JP2017176096A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a labor of a driver while suppressing reduction of work efficiency and waste fuel consumption.SOLUTION: A direction control part 60M performs automatic direct advance control for making a vehicle body travel on a target direct advance path on the basis of a positioning result of a positioning unit 86 in a control object area of the target direct advance path. A work control part 60G performs non-work state switching control for switching a state of a grounding work device to a non-work state in shift detection of the vehicle body from a direct advance state to a turnaround state by a shift detection part 70, and performs work state switching control for switching the state of a grounding work device A to a work state, in shift detection of the vehicle body from the turnaround state to the direct advance state by the shift detection part 70. An engine control part 60H performs engine temporary stop control in establishment of a temporary stop condition, and performs engine re-start control in establishment of a re-start condition. The direction control part 60M stops the automatic direct advance control in execution of the engine temporary stop control during the automatic direct advance control, and restarts the automatic direct advance control in execution of the engine re-start control during stop of the automatic direct advance control.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a work vehicle including a route setting unit that sets a target straight traveling route, a positioning unit that measures the position and orientation of a traveling vehicle body, and a direction control unit that controls the traveling direction of the traveling vehicle body.

A passenger rice transplanter, which is an example of a work vehicle, generates a teaching path and a target path parallel to the teaching path by a teaching path generation unit based on position information measured by a GPS device, and targets a traveling vehicle body. There is a vehicle that autonomously travels on a route (see, for example, Patent Document 1).
In a passenger rice transplanter that is an example of a work vehicle, an automatic up control means that automatically raises the paddy field work device in conjunction with the steering operation of the traveling vehicle, and that the shift lever is operated on the reverse shift operation path And a backup control means for automatically raising the paddy field working apparatus (see, for example, Patent Document 2).
A passenger rice transplanter, which is an example of a work vehicle, includes a main transmission lever that enables a shift operation and a forward / reverse switching operation of the main transmission, and a forward / backward movement in a lateral direction provided in a guide groove that guides and operates the main transmission lever. A switch that detects the operation of the main shift lever to the engine stop position is set on the guide plate, and the main shift lever is set based on the output of the switch. There is one configured to stop the engine when a holding operation for a predetermined time at the engine stop position is detected (see, for example, Patent Document 3).

JP 2008-131880 A JP 2012-85646 A Japanese Patent Laid-Open No. 2006-94753

With the configuration described in Patent Document 1, the riding rice transplanter can autonomously travel on the target route. However, when the riding rice transplanter reaches the direction change area (headland), the traveling of the aircraft is stopped automatically or by the operation of the driver (operator). After the driver raises the ground work device (planting unit) and operates the autonomous travel switch, the riding rice transplanter automatically turns in the desired direction, and after completing the automatic turning Travel autonomously on the next target route. When the planting start position is reached, the aircraft is stopped automatically or by the driver's operation. Thereafter, the ground work device is lowered by the operation of the driver, and the vehicle continues to autonomously travel on the target route.
That is, in the configuration described in Patent Document 1, when the ground work device is switched between the working state and the non-working state, the driver temporarily stops the traveling of the riding rice transplanter and then the driver performs the lifting operation of the ground work device. It is necessary to do. As a result, work efficiency is reduced, and there is room for improvement in reducing the labor of the driver required for work travel.

In the configuration described in Patent Document 2, auto-up control is activated when the one-stroke work traveling by the riding rice transplanter is finished and the aircraft is largely steered for direction change in the direction change area (border). As a result, the ground work device (paddy field work device) automatically rises and the transmission to the ground work device is cut off. In addition, when the one-stroke work run by the riding rice transplanter is completed and the aircraft is moved backward for the direction change (switch turn) in the direction change area, the backup control works and the ground work device automatically rises. And transmission to the ground work device is cut off. However, after the direction of the riding rice transplanter is changed, the driver operates the operation lever, so that the ground work device is lowered and grounded to the work site (field), and then the driver operates the operation lever again. The transmission to the ground work equipment is resumed.
That is, in the configuration described in Patent Document 2, the ground work device automatically switches from the working state to the non-working state in conjunction with the direction change operation of the riding rice transplanter, but the ground work device is changed from the non-working state to the working state. When switching to, the driver needs to operate the operation lever. Further, in the configuration described in Patent Document 2, since the riding rice transplanter cannot automatically travel on the target route, the driver needs to steer so that the riding rice transplanter does not deviate from the target route. is there. As a result, there is room for improvement in reducing the driver's labor required for working.

