the lower part of the planting device 4, a center float is provided at the center and side floats are provided on both the left and right sides (not shown). These floats slide while leveling the mud surface, and seedlings are planted by the seedling planting portion 6 (see FIG. 3) provided at the lower end of the planting device 4 on the leveling site.

  As shown in FIG. 2, the upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. Various operation mechanisms are built in front of the seat 31, and various operation buttons (not shown) on the upper surface on the seat 31 side, a display lamp 60 for informing the operator of whether automatic driving mode to be described later is turned on, and the like are arranged on the monitor panel. There is a front cover 32 provided with (not shown), and a handle 34 for steering the front wheels 10, 10 is provided obliquely upward and rearward.

  On the right side of the handle 34, a switching between forward travel and reverse travel of the traveling vehicle body 2 and a traveling speed are set, and a work operation lever (not shown) for operating the planting device 4 to move up and down and to turn on and off the planting work. ) Is provided. In conjunction with the operation of the operation lever, the angle of the trunnion shaft (not shown) of the HST 23 is adjusted by electric motor operation. Moreover, the raising / lowering of the planting apparatus 4 and the on / off of a planting clutch (illustration omitted) are performed by the raising / lowering switch and planting on / off switch provided in the operation lever.

  The engine cover 30 and the front cover 32 have a floor 37 whose upper surface is horizontal at the bottom left and right sides of the engine cover 30 and the operator's feet while sitting on the seat 31.

  The planting device 4 of the present embodiment is an example of the working device of the present invention, and the handle 34 of the present embodiment is an example of the steering handle of the present invention.

  The riding rice transplanter 1 according to the present embodiment is an apparatus for installing and collecting an automatic steering mechanism 100 for automatically steering a handle 34 and a rod-shaped travel guide member 201 on a farm field. 37, an imaging device that acquires position information of a guide installation device 200 arranged in the left-right width direction of the traveling vehicle body 2 on the back side of the traveling vehicle body 2 and a traveling guide member 201 installed in the farm field, And a control circuit 400 (see FIG. 6) for controlling the automatic steering device 100 based on the position information of the travel guide member 201 acquired by the CCD camera 300.

  Further, in the present embodiment, one end portion of the rod-shaped travel guide member 201 is configured to have a larger diameter than the other portions (see FIG. 2), and the one end portion is referred to as the head portion of the travel guide member 201. The other end may be called a foot. In the present embodiment, the foot part of the traveling guide member 201 is inserted into the field and the head is placed so as to be positioned above the water surface of the field, so that it can be easily inserted into the field and the CCD camera 300 The structure is easy to detect.

  The CCD camera 300 of the present embodiment is an example of the position information acquisition apparatus of the present invention, and the control circuit 400 of the present embodiment is an example of the control apparatus of the present invention.

  The automatic steering device 100 is configured to be able to maintain the traveling vehicle body 2 in, for example, a straight traveling direction by automatically operating the handle 34.

  That is, the automatic steering apparatus 100 includes a steering motor 110 that rotates the handle 34 by applying an arbitrary rotational force to the handle 34, and a handle potentiometer 120 that detects the rotation angle of the handle 34. It is electrically connected to the control circuit 400 (see FIG. 6).

  The image data including the position information of the traveling guide member 201 installed on the farm field, which is captured by the CCD camera 300, is sent to the control circuit 400. Then, the control circuit 400 acquires the position information of the travel guide member 201 in the image data by a known image processing technique, and calculates the distance between the center position of the travel vehicle body 2 in the left-right width direction and the travel guide member 201. The control command is issued to the steering motor 110 of the automatic steering device 100 to control the steering angle of the handle 34 of the traveling vehicle body 2 so that the distance is maintained within a predetermined reference range.

  Note that when the control circuit 400 controls the automatic steering device 100 based on the position information of the travel guide member 201, the distance from the travel vehicle body 2 is determined in advance among the position information acquired by the CCD camera 300. The distance indicating that the travel guide member 201 is located outside the reference range and the travel guide member 201 determined to be located outside the reference range is continuously present is less than a predetermined distance. In such a case, the configuration may be such that control for determining the traveling direction of the traveling vehicle body 2 is performed by excluding position information of the traveling guide member 201 located outside the reference range. Accordingly, even if the traveling guide members 201 that are misaligned in the field are present sporadically, the traveling direction can be determined without being influenced by them, so that the traveling vehicle body 2 is prevented from meandering frequently. As a result, the planting work position becomes linear, and the work accuracy is improved.

  Next, the guide installation apparatus 200 of this Embodiment is further demonstrated using FIG. 4, FIG.

  FIG. 4 is a diagram schematically illustrating the configuration of the guide installation device 200, and is a schematic diagram of the front of the traveling vehicle body 2 as viewed from the rear.

  5A is a schematic plan view of the left transport device 220L shown in FIG. 4, and FIG. 5B is a schematic plan view of the right transport device 220R shown in FIG.

  As shown in FIG. 4, the guide installation device 200 is configured to send a plurality of travel guide members 201 stored therein one by one, and to change the transport direction in accordance with a command from the control circuit 400, so that the travel guide member 201 is switched. A pair of left and right left side installation devices 230L and right side installation device 220L and a right side conveyance device 220R, and a pair of left and right left side installation devices 230L that execute the function of installing or collecting the traveling guide member 201 in accordance with a command from the control circuit 400. 230R.

  Further, as shown in FIG. 4, the delivery device 210 is located below the center position in the left-right width direction of the floor 37, and includes a plurality of placement tables 211 on which the plurality of travel guide members 201 are placed one by one. A left side transport device that circulates a plurality of mounting tables 211, a circulation device 215 including a circulation motor 212, a pulley 213, a chain 214, and the like, and a travel guide member 201 mounted on the mounting table 211 at the uppermost position. And a right side extrusion device 216R made of a solenoid or the like that pushes out toward the 220L side.