In the configuration described in Patent Document 3, when it is necessary to perform seedling replenishment work or the like during work travel, the driver operates the main shift lever on the forward / reverse switching path to move the riding rice transplanter. The running can be stopped, and then the engine can be stopped by operating the main transmission lever to the engine stop position. After the seedling replenishment work or the like is completed, the driver can restart the engine by operating the main speed change lever from the engine stop position to the forward / reverse switching path, and then the main speed change lever is moved forward. A passenger rice transplanter can be moved forward by operating the route. However, in the configuration described in Patent Document 3, since the passenger rice transplanter cannot be automatically driven on the target route, the driver needs to steer so that the passenger rice transplanter does not deviate from the target route. is there.
That is, in the configuration described in Patent Document 3, wasteful fuel consumption due to the engine operating during seedling replenishment work can be suppressed, but the driver's labor required during work travel is reduced. There is room for improvement.

  That is, there is a demand for the development of a work vehicle that can reduce the labor of the driver required for work travel without causing a reduction in work efficiency or suppressing wasteful fuel consumption.

As means for solving the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight-ahead route, a positioning unit that measures the position and orientation of a traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, A transition detection unit that detects a transition of the traveling state, and a work control unit that switches the ground work device connected to the traveling vehicle body so as to be movable up and down between a working state and a non-working state,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The work control unit performs non-work state switching control for switching the ground work device to the non-working state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the straight traveling state to the direction change state. And a work state switching control for switching the ground work device to the work state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the direction change state to the straight travel state.

According to this means, in the control target area of the target straight path, the traveling vehicle body automatically travels on the target straight path by the control operation of the direction control unit, so that the driver deviates from the target straight path. There is no need to steer so that there is no.
When the traveling vehicle body deviates from the control target area of the target straight path, the driver steers the traveling vehicle body, and the driver moves the current vehicle body as the traveling vehicle body reaches the direction change area of the work site. When the direction change operation to move from the target straight path to the next target straight path is started, the transition detection unit detects the transition of the traveling vehicle body from the straight state to the direction change state, and the control operation of the work control unit based on this detection Thus, the ground work device is switched from the working state to the non-working state in conjunction with the traveling vehicle body shifting from the straight traveling state to the direction changing state.
After that, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight path, the transition detection unit detects the transition from the direction change state of the traveling vehicle body to the straight traveling state, and this detection By the control operation of the work control unit based on the above, the ground work device is switched from the non-working state to the working state in conjunction with the traveling vehicle body shifting from the direction change state to the straight traveling state.
In other words, in the control target area of the target straight path, automatic straight control is executed and the traveling vehicle body automatically travels on the target straight path, and in the direction change area, work is performed in conjunction with the driver's direction change operation. The state switching control and the non-working state switching control are appropriately executed, and the ground work device switches between the working state and the non-working state at an appropriate timing.
As a result, it is possible to effectively reduce the driver's labor required for work travel without causing a decrease in work efficiency.

As another means to solve the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight path, a positioning unit that measures the position and orientation of a traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and an engine operation. An engine control unit that controls, and a condition determination unit that determines whether or not a temporary stop condition and a restart condition of the engine are satisfied,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The engine control unit executes engine pause control for temporarily stopping the engine when the condition determination unit determines that the pause condition is satisfied, and the condition determination unit satisfies the restart condition. When the engine is determined, engine restart control is performed to restart the engine,
The direction control unit interrupts the automatic linear advance control when the engine temporary stop control is executed during execution of the automatic linear advance control, and the engine restart control is executed while the automatic linear advance control is interrupted. Then, the automatic rectilinear control is resumed.

According to this means, in the control target area of the target straight path, the traveling vehicle body automatically travels on the target straight path by the control operation of the direction control unit, so that the driver deviates from the target straight path. There is no need to steer so that there is no.
Here, for example, the work vehicle includes a storage unit that stores a supply to be supplied to the work site, and the engine temporary stop condition is set to an operation from the neutral position of the main transmission lever to the engine stop position, and Assume that the engine restart condition is set to the operation of the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when the supply needs to be replenished to the storage unit during execution of the automatic linear advance control, for example, when the driver operates the main shift lever to the neutral position, transmission to the traveling device is performed. Is cut off and the traveling vehicle stops traveling. Thereafter, when the driver operates the main transmission lever to the engine stop position, the condition determination unit determines that the engine stop condition is satisfied, and the engine is temporarily stopped by the control operation of the engine control unit based on this determination. Thus, the driver can promptly replenish the supply storage part while preventing wasteful consumption of fuel during the replenishment operation. At this time, since the direction control unit interrupts the automatic linear advance control, it is possible to prevent wasteful power consumption due to the automatic linear advance control being continued while the engine is temporarily stopped.
Thereafter, when the driver finishes replenishment of the supply storage part and operates the main shift lever from the engine stop position to the neutral position, the condition determination unit determines whether the engine restart condition is satisfied, and based on this determination The engine is started again by the control operation of the engine control unit. Thereafter, when the driver operates the main shift lever from the neutral position to the forward shift position, the forward power is transmitted to the traveling device and the traveling vehicle body moves forward. When the vehicle travels forward, the traveling body automatically travels on the target straight path because the direction control unit resumes the automatic linear control as the engine is restarted.
As a result, it is possible to reduce the labor of the driver required for work travel while preventing wasteful fuel consumption and power consumption.

As another means to solve the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight-ahead route, a positioning unit that measures the position and orientation of a traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, A transition detection unit that detects a transition of a traveling state; a work control unit that switches a ground work device connected to the traveling vehicle body so as to be movable up and down between a working state and a non-working state; and an engine control unit that controls the operation of the engine; A condition determination unit that determines whether or not a temporary stop condition and a restart condition of the engine are satisfied,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The work control unit performs non-work state switching control for switching the ground work device to the non-working state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the straight traveling state to the direction change state. And, in conjunction with the transition detection unit detecting a transition from the direction change state of the traveling vehicle body to the straight traveling state, executing work state switching control for switching the ground work device to the work state,
The engine control unit executes engine pause control for temporarily stopping the engine when the condition determination unit determines that the pause condition is satisfied, and the condition determination unit satisfies the restart condition. When the engine is determined, engine restart control is performed to restart the engine,
The direction control unit interrupts the automatic linear advance control when the engine temporary stop control is executed during the execution of the automatic linear advance control, and the engine restart control is executed during the interruption of the automatic linear advance control. If this is the case, the automatic linear control is resumed.