  The circulation device 215 has moved the mounting table 211 shown in FIG. 4 from the lower side to the upper side and moved to the uppermost position when the circulation motor 212 that has received the normal rotation command from the control circuit 400 rotates in the normal direction. After the mounting table 211 is moved from the front side to the back side in FIG. 4, that is, from the rear to the front of the traveling vehicle body 2, the mounting table 211 is further moved from the upper side to the lower side, and then moved to the lowest position. 4 is a device that circulates the table 211 by moving the table 211 from the back side to the near side in FIG. 4, that is, from the front to the back of the traveling vehicle body 2.

  Also, the right side extrusion device 216R shown in FIG. 4 is placed on the placement table 211 when the placement table 211 moved from the back side to the near side in FIG. 4 moves from the lowest position to the highest position. The travel guide member 201 is disposed at a position where it can be pushed out to the left conveying device 220L side.

  When the left side installation device 230L executes a function of collecting the traveling guide member 201 from the field and a right side installation device 230R executes a function of installing the traveling guide member 201 on the field by a command from the control circuit 400. Is a configuration in which the circulation direction of the mounting table 211 in the circulation device 215 is opposite to that described above by a reverse rotation command from the control circuit 400 to the circulation motor 212. Further, in this case, when the placement table 211 that has moved from the near side of the lowest position in FIG. 4 to the far side is moved to the highest position from the lowest position on the far side, it is placed on the placement table 211. The left extrusion device 216L (see FIG. 6) is arranged at a position where the traveling guide member 201 can be pushed out to the right conveyance device 220R side (the back side in FIG. 4).

  In the present embodiment, the pair of left and right left side transport devices 220L and 220R has a transport function at the time of installation for installing the traveling guide member 201 and a transport function at the time of recovery for recovery. The configuration is the same in that it is selectively executed according to a command from the control circuit 400. The pair of left and right installation devices 230L and 230R have an installation function for installing the traveling guide member 201 on the field and a collection function for collecting it from the field, and these functions are selected by a command from the control circuit 400. It is the same configuration in that it is executed automatically.

  Therefore, below, the structure for implement | achieving the function regarding installation is demonstrated about the left conveying apparatus 220L and the left installation apparatus 230L, and the structure for implement | achieving the function regarding collection | recovery is demonstrated after that.

  That is, the left-side transport device 220L has an upper end side (head side) of the travel guide member 201 pushed out by the right-side extrusion device 216R as shown in FIGS. And a pair of front and rear first transport conveyors 221 in plan view (see FIG. 5A), and disposed below the first transport conveyor 221, and A pair of front and rear second transport conveyors 222 (see FIG. 5A) in plan view, holding the lower end side (foot side) and transporting to the left installation device 230L side at a speed faster than the transport speed of the first transport conveyor 221. In addition, the lower end side (foot side) of the traveling guide member 201 that is conveyed while being held by the first conveyance conveyor 221 and the second conveyance conveyor 222 is placed on the left side installation device 230. And a guide chute 223 for guiding.

  In order to realize the installation function, the left installation device 230L is disposed opposite to the installation conveyor 231 that contacts one side of the travel guide member 201 and guides it downward, and the installation conveyor 231. It has a pair of upper and lower tension rollers 232a, 232b that contact the opposite side of the one side and gradually adjust the posture of the traveling guide member 201 in the vertical direction. The pair of upper and lower tension rollers 232a and 232b are provided so as to be movable in the left-right direction when viewed from the back.

  Further, in the present embodiment, as information relating to the vehicle speed of the traveling vehicle body 2, a rear wheel rotation sensor 420 (see FIG. 6) that detects the respective rotation speeds of the pair of left and right rear wheels 11, 11 is provided. Based on the information about the vehicle speed detected by the wheel rotation sensor 420, the feeding device 210 of the guide installation device 200 and the pair of left and right transport devices 220L and 220R so that the distance between the traveling guide members 201 installed on the farm field is equal. The control circuit 400 controls the operations of the left and right installation devices 230L and 230R.

  With the above configuration, the traveling guide member 201 is moved to the delivery position by the circulation device 215 in accordance with the vehicle speed, and at the same time, the traveling guide member 201 is dropped onto the field at equal intervals by operating and pushing the right side extrusion device 216R. Therefore, for example, erroneous detection of the position of the travel guide member 201 by the CCD camera 300 is prevented, and the work accuracy is improved.

  Further, the second transport conveyor 222 is provided in the middle of the transport path of the first transport conveyor 221, and the transport speed of the second transport conveyor 222 is made faster than the transport speed of the first transport conveyor 221. Since the posture of the traveling guide member 201 can be raised in the vertical direction toward the downstream side, it is not necessary to provide a complicated device for changing the posture of the traveling guide member 201, and the configuration can be simplified and the number of parts can be reduced.

  Further, by providing the guide shooter 223 near the end of the first conveyor 221, the traveling guide member 201 is placed in a specific direction (with the head facing upward and the foot facing downward), and the installation conveyor. 231 side can be supplied.

  Even if the traveling guide member 201 falling from the guide shooter 223 is in an inclined posture, the left side installation device 230L adjusts the posture so that the upper end side (head side) of the traveling guide member 201 faces upward and the traveling guide. Since the lower end side (foot side) of the member 201 is sent out toward the field, the throwing posture of the traveling guide member 201 can be set to a substantially vertical posture with respect to the field scene. Are evenly spaced, and a shift in the traveling direction due to erroneous position detection is prevented.

  Further, in the present embodiment, in order to realize the collection function in the left side installation device 230L, the installation conveyor 231 receives a command from the control circuit 400 and rotates when the above installation function is realized. By rotating in the opposite direction to contact one side of the head of the traveling guide member 201 installed in the field, and the traveling guide member 201 is pulled up and collected by pressing from the lower tension roller 232b. It is configured to do.

  Note that the left-side installation device 230L has a smooth head even when the position of the head of the traveling guide member 201 installed in the field is disturbed in the left-right direction or when the installation position itself varies in the left-right direction. In order to be guided to the position of the installation conveyor 231, a guide wall (not shown) whose opening width is widened toward the front side of the traveling vehicle body 2 on the front side of the left side installation device 230 </ b> L and the lower tension roller 232 b. ) May be arranged.