According to this means, in the control target area of the target straight path, the traveling vehicle body automatically travels on the target straight path by the control operation of the direction control unit, so that the driver deviates from the target straight path. There is no need to steer so that there is no.
When the traveling vehicle body deviates from the control target area of the target straight path, the driver steers the traveling vehicle body, and the driver moves the current vehicle body as the traveling vehicle body reaches the direction change area of the work site. When the direction change operation to move from the target straight path to the next target straight path is started, the transition detection unit detects the transition of the traveling vehicle body from the straight state to the direction change state, and the control operation of the work control unit based on this detection Thus, the ground work device is switched from the working state to the non-working state in conjunction with the traveling vehicle body shifting from the straight traveling state to the direction changing state.
After that, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight path, the transition detection unit detects the transition from the direction change state of the traveling vehicle body to the straight traveling state, and this detection By the control operation of the work control unit based on the above, the ground work device is switched from the non-working state to the working state in conjunction with the traveling vehicle body shifting from the direction change state to the straight traveling state.
In other words, in the control target area of the target straight path, automatic straight control is executed and the traveling vehicle body automatically travels on the target straight path, and in the direction change area, work is performed in conjunction with the driver's direction change operation. The state switching control and the non-working state switching control are appropriately executed, and the ground work device switches between the working state and the non-working state at an appropriate timing.
Here, for example, the work vehicle includes a storage unit that stores a supply to be supplied to the work site, and the engine temporary stop condition is set to an operation from the neutral position of the main transmission lever to the engine stop position, and Assume that the engine restart condition is set to the operation of the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when the supply needs to be replenished to the storage unit during execution of the automatic linear advance control, for example, when the driver operates the main shift lever to the neutral position, transmission to the traveling device is performed. Is cut off and the traveling vehicle stops traveling. Thereafter, when the driver operates the main transmission lever to the engine stop position, the condition determination unit determines that the engine stop condition is satisfied, and the engine is temporarily stopped by the control operation of the engine control unit based on this determination. Thus, the driver can promptly replenish the supply storage part while preventing wasteful consumption of fuel during the replenishment operation. At this time, since the direction control unit interrupts the automatic linear advance control, it is possible to prevent wasteful power consumption due to the automatic linear advance control being continued while the engine is temporarily stopped.
Thereafter, when the driver finishes replenishment of the supply storage part and operates the main shift lever from the engine stop position to the neutral position, the condition determination unit determines whether the engine restart condition is satisfied, and based on this determination The engine is started again by the control operation of the engine control unit. Thereafter, when the driver operates the main shift lever from the neutral position to the forward shift position, the forward power is transmitted to the traveling device and the traveling vehicle body moves forward. When the vehicle travels forward, the traveling body automatically travels on the target straight path because the direction control unit resumes the automatic linear control as the engine is restarted.
As a result, it is possible to effectively reduce the driver's labor required for traveling while avoiding a decrease in work efficiency and preventing wasteful fuel consumption and power consumption.

As one of the means for making the present invention more suitable,
The positioning unit includes a satellite navigation device and an inertial measurement device.

According to this means, for example, the accumulated error included in the relative position of the work vehicle obtained from the inertial measurement device can be corrected by the absolute position of the work vehicle obtained from the satellite navigation device.
Further, for example, by using a three-axis gyroscope provided in the inertial measurement device, it is possible to correct the positioning error of the satellite navigation device due to the positional deviation of the GPS antenna due to the inclination of the traveling vehicle body.
As a result, the position and direction of the traveling vehicle body can be accurately measured, and the traveling vehicle body can be accurately traveled on the target straight traveling route by the control operation of the direction control unit in the control target region of the target straight traveling route.

As one of the means for making the present invention more suitable,
A manual main switch for intermittently energizing each electrical component from the battery, and an energization holding unit that enables energization from the battery bypassing the main switch to the satellite navigation device,
The energization holding unit is switched to an energization holding state in which the satellite navigation device is energized from the battery in conjunction with the shut-off operation of the main switch, and in conjunction with the connection operation of the main switch, It switches to the energization stop state which stops energization to the satellite navigation system.

The driver must stop the engine by shutting off the main switch and shutting off power to each electrical component in order to prevent wasteful fuel consumption during work interruptions due to breaks, etc. There is. At this time, normally, the power supply to the satellite navigation device is also stopped, so that the satellite navigation device also stops operating.
Here, it is known that the satellite navigation device has a long rise time required from the start of energization to the satellite navigation device until positioning using the satellite becomes possible. For this reason, for example, if the driver shuts down the engine by shutting off the main switch to prevent unnecessary fuel consumption during breaks, the satellite navigation device is also activated along with the shutoff operation at this time. Therefore, when the driver finishes a break, even if the engine is started by operating the main switch, he / she will continue to work using automatic linear control until the satellite navigation system starts up. It cannot be resumed. As a result, when waiting for the satellite navigation device to rise, work efficiency will be reduced, and when resuming work without waiting for the satellite navigation device to rise, the passenger rice transplanter will The driver is forced to steer so that it does not come off.

Therefore, in this means, for example, when the driver shuts down the engine by shutting off the main switch in order to prevent wasteful fuel consumption during a break, the shutoff operation of the main switch at that time In conjunction with this, the energization holding unit is switched to the energization holding state to maintain the satellite navigation device in the operating state. As a result, when the driver finishes a break or the like and operates the main switch to start the engine, it is possible to resume the work travel using the automatic linear advance control together with the start of the engine.
As a result, wasteful fuel consumption during a break or the like can be prevented without causing a reduction in work efficiency or an increase in labor for the driver.

As one of the means for making the present invention more suitable,
A manual main switch that intermittently energizes each electrical component from the battery, and an energization holding unit that enables energization from the battery that bypasses the main switch to the inertial measurement device,
The energization holding unit is switched to an energization holding state in which the inertial measurement device is energized from the battery in conjunction with the shut-off operation of the main switch, and from the battery in conjunction with the connection operation of the main switch. It switches to the energization stop state which stops energization to an inertial measuring device.

The driver must stop the engine by shutting off the main switch and shutting off power to each electrical component in order to prevent wasteful fuel consumption during work interruptions due to breaks, etc. There is. At this time, normally, the inertial measurement device also stops its operation by stopping energization of the inertial measurement device.
Here, it is known that the measurement accuracy of the gyroscope provided in the inertial measurement device is not stable unless the warm-up operation is performed. Therefore, for example, when the driver stops the engine by shutting off the main switch in order to prevent unnecessary fuel consumption during a break, the inertial measurement device also stops operating along with the shutoff operation at this time. Therefore, when the driver finishes a break, etc., even if the engine is started by operating the main switch, until the gyroscope's warm-up operation is finished, the work drive that uses automatic linear advance control Cannot be resumed. As a result, when waiting for the end of the warm-up operation of the gyroscope, the work efficiency will be reduced, and when resuming the work without waiting for the end of the warm-up operation, the riding rice transplanter will The driver is forced to steer so as not to deviate from the target route.

Therefore, in this means, for example, when the driver shuts down the engine by shutting off the main switch in order to prevent wasteful fuel consumption during a break, the shutoff operation of the main switch at that time In conjunction with this, the energization holding unit is switched to the energization holding state to maintain the inertial measurement device in the operating state. As a result, when the driver finishes a break or the like and operates the main switch to start the engine, it is possible to resume the work travel using the automatic linear advance control together with the start of the engine.
As a result, wasteful fuel consumption during a break or the like can be prevented without causing a reduction in work efficiency or an increase in labor for the driver.

As one of the means for making the present invention more suitable,
The energization holding unit switches to the energization holding state in conjunction with the shut-off operation of the main switch and starts measuring time until the set time elapses after switching to the energization holding state. When the operation is performed, the main switch connection operation is not performed until the set time elapses after the energization holding state is switched from the energization holding state in conjunction with the connection operation. In this case, the energization holding state is switched to the energization stop state as the set time elapses.

According to this means, when the driver performs the main switch shut-off operation upon completion of the work, the energization holding unit automatically switches from the energization holding state to the energization stop state as the set time elapses. Then, the power supply to the satellite navigation device or the inertial measurement device is stopped. Thereby, for example, if the set time is set to a time longer than the longest time assumed as the interruption time of work travel, the satellite navigation device or the inertial measurement device can be used during the interruption of work travel due to a break or the like. It is possible to prevent the energization of the satellite navigation device or the inertial measurement device from being unnecessarily continued even after the completion of the work, while avoiding that the current energization is stopped.
As a result, wasteful fuel consumption during breaks can be prevented, and wasteful power consumption after completion of work can be suppressed.

As one of the means for making the present invention more suitable,
The set time is set to a longer time for an electrical component having a higher degree of importance in accordance with the importance of the energization holding set for each electrical component that is energized and held by the energization holding unit.

  According to this measure, compared to the case where the energization holding time of an electrical component with a high importance of energization holding is the same as the energization holding time of an electrical component with a low importance of energization holding, a break when the engine is stopped Battery consumption in the middle can be suppressed.

As one of the means for making the present invention more suitable,
Provide a notification device that informs the driver of various information,
The energization holding unit energizes the notification device from the battery in the energization retention state, and stops energization to the notification device in the energization stop state,
The notification device notifies the driver of information related to the energization holding state during operation in the energization holding state.

  According to this means, for example, the driver determines whether the satellite navigation device or the inertial measurement device is in the energization holding state by the energization holding unit, or the remaining time until the energization holding unit switches from the energization holding state to the energization stop state. Can let you know.