  Further, in the left side installation device 230L, the position of the rotation shaft 232a1 of the upper tension roller 232a is disposed above the position of the rotation shaft 231a1 of the upper roller 231a of the installation conveyor 231. As a result, the traveling guide member 201 pulled up by the installation conveyor 231 easily tilts from the center with respect to the lateral width direction of the traveling vehicle body 2 (see FIG. 4). It is pushed up smoothly toward the first conveyor 221 along the inclination of the wall surface.

  In the present embodiment, in order to realize the recovery-time transport function in the left-side transport device 220L, the first transport conveyor 221 and the second transport conveyor 222 are transported when the above-described transport function during installation is realized. And the transport speed of the first transport conveyor 221 is set to be faster than the transport speed of the second transport conveyor 222.

  Thereby, the 1st conveyance conveyor 221 hold | maintains the upper end side (head side) of the traveling guide member 201 pushed up from the left side installation apparatus 230L, and the 2nd conveyance conveyor 222 after that the lower end side (foot part side). By holding and transporting to the delivery device 210 side, the travel guide member 201 can be tilted horizontally rearward as it approaches the downstream side in the transport direction. Therefore, the vertical width of the conveyance path of the left conveyance device 220L can be shortened, and the device can be made compact.

  The traveling guide member 201 collected by the left side installation device 230L is conveyed to the delivery device 210 side by the left side conveyance device 220L and dropped onto the mounting table 211, and as described above, the left side extrusion device 216L (see FIG. 6). ) Is pushed out to the right transport device 220R side and is installed on the farm field by the right transport device 220R by the right transport device 220R.

  As a result, the control circuit 400 can continuously install and collect the travel guide member 201 for each column by alternately switching the output destination of the collection command and the installation command each time the column on which the work is performed changes. This eliminates the need to remove the travel guide member 201 from the field after the work, thereby reducing the number of work steps.

  Moreover, since it can prevent that a working device or a person damages a field during collection | recovery work, the field environment after a work is maintained.

  Further, by collecting the travel guide member 201 during the work, it is not necessary to replenish the travel guide member 201, the work efficiency is improved, and it is not necessary to load a large amount of the travel guide member 201 on the travel vehicle body 2. A work space is secured and an increase in weight during work is prevented.

  Further, as shown in FIG. 6, the riding rice transplanter 1 according to the present embodiment includes a left conveyance device drive motor set 220LM that drives the conveyors 221 and 222 (see FIG. 4) of the left conveyance device 220L, and a right conveyance device. 220R set of right side conveyor driving motors 220RM for driving the respective conveyors 221 and 222 of 220R, left side installation apparatus driving motor 230LM for driving the installation conveyor 231 of the left side installation apparatus 230L, and installation conveyor 231 of the right side installation apparatus 230R A right-side installation device drive motor 230RM that drives the planting device 4, a lifting hydraulic cylinder 430 that lifts and lowers the planting device 4, and a lifting potentiometer 440 that detects the lifting position of the planting device 4, and these are control circuits. 400 is electrically connected.

  Further, as shown in FIG. 6, the above-described circulation motor 212 (see FIG. 4), right side extrusion device 216 </ b> R, and left side extrusion device 216 </ b> L are electrically connected to the control circuit 400.

  FIG. 6 is a block diagram showing a connection relationship between the control circuit 400 and various devices and various sensors.

  Next, the traveling operation in the field 70 of the riding rice transplanter 1 according to the present embodiment will be described mainly with reference to FIG.

  FIG. 7 is a plan view schematically showing a travel route in planting work by the riding rice transplanter 1. In FIG. 7, a route for performing planting work is indicated by a solid line, and a route for performing turning travel is indicated by a broken line.

  In the present embodiment, it is assumed that the shape of the agricultural field 70 is a rectangular shape, and the ridges 70Ra and 70La on the long sides facing each other are substantially straight and substantially parallel to each other. Then, at the start of work, the riding rice transplanter 1 plantes the seedlings by 8 straight lines while manually traveling along the long side ridge 70Ra on the right side in the field. After that, the planting operation by automatic traveling is started and the reciprocating traveling is repeated in the field.

  Further, in this embodiment, the planting work for the eight strips in the first straight running after the planting work is started is called the first row planting work, and 70 Ub and 70 Lb headland on the pair of upper and lower short sides. The planting work for 8 rows which starts again after turning 180 degrees is called planting work in the second row. In FIG. 7, the planting operation continues from the third column, the fourth column,..., And ends with the planting operation in the eighth column.

  The following is a description of each scene.

(1) Manual driving in the first row:
As shown in FIG. 7, first, the operator operates the guide installation device drive switch 450 (see FIG. 6) from among various operation buttons (not shown) of the riding rice transplanter 1, so that the guide installation device 200 is operated. While starting driving, the planting operation is started while the traveling vehicle body 2 is traveling straight ahead manually.

  In the present embodiment, when driving the guide installation device 200 is started, the installation function is executed in the left installation device 230L and the collection function is executed in the right installation device 230R in the first row according to the initial setting of the worker. After that, every time the row of the planting work changes, the control for alternately switching the installation function and the collection function is automatically performed according to a command from the control circuit 400.

  That is, in the first row, the control circuit 400 outputs an installation command to the left conveyance device drive motor set 220LM and the left installation device drive motor 230LM, and the right conveyance device drive motor set 220RM. A recovery command is output to the device drive motor 230RM (see FIG. 6).

  Further, in the first row, the control circuit 400 outputs a normal rotation command to the circulation motor 212, and for the right side extrusion device 216R, the installation interval of the travel guide member 201 is set according to the vehicle speed. An extrusion command is output at an interval (see FIG. 6).

  Thereby, in the first row, the planting operation is performed by the seedling planting unit 6 (see FIG. 3) of the planting device 4, and at the same time, the traveling guide member 201 previously mounted on the mounting table 211 is Sequentially, it is sent out to the left conveying device 220L side, and is installed on the left side of the traveling vehicle body 2 at equal intervals on the basis of the traveling direction of the first row of the field 70 by the left installation device 230L.

  In the first row, since there is no traveling guide member 201 to be collected on the right side of the traveling vehicle body 2, the right installation device 230R and the right transport device 220R are driven, but the traveling guide member 201 is not collected. Virtually not done.