As one of the means for making the present invention more suitable,
A vehicle speed control unit that controls the vehicle speed, and a transition estimation unit that estimates a transition from the driving state of the driver to a work state other than driving,
The said vehicle speed control part performs the deceleration control which reduces a vehicle speed, when the said shift estimation part estimates the shift to a said other working state of a driver | operator.

According to this means, the vehicle speed can be reduced by the deceleration control of the vehicle speed control unit from the stage when the transition estimation unit estimates the transition from the driving state of the driver to a work state other than driving. Thereby, in the travel stop operation of the traveling vehicle body performed before the driver shifts from the driving state to another working state, the time required for the traveling vehicle body to stop traveling can be shortened.
As a result, the transition from the operating state to another working state can be performed efficiently.

As one of the means for making the present invention more suitable,
A first seat sensor for detecting a change in load applied to the driver's seat;
The transition estimation unit estimates a transition of the driver to the other work state when a decrease in load is detected based on the detection of the first seat sensor.

According to this means, when the driver forgets to stop the traveling vehicle body and shifts from the driving state to another working state, the shift estimating unit detects the driver based on the detection of the first seat sensor. Estimate the transition from one operating state to another working state. And vehicle speed falls by the deceleration control of the vehicle speed control part based on this estimation.
As a result, the driver can be made aware that he has forgotten to stop traveling the traveling vehicle body, and can be urged to stop the traveling vehicle body. Then, it is possible to reduce the time required for the traveling vehicle body to stop traveling after the driver performs the traveling stop operation of the traveling vehicle body.

As one of the means for making the present invention more suitable,
A second seat sensor for detecting a turning movement of a driver seat capable of turning around a vertical axis from a forward reference position;
The transition estimation unit estimates a transition of the driver to the other work state when detecting a turning movement of the driver seat from the reference position based on the detection of the second seat sensor.

According to this means, when the driver forgets to stop the traveling vehicle body and shifts from the driving state to another working state, the shift estimating unit detects the driver based on the detection of the second seat sensor. Estimate the transition from one operating state to another working state. And vehicle speed falls by the deceleration control of the vehicle speed control part based on this estimation.
As a result, the driver can be made aware that he has forgotten to stop traveling the traveling vehicle body, and can be urged to stop the traveling vehicle body. Then, it is possible to reduce the time required for the traveling vehicle body to stop traveling after the driver performs the traveling stop operation of the traveling vehicle body.

As one of the means for making the present invention more suitable,
A storage unit that stores the supply to be supplied to the work place, a remaining amount detection unit that detects the remaining amount in the storage unit, and that the detection value of the remaining amount detection unit has been reduced to a replenishment set value. A notification section to inform the person,
The transition estimation unit estimates the transition of the driver to the other work state when the detection value of the remaining amount detection unit decreases to the set value.

According to this means, the transition estimation unit can estimate the transition from the driving state of the driver to the replenishment work state of replenishing the supply to the storage unit as another work state based on the detection of the remaining amount detection unit. it can. And vehicle speed falls by the deceleration control of the vehicle speed control part based on this estimation. Thereby, in the travel stop operation of the traveling vehicle body that is performed before the driver shifts from the driving state to the replenishment work state, it is possible to shorten the time required for the traveling vehicle body to stop traveling.
As a result, the transition from the operating state to the replenishment work state can be performed efficiently.

As one of the means for making the present invention more suitable,
The said remaining amount detection part detects the remaining amount in the said storage part by the arithmetic processing based on the positioning result of the said positioning unit.

According to this means, the remaining amount detection unit, for example, the storage amount of the supply in the storage unit, the supply amount of the supply per unit distance, and the travel distance at the work site obtained as a positioning result of the positioning unit, Based on the above, the remaining amount in the storage unit is detected.
That is, the remaining amount in the storage unit can be detected without providing a dedicated sensor for detecting the remaining amount of the supply as the remaining amount detection unit.
As a result, it is possible to simplify the configuration by reducing the number of parts.

As one of the means for making the present invention more suitable,
A defect sensor that detects the occurrence of a defect related to the work, and a notification unit that informs the driver of the occurrence of the defect,
The transition estimation unit estimates the transition of the driver to the other work state when the malfunction sensor detects the occurrence of a malfunction.