  In the first row, since the substantial collection operation of the traveling guide member 201 is not performed, the right side installation device 230R and the right side conveyance device 220R may not be driven.

(2) About turning travel between the first row and the second row:
In the first row, planting work by manual travel is performed, and when it reaches the end of the field 70, the operator manually turns the handle 34 to turn counterclockwise at the position P1 (see FIG. 7).

  At this time, when the handle potentiometer 120 detects an operation of a predetermined angle or more of the handle 34, the control circuit 400 sends the difference between the rotation speeds of the pair of left and right rear wheels 11 and 11 sent from the rear wheel rotation sensor 420. Is detected to exceed the predetermined value, it is determined that the traveling vehicle body 2 has started manual turning, the planting operation of the planting device 4 is stopped, a command is issued to the lifting hydraulic cylinder 430, and planting is performed. The apparatus 4 is automatically raised, and the rise is stopped at a predetermined position using the detection result from the lift potentiometer 440.

  Thereby, the traveling vehicle body 2 turns 180 degrees while the planting device 4 is automatically raised. Then, the operator manually returns the steering angle of the handle 34 to complete the turning.

(3) Regarding automatic driving in the second and subsequent rows after the end of turning:
When the control circuit 400 starts traveling in the first row, the guide installation device drive switch 450 is operated, and the difference between the rotational speeds of the pair of left and right rear wheels 11, 11 is within a predetermined value. By detecting that it has entered, it is determined that the traveling vehicle body 2 has finished turning.

  Based on this determination, the control circuit 400 activates the CCD camera 300 to acquire image data of the traveling guide member 201 that has already been installed in the field 70 while traveling in the previous row (that is, the first row). At the same time, automatic traveling is started based on the image data in the second row planting operation.

  In addition, the control circuit 400 turns on the display lamp 60 at the same time as starting the automatic traveling to notify the operator that the manual traveling is switched to the automatic traveling mode.

  Thereby, a uniform rice planting can be performed irrespective of a worker's proficiency level.

  When traveling in the second row, the control circuit 400 outputs a collection command to the left transport device drive motor set 220LM and the left installation device drive motor 230LM, unlike the first row. An installation command is output to the right conveyance device drive motor set 220RM and the right installation device drive motor 230RM (see FIG. 6).

  In the second row, the control circuit 400 outputs a reverse rotation command to the circulation motor 212, and the left pushing device 216L has an installation interval of the traveling guide member 201, etc. according to the vehicle speed. An extrusion command is output at an interval.

  Thereby, in the second row, the planting operation was performed by the seedling planting unit 6 (see FIG. 3) of the planting device 4, and at the same time, the plant was previously installed in the field 70 during the first row of planting operations. The traveling guide member 201 is collected by the left side installation device 230L and sequentially pushed up to the left conveyance device 220L side. These travel guide members 201 are sent to the delivery device 210 by the left transport device 220L, and are placed one by one on the empty placement table 211.

  At the same time, the left side extrusion device 216L is actuated by the extrusion command from the control circuit 400, and the traveling guide member 201 placed on the placement table 211 is sequentially sent out to the right conveyance device 220R side, The right side installation device 230R is installed at equal intervals on the right side of the traveling vehicle body 2 with reference to the traveling direction of the second row of the field 70.

  Thus, using the image data of the travel guide member 201 installed during traveling in the first row, the planting work in the second row is executed by automatic traveling, and at the same time, the traveling installed in the first row In addition to collecting the guide member 201, the traveling guide member 201 can be installed as preparation for automatic traveling in the third row.

  In addition, for the turning travel between the second row and the third row, and the subsequent turning traveling, the same operations as those described in the item (2) are performed.

  It is assumed that imaging by the CCD camera 300 is stopped during turning.

  Also, in the case where automatic traveling is performed in the third and subsequent columns, the column in which work is performed is changed in the same manner as the output destination of the collection command and the installation command by the control circuit 400 described in the first and second columns is switched. The output destination of the collection command and the installation command by the control circuit 400 is alternately switched so that the collection and installation of the traveling guide member 201 can be executed continuously each time.

  Thereby, for all the rows in the field 70, using the image data of the traveling guide member 201 installed during traveling in the immediately preceding row, the planting operation is performed in automatic traveling, and at the same time, installed in the immediately preceding row The travel guide member 201 that has been collected can be collected, and can also be installed using the collected travel guide member 201 in preparation for automatic travel in the next row.

  In the case of automatic traveling in the final eighth row, the right side installation device is operated according to a command from the control circuit 400 by operating a predetermined operation switch (not shown) before the worker enters traveling in the eighth row. The installation of the traveling guide member 201 by 230R is not executed.

  Therefore, all the traveling guide members 201 installed in the farm field 70 are collected by the delivery device 210 when the planting work by the automatic traveling in the eighth row is completed.

(Embodiment 2)
Next, with respect to the configuration of the riding rice transplanter 1 according to the first embodiment described above, a second riding rice transplanter 92 having a configuration in which a pair of left and right hip detection devices 500L and 500R is further provided is shown in FIG. It explains using.

  Here, it demonstrates centering on difference with the said embodiment.

  In addition, the same code | symbol is attached | subjected about the same structure demonstrated in the said embodiment, and the description is abbreviate | omitted.

  FIGS. 8A and 8B are a schematic plan view and a schematic left side view of the second riding rice transplanter 92.

  As shown in FIGS. 8A and 8B, the second passenger rice transplanter 92 according to the second embodiment is arranged at the left and right corners of the front portion of the traveling vehicle body 2 to detect the saddle 80 of the farm field. A left and right pair of hip detection devices 500L and 500R are provided.

  In FIG. 8 (a), the left buttock detection device 500L is not shown.

  The pair of left and right buttock detection devices 500L and 500R includes a detection arm portion 501 having one end portion 501a projecting toward the ridge portion 80 of the field and the other end portion 501b rotatably attached to the traveling vehicle body 2 side; And an angle detection unit 502 such as an angle sensor attached to the traveling vehicle body 2 side to detect the rotation angle of the detection arm unit 501.

  Further, the distal end side of the one end portion 501a is bent at an acute angle toward the rear, and a substantially cylindrical float 510 is rotatably attached to the bent portion.

  When performing the planting operation at the edge of the farm field, the float 510 is intentionally brought into contact with the inclined surface of the heel part 80, so that the float 510 rises along the inclined surface. The rotation angle of the detection arm unit 501 is detected. The control circuit 400 (see FIG. 6) is configured to calculate the distance between the work vehicle 2 and the heel part 80 using the detection result.

  Then, the control circuit 400 uses the rotation angle detected by the angle detection unit 502 to operate the automatic steering device 100 (see FIG. 6) so that the traveling vehicle body 2 travels at a predetermined distance from the heel part 80 of the field. Control.

  Accordingly, the float 510 is attached to the distal end side of the detection arm portion 501 and is brought into contact with the flange portion, so that the distal end portion of the detection arm portion 501 can be prevented from being caught by the flange portion 80.

  Further, even when planting at the shore, the traveling vehicle 2 is automatically steered so that the distance between the traveling vehicle 2 calculated by the angle detection unit 502 and the buttocks 80 becomes a constant distance. Without contacting the buttocks 80, rice planting can be performed to the heel.

  In the above-described embodiment, the case where the float 510 has a substantially cylindrical shape has been described. However, the present invention is not limited thereto, and may be, for example, a substantially spherical shape.

  In the above-described embodiment, the configuration in which the distal end side of the detection arm unit 501 is bent at an acute angle toward the rear is not limited to this. For example, the distal end side of the detection arm unit 501 is substantially perpendicular to the lower side. The float 510 may be rotatably held at the bent portion. In the case of this configuration, when the float 510 contacts the flange 80, the detection arm rotates counterclockwise or clockwise in plan view.

(Embodiment 3)
Next, with respect to the configuration of the second passenger rice transplanter 92 of the second embodiment described above, a third passenger rice transplanter 93 having a configuration in which a pair of left and right rotary marker devices 600 are further provided is shown in FIG. It explains using.

  Here, it demonstrates centering on difference with the said embodiment.

  In addition, the same code | symbol is attached | subjected about the same structure demonstrated in the said embodiment, and the description is abbreviate | omitted.

  Fig.9 (a) is the side surface schematic diagram of the 3rd passenger rice transplanter 93, and the enlarged plan view of the A section of Fig.9 (a).

  As shown in FIG. 9A, the pair of left and right rotary marker devices 600 are rotatably arranged on the left and right lower end surfaces of the planting device 4 via the bar 601, and the bar 601 is moved during the planting operation. By rotating and lowering to the farm scene, the circumferential part of the rotary marker 610 is brought into contact with the farm scene and rotated, thereby forming a linear groove of a mark on the row side to be planted next. In this embodiment, a configuration in which a power generation function is added in addition to the drawing marker function will be described.

  That is, as shown in FIG. 9B, a gear box 620 is provided on the rotation shaft 611 of the rotary marker 610, and when the rotary marker 610 is rotating in contact with the field scene, the rotation speed is set to the gear. The speed is increased by inputting in the box 620.

  And the generator 630 is provided in the back | latter stage of the gear box 620, the electric power generated with the generator 630 is sent to the charging circuit 640, and a battery (illustration omitted) is charged.

  As a result, since electric power can be generated using the rotation of the rotary marker 610, the electric power consumed by each working unit of the traveling vehicle body 2 (for example, a headlamp, a blower motor, a seedling rail switching motor, an HST control motor, etc.) Therefore, the work is prevented from being interrupted due to insufficient charging of the battery, and the work efficiency is improved.

  The third passenger rice transplanter 93 has an automatic traveling function by the guide installation device 200 and a drawing marker function by the rotary marker device 600, and selectively switches both functions according to the situation. By making it usable or using it simultaneously, the degree of freedom in selecting the use of the operator can be improved.

  In the riding rice transplanter 1 having the automatic travel mode described in the above embodiment, it is not necessary to operate the steering wheel in order to maintain the straight traveling on the field, so that the operator can concentrate on replenishing seedlings and fertilizers.

  Therefore, in order to more effectively replenish seedlings and fertilizers, in addition to the normal auxiliary seedling frames, as shown in FIGS. An improved configuration may be used.

  FIG. 10 is a plan view of the riding rice transplanter 1 for explaining the expansion of the expanded seedling frame and the addition of the fertilizer bag stay, and FIG. 11 is a schematic perspective view of the main part of FIG. In addition, the same code | symbol is attached | subjected about the same structure as the riding rice transplanter 1 of the said embodiment, and the description is abbreviate | omitted.

  As shown in FIGS. 10 and 11, a pair of left and right auxiliary seedling frame stays 710 </ b> L and 710 </ b> R provided on the left and right sides of the front end of the traveling vehicle body 2 upward from the lower surface side of the floor 37, and the auxiliary seedling frame stays 710 </ b> L. , And three stages of auxiliary seedling frames 700L and 700R fixed at equal intervals in the vertical direction are provided on the outside of 710R.

  Further, an expanded seedling frame 720 is attached to the upper surfaces of the uppermost auxiliary seedling frames 700L and 700R in a configuration that connects these auxiliary seedling frames. The expanded seedling frame 720 includes a horizontally elongated expanded seedling frame main body 721 and deployment auxiliary seedling frames 722L and 722R that can be folded and unfolded as indicated by arrows B on the left and right rear ends of the expanded seedling frame main body 721. ing. As a result, the loading capacity of seedlings and the like is improved, and the uppermost auxiliary seedling frame is connected, so that the strength of the seedling frame can be increased. 10 and 11, the expanded seedling frame 720 is drawn as a plate-like structure. However, the present invention is not limited to this, and for example, a ladder structure in which pipes are combined in a ladder shape may be used.

  Furthermore, as shown in FIGS. 10 and 11, a pair of left and right pole-shaped fertilizer bag stays 730L and 730R are erected on the floors 37 on the left and right sides of the front end of the traveling vehicle body 2. As a result, even when fertilizer bags are stacked and placed on the floor 37 on both the left and right sides of the lower end of the front cover 32, the fertilizer bag stays 730L and 730R prevent the bags from falling, so the load capacity of the fertilizer bags can be increased. improves.