According to this means, the transition estimation unit estimates the transition from the driving state of the driver to the maintenance work state for eliminating the fault detected by the fault sensor as another work state based on the detection of the fault sensor. Can do. And vehicle speed falls by the deceleration control of the vehicle speed control part based on this estimation. Thereby, in the travel stop operation of the traveling vehicle body performed before the driver shifts from the driving state to the maintenance work state, the time required for the traveling vehicle body to stop traveling can be shortened.
As a result, the transition from the operating state to the maintenance work state can be performed efficiently.

As one of the means for making the present invention more suitable,
A manual changeover switch that switches the transition estimation unit between an operating state and a stopped state is provided.

According to this means, for example, when the driver determines that it is not necessary to perform other work such as replenishment of the supply to the storage unit near the end of the work travel, the transition estimation unit is switched to the stopped state. Thus, it is possible to avoid a decrease in the vehicle speed due to the deceleration control of the vehicle speed control unit.
Thereby, when it is not necessary to perform other work, it is possible to avoid a decrease in work efficiency due to a decrease in the vehicle speed due to the deceleration control of the vehicle speed control unit.

As one of the means for making the present invention more suitable,
Provided with a transition detection unit that detects the transition from the driving state of the driver to a work state other than driving,
The said vehicle speed control part performs the deceleration control which reduces a vehicle speed, when the said transition detection part detects the transition to the said other working state of a driver, and reduces a vehicle speed to zero speed.

According to this means, when the transition detection unit detects a transition from the driving state of the driver to a work state other than driving, the traveling vehicle body can be stopped by the deceleration control of the vehicle speed control unit.
As a result, it is possible to prevent other work other than driving by the driver from being performed while the traveling state of the traveling vehicle body is maintained.

As one of the means for making the present invention more suitable,
A reserve storage unit for storing reserves of supplies to be supplied to the work site, and a reserve remaining amount sensor for detecting a decrease in the remaining amount in the reserve storage unit;
The transition detection unit detects a transition of the driver to the other work state when the reserve remaining amount sensor detects a decrease in the remaining amount.

According to this means, the transition detection unit can detect the transition from the driving state of the driver to the replenishment work state of replenishing the supply to the storage unit as another work state based on the detection of the reserve remaining amount sensor. it can. And a traveling vehicle body can be stopped by the deceleration control of the vehicle speed control part based on this detection.
As a result, it is possible to prevent the driver from performing replenishment work while the traveling state of the traveling vehicle body is maintained.

As one of the means for making the present invention more suitable,
A manual changeover switch that switches the transition detection unit between an operating state and a stopped state is provided.

  According to this means, it is possible to switch between a state where the automatic stop of the traveling vehicle body is adopted by the deceleration control of the vehicle speed control unit based on the detection of the transition detection unit and a state where it is not adopted.

As one of the means for making the present invention more suitable,
An informing unit for notifying the driver of execution of the deceleration control is provided.

According to this means, when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit, the notification unit can notify the driver.
As a result, it is possible to avoid the possibility that the driver feels uncomfortable when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit.

As one of the means for making the present invention more suitable,
A point storage unit that stores a change start point at which the traveling vehicle body transitions from a straight traveling state to a direction change state; and an arrival determination unit that determines whether the traveling vehicle body has reached the conversion start point;
The direction control unit automatically directs the traveling vehicle body from the current target straight path to the next target straight path when the arrival determination unit determines that the traveling vehicle body has reached the conversion start point. Executes automatic turn control to switch.

According to this means, when the traveling vehicle body reaches the change start point, the direction of the traveling vehicle body is automatically changed from the current target straight path to the next target straight path by the control operation of the direction control unit. Does not require steering to change the direction of the traveling vehicle body.
As a result, it is possible to further reduce the driver's labor required for work travel.

As one of the means for making the present invention more suitable,
A manual changeover switch that switches the direction control unit between an execution state in which the automatic direction change control is executed and a non-execution state in which the automatic direction change control is not executed;
When the direction control unit is switched to the execution state in a state where the conversion start point is not stored in the point storage unit, the driver is notified that the conversion start point is not stored in the point storage unit. An informing part is provided.