  In addition, since the loading capacity of seedlings and fertilizer bags is increased, the continuous working time is longer than before, and the working efficiency is improved.

  Further, with the above configuration, the front and rear balance is improved in the riding rice transplanter 1 in which the rear portion tends to be heavy by increasing the loading amount of seedlings and fertilizer bags on the front side of the traveling vehicle body 2.

  In addition, the GPS receiving antenna 740 may be disposed on the rear end side of the center of the expanded seedling frame main body 721 in the left-right direction. Since the rear end side of the center in the left-right direction of the expanded seedling frame main body 721 is close to the center position of the riding rice transplanter 1 and at a high position, the GPS reception accuracy is improved.

  In addition, although unmanned traveling is possible by providing the GPS receiving antenna 740, in the configuration in which the driving seat 31 is left and manual operation is also possible, it is located behind the seat 31 and at a substantially central position of the fertilizer application device 5. An emergency stop switch 750 (see FIG. 10) may be provided in the vicinity. Thereby, safety is improved.

  Further, another configuration example for improving the seedling loading capacity will be described with reference to FIGS. 12, 13, and 14. FIG. 12 is a schematic side view of a main part of the riding rice transplanter 1 showing another configuration example, and FIG. 13 is a front view of FIG. FIG. 14 is a schematic perspective view of another configuration example shown in FIGS. 12 and 13.

  As shown in FIGS. 12, 13, and 14, a pair of left and right front auxiliary seedling frame stays 800 </ b> FL and 800 </ b> FR provided upward from the lower surface side of the floor 37 are provided on the left and right sides of the front end of the traveling vehicle body 2. Yes. Then, four stages fixed at equal intervals vertically on the outside of the front auxiliary seedling frame holding stays 801FL and 801FR arranged in parallel upward from the two front and rear positions of the upper end portions of the front auxiliary seedling frame stays 800FL and 800FR. Front auxiliary seedling frames 810FL and 810FR are provided. The front auxiliary seedling frames 810FL and 810FR are also fixed to the inner side of the front auxiliary seedling frame holding stays 801FL and 801FR for the lowermost front auxiliary seedling frame.

  Further, as shown in FIGS. 12, 13, and 14, a pair of left and right rear auxiliary seedling frame stays 800BL and 800BR provided on the left and right sides of the rear end of the traveling vehicle body 2 are provided. Then, three stages fixed at equal intervals vertically inside the rear auxiliary seedling frame holding stays 801BL and 801BR arranged in parallel further upward from the front and rear two places of the upper ends of the rear auxiliary seedling frame stays 800BL and 800BR. Rear auxiliary seedling frames 810BL and 810BR are provided.

  In addition, as shown in FIGS. 12, 13, and 14, the pair of left and right front auxiliary seedling frame holding stays 801FL and 801FR are integrally connected to each other at the upper end portion by a front upper connecting portion 802F to form a portal structure. . Further, the pair of left and right front auxiliary seedling frame holding stays 801FL and 801FR are connected by a pair of front and rear front middle connecting portions 803F and a pair of front and rear front lower connecting portions 804F in the vicinity of the fixed positions of the front auxiliary seedling frames 810FL and 810FR. It is fixed. Front surface on which the seedling box 900 can be placed at a position where the horizontal dimension of each of the upper upper connecting portion 802F, the front middle connecting portion 803F, and the front lower connecting portion 804F is substantially equally divided into three. A substantially inverted T-shaped seedling box mounting plate 820F is fixed in view, and the front of the seedling box 900 can be placed at a corresponding position of the pair of left and right front auxiliary seedling frame holding stays 801FL and 801FR. An L-shaped seedling box mounting plate 821F that is substantially L-shaped in view is fixed.

  In addition, as shown in FIGS. 12, 13, and 14, the pair of left and right rear auxiliary seedling frame holding stays 801BL and 801BR are integrally connected to each other at the upper end portion by a back upper connecting portion 802B to form a portal structure. .

  Further, as shown in FIGS. 12, 13, and 14, the front upper connecting portion 802F and the back upper connecting portion 802B are connected and fixed to each other by a reinforcing connecting stay 830 on the upper surface of the central portion in the left-right direction.

  Thereby, an effect equal to or greater than that of the configuration of FIGS.

  In the above-described embodiment, the configuration in which the guide installation device 200 is disposed below the seat 31 and below the traveling vehicle body 2 has been described. However, the present invention is not limited to this. For example, as illustrated in FIG. You may arrange | position in the lower part of the front side of the vehicle body 2. FIG. FIG. 15 is a schematic plan view showing another example of the riding rice transplanter 1 according to the present embodiment.

  In the above embodiment, the guide installation device 200 is disposed in the left-right width direction at the lower portion of the traveling vehicle body 2, and the left installation device 230 </ b> L and the right installation device 230 </ b> R are disposed outside the traveling vehicle body 2 in the left-right direction in plan view. Although the configuration has been described (see FIGS. 3 and 4), the present invention is not limited thereto. For example, a configuration in which a delivery device 210 (see FIG. 4), a left conveyance device 220 </ b> L, and a left installation device 230 </ b> L are provided, or a delivery device 210 is provided. (Refer FIG. 4), the right side conveying apparatus 220R, and the right side installation apparatus 230R may be provided.

In this case, for example, in the configuration in which the delivery device 210, the left conveyance device 220L, and the left installation device 230L are provided, the second control circuit (not shown) performs a row (for example, FIG. In the first column), the left transfer device 220L is caused to execute the installation-time transfer function, and the left control device 230L is subjected to the first control to execute the installation function. When the second control circuit performs planting work in the next row (for example, the second row in FIG. 7), the CCD camera 300 images the travel guide member 201 installed in the immediately preceding row, and the position The automatic steering device 100 (see FIG. 6) is controlled based on the information, and the travel guide member 201 installed in the row (for example, the first row in FIG. 7) that was working immediately before the left installation device 230L. The second control is performed to execute the collection function for the left side and the left-side conveyance device 220L to execute the collection-time conveyance function. And
The second control circuit alternately repeats the first control and the second control every time the row where the planting operation is performed changes.

  That is, in the riding rice transplanter of this configuration, the first row in FIG. 7 installs the travel guide member 201 on the field while performing manual travel, and the second row travel guide member 201 while executing the automatic travel mode. The third row is the same as the first row, and the traveling guide member 201 is installed on the field while performing manual travel. The fourth row is the same as the second row, and the automatic travel mode is set. The operation of collecting the traveling guide member 201 from the farm field is alternately repeated while being executed.

  As a result, the automatic travel mode is executed every time the even-numbered train is traveled.

  In the configuration in which the delivery device 210, the right transport device 220R, and the right installation device 230R are provided, the automatic travel mode is executed every time the vehicle travels in an odd-numbered row except the first row.

  In the 5 to 7 riding type rice transplanters for transplanting seedlings in the field, the fixed pipe 1003 connecting the torque generator 1001 and the lift valve 1002 may vibrate during valve operation.

  FIG. 16A is a hydraulic circuit diagram of an operating member of a riding type rice transplanter showing a configuration for preventing this vibration.

  In the configuration shown in FIG. 16A, an in-line type check valve 1010 (see FIG. 16B) is installed between the fixed pipe 1003 and the lift valve 1002, and the pulsation is absorbed by the damper effect to prevent vibration. To do. Further, by using the in-line type check valve 1010, it is possible to easily improve without significantly changing the configuration of the hydraulic circuit. In FIG. 16A, reference numeral 1004 denotes an HST (hydrostatic stepless transmission), and reference numeral 1005 denotes an oil tank. FIG. 16B is an enlarged sectional view of the in-line type check valve 1010 described in FIG. 16A, and reference numeral 1011 represents a spring of the check valve 1010.

  In addition, in the in-line type check valve 1010 shown in FIG. 16A, the spring 1011 having the equal pitch is used. However, the present invention is not limited to this. For example, the spring 1021 having an unequal pitch different from the others is used. The check valve 1020 (see FIG. 17) may be disposed between the fixed pipe 1003 and the lift valve 1002 (see FIG. 16A) instead of the check valve 1010. By using the springs 1021 with unequal pitches, it is possible to improve the vibration preventing effect by changing the natural frequency of the spring during valve operation by different expansion and contraction. FIG. 17 is an enlarged cross-sectional view of a check valve 1020 that uses springs 1021 with unequal pitches.

  In addition, in the in-line type check valve 1020 shown in FIG. 17, the springs 1021 having an unequal pitch are used. However, the present invention is not limited to this. For example, pipe resistance on the OUT port side of the check valve 1030 does not cause a circuit problem. A check valve 1030 (see FIG. 18) provided with the choke throttle 1031 may be disposed between the fixed pipe 1003 and the lift valve 1002 (see FIG. 16A) instead of the check valve 1020. By providing the choke restrictor 1031, the flow of the hydraulic oil is slightly restricted, and the vibration preventing effect can be improved by the rectifying effect. FIG. 18 is an enlarged cross-sectional view of a check valve 1030 provided with a choke stop 1031.

  In addition, in the hydraulic circuit of the 5 to 7 riding type rice transplanters for transplanting seedlings in the field, conventionally, since a mechanism for suppressing oil leakage such as a ball valve has not been provided, the amount of oil leakage is large and long-term There is a problem that the planting part descends during storage. That is, an oil leak occurs due to the force that the planting part, which is a heavy object, tries to descend due to gravity.

  FIG. 19 is a hydraulic circuit diagram of an operating member of a riding type rice transplanter showing a configuration for reducing this oil leak.

  In the configuration shown in FIG. 19, a pilot check valve 1110 is provided between the hydraulic valve 1101 and the lifting cylinder 1102. The pilot check valve 1110 opens with the unload pressure as a pilot pressure when the engine is on and closes when the engine is off. Thereby, an oil leak amount can be reduced and the fall of a planting part can be suppressed. In FIG. 19, reference numeral 1103 denotes a torque generator, reference numeral 1104 denotes HST, and reference numeral 1105 denotes an oil tank.

  In the hydraulic circuit diagram shown in FIG. 19, the configuration in which the pilot check valve 1110 is disposed between the hydraulic valve 1101 and the lifting cylinder 1102 has been described. However, the configuration is not limited thereto. For example, as shown in FIG. 1110 may be arranged in the relief metal 1106. Thereby, since the hydraulic valve 1101 and the pilot check valve 1110 can be integrated, it is not necessary to secure an arrangement space for the pilot check valve 1110 compared to the case where the pilot check valve 1110 is provided individually (see FIG. 19). Can be configured compactly. FIG. 20 is a hydraulic circuit diagram showing a configuration in which the pilot check valve 1110 is arranged in the relief metal 1106.

  Moreover, although the said embodiment demonstrated using the riding rice transplanter as an example of a working vehicle, it is not limited to this.

  According to the present invention, it is possible to provide a work vehicle in which work accuracy is stably improved and work efficiency is stably improved, which is useful as a work vehicle.

DESCRIPTION OF SYMBOLS 1 Passenger rice transplanter 2 Traveling vehicle body 4 Planting device 6 Seedling transplant device 10 Front wheel 11 Rear wheel 12 Transmission case 15 Main frame 31 Seat 34 Handle 37 Floor 60 Display lamp 100 Automatic steering device 110 Steering motor 120 Handle potentiometer 200 Guide installation device 201 Traveling guide member 300 CCD camera 400 Control circuit 420 Rear wheel rotation sensor 430 Lifting hydraulic cylinder 440 Lifting potentiometer

Claims (9)

Traveling vehicle body (2),
A working device (4) provided on the rear side of the traveling vehicle body (2) for performing work in a field;
A steering handle (34) for steering the traveling vehicle body (2);
An automatic steering mechanism (100) for automatically steering the steering handle (34);
A guide installation device (200) that preliminarily installs a traveling guide member (201) serving as a guide for a work position in the next row at a predetermined interval while performing work in the field;
A position information acquisition device (300) for acquiring position information of the travel guide member (201) installed in advance when performing work in the next row;
A control device (400) for controlling the automatic steering mechanism (100) based on the position information acquired by the position information acquisition device (300) when performing work in the next row. Working vehicle. A vehicle speed detecting member (420) for detecting information on the vehicle speed of the traveling vehicle body (2);
The control device (400) is configured so that, based on the information on the vehicle speed detected by the vehicle speed detection member (420), the travel guide members (201) installed in the farm are spaced at equal intervals. The work vehicle according to claim 1, wherein the operation of the guide installation device (200) is controlled. The guide installation device (200) includes:
A delivery device (210) for delivering the travel guide members one by one;
A transport device (220L, 220R) having at least a transport function at the time of transporting the travel guide member fed from the feed device (210) toward one of the left and right directions of the travel vehicle body (2); ,
The installation device (230L, 230R) having at least an installation function of installing the traveling guide member conveyed by the conveyance device (220L, 220R) on the farm field. The work vehicle described. The travel guide member (201) is a rod-shaped member,
The delivery device (210)
A plurality of mounting portions (211) for mounting the travel guide members one by one, and a circulation device (215) for circulating and moving the plurality of mounting portions;
Extrusion device (216) for extruding one end side of the traveling guide member placed on the placement portion circulated and moved to a predetermined position by the circulation device (215) toward the conveying device (220L, 220R) side And
The transfer device (220L, 220R)
A first transport mechanism (221) for holding the one end side of the travel guide member extruded by the extrusion device (216) and transporting the travel guide member to the installation device (230L, 230R) side;
Located below the first transport mechanism (221), holds the other end of the travel guide member, and is faster than the transport speed of the first transport mechanism (221) on the installation device (230L, 230R) side. A second transport mechanism (222) for transporting to
A shooter member (223) for guiding the travel guide member conveyed by the first conveyance mechanism (221) and the second conveyance mechanism (222) to the installation device (230L, 230R);
The installation device (230L, 230R) adjusts the posture so that the one end side of the guided traveling guide member is directed upward and sends the other end side of the traveling guide member toward the field. The working device according to claim 3. In addition to the installation function, the installation device (230L, 230R) has a collection function of collecting the traveling guide member installed in the field and sending it to the transfer device (220L, 220R) side,
The transport device (220L, 220R) transports the travel guide member collected and sent by the installation device (230L, 230R) toward the delivery device (210) in addition to the transport function at the time of installation. It has a transport function during collection,
The control device (400)
In the row where the work is being performed, the transfer device (220L, 220R) is caused to execute the installation-time transfer function, and the installation device (230L, 230R) is caused to execute the installation function. 1 control,
When performing the work in the next row of the row, the installation device (230L, 230R), the execution of the recovery function for the travel guide member installed in the adjacent row, A second control is performed to execute the above-mentioned transport function at the time of collection for the transport devices (220L, 220R),
The work device according to claim 3, wherein the control device (400) alternately repeats the first control and the second control every time a row in which the work is performed changes. In addition to the installation function, the installation device (230L, 230R) has a collection function of collecting the traveling guide member installed in the field and sending it to the transfer device (220L, 220R) side,
The transport device (220L, 220R) transports the travel guide member collected and sent by the installation device (230L, 230R) toward the delivery device (210) in addition to the transport function at the time of installation. It has a transport function during collection,
The installation devices (230L, 230R) are respectively disposed below both ends of the traveling vehicle body (2),
The delivery device (210) is disposed below the center in the left-right direction of the traveling vehicle body (2),
Between the delivery device (210) and the installation device (230L, 230R) arranged below one of the both ends of the traveling vehicle body (2), and the delivery device (210) The transfer devices (220L, 220R) are respectively disposed between the installation devices (230L, 230R) disposed below the other side of the traveling vehicle body (2),
The delivery device (210) temporarily stores the traveling guide member collected from the installation device (230L, 230R) disposed on the one side or the other side of the traveling vehicle body (2), The stored travel guide member is configured to send out the transport device (220L, 220R) disposed on the other side or the one side,
The control device (400)
In the row in which the work is performed, a collection command for collecting the traveling guide member installed on the farm is sent to the installation device (230L, 230R) and the conveyance device (220L, 220R) on the one side. And outputting an installation command for installing the collected travel guide member on the field to the installation device (230L, 230R) and the transport device (220L, 220R) on the other side. Yes,
The control device (400)
4. The work vehicle according to claim 3, wherein the output destination of the collection command and the installation command is alternately switched every time the column in which the work is performed is changed.   When the control device (400) controls the automatic steering mechanism (100) based on the position information, among the position information acquired by the position information acquisition device (300), the control device (400) The distance indicates that the travel guide member is located outside a predetermined range, and the distance at which the travel guide members located outside the range continuously exist is predetermined. The travel direction of the traveling vehicle body (2) is determined by excluding the position information of the traveling guide member located outside the range when the distance is less than the distance. The work vehicle according to any one of the above. A buttock detection device (500L, 500R) provided at a front portion of the traveling vehicle body (2) for detecting a buttock of the field,
The buttocks detection device (500L, 500R)
A detection arm portion (501) having one end portion (501a) projecting toward the buttocks of the field and the other end portion (501b) rotatably attached to the traveling vehicle body (2) side;
An angle detection unit (502) attached to the traveling vehicle body (2) for detecting angle information related to the rotation angle of the detection arm unit (501),
When performing the work at the side of the farm, the control device (400) moves the traveling vehicle body (2) to the saddle of the field based on the angle information detected by the angle detector (502). The work vehicle according to any one of claims 1 to 7, wherein the automatic steering mechanism (100) is controlled to travel at a predetermined distance from the vehicle. A rotary marker (610) that forms a linear groove while rotating on the surface of the field, as a guide for the work position in the next row;
A speed increasing rotation device (620) attached to a rotation shaft of the rotary marker (610) for increasing the rotation speed;
A power generation device (630) that generates power by the rotation increased by the speed increasing rotation device (620),
The work vehicle according to any one of claims 1 to 8, wherein the power generation device (630) and a battery mounted on the traveling vehicle body (2) are connected by a charging circuit (640).

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