According to this means, even if the direction control unit is switched to the execution state in which the automatic direction change control is executed by the changeover switch, if the change start point is not stored in the point storage unit, the arrival determination unit changes the traveling vehicle body. Since it is not possible to determine the arrival at the start point, and even if the traveling vehicle body reaches the change start point, the automatic direction change control by the direction control unit is not executed. Can be informed.
As a result, the driver determines that the traveling vehicle body has arrived at the conversion start point, and when the traveling vehicle body reaches the conversion start point, the driver moves the traveling vehicle body from the current target straight path to The driver can be made aware that it is necessary to move toward the target straight path.
As a result, the driver misunderstands that the turn start point is already stored in the point storage unit and the automatic turn control by the direction control unit is executed as the traveling vehicle body reaches the turn start point. As a result, even if the traveling vehicle body reaches the change start point, it is possible to avoid the possibility that the manual direction change operation will not be performed.

It is a left view of a riding rice transplanter. It is a schematic plan view which shows the transmission structure, steering structure, etc. of a riding rice transplanter. It is a schematic plan view which shows the transmission structure for driving | running | working. It is a schematic plan view which shows the transmission structure for work. It is a cross-sectional top view of the principal part which shows the operation path | route of a main transmission lever, etc. It is a block diagram which shows a control structure. It is a schematic circuit diagram which shows the circuit structure regarding an engine starting operation, stop operation, etc. FIG. It is a top view which shows the preparatory driving | running | working stage of the riding rice transplanter which performs each work driving | running route for rotation planting etc. It is a top view which shows the state just before the turning movement to the work travel path | route for a reciprocating planting from the work travel path | route for round planting of a riding rice transplanter. It is a top view which shows the driving | running | working state in the operation | work driving | running route for the reciprocating planting of a riding rice transplanter. It is a top view which shows the state just before the turning movement from the work travel path | route for reciprocating planting of the riding rice transplanter to the work travel path | route for planting around.

  Hereinafter, as an example of an embodiment for carrying out the present invention, an embodiment in which the present invention is applied to a passenger rice transplanter that is an example of a work vehicle will be described with reference to the drawings.

The direction indicated by the arrow F shown in FIG. 1 is the front side of the riding rice transplanter, and the direction indicated by the arrow U is the upper side of the riding rice transplanter.
2 is the front side of the riding rice transplanter, and the direction indicated by the arrow R is the right side of the riding rice transplanter.

As shown in FIG. 1, the riding rice transplanter exemplified in the present embodiment is a riding type four-wheel drive type traveling vehicle body 1, and a parallel quadruple link type coupled to the rear portion of the traveling vehicle body 1 so as to be able to swing up and down. Link mechanism 2, hydraulic lift cylinder 3 that swings and drives link mechanism 2, and seedling planting device for eight strips that is connected to the rear end of link mechanism 2 in a rollable manner (an example of ground working device Z) 4 , And a fertilizer application device (an example of a ground work device) 5 for 8 strips extending from the rear end portion of the traveling vehicle body 1 to the seedling planting device 4.
As a result, the riding rice transplanter is configured to have a mid-mount fertilizer specification that can plant and fertilize up to eight seedlings. The riding rice transplanter can drive the seedling planting device 4 and a part of the fertilizer application device 5 up and down by operating the lifting cylinder 3.

  As shown in FIGS. 1 to 4, the traveling vehicle body 1 includes, as the traveling device 6, left and right front wheels 6 </ b> A as steerable drive wheels and left and right rear wheels 6 </ b> B as non-steerable drive wheels. The traveling vehicle body 1 is mounted with an anti-vibration engine 7 at the front thereof. The power from the engine 7 is belt-transmitted to the main transmission 8, and the power after the shift by the main transmission 8 is used for traveling and working in a transmission case (hereinafter referred to as T / M case) 9. Branch off. The driving power is transmitted to the front wheel differential 11 via the auxiliary transmission 10 inside the T / M case 9. The driving power for driving the front wheels out of the driving power is transmitted from the front wheel differential device 11 to the left and right front wheels 6A via the left and right differential shafts 12 and the like. Further, the rear wheel drive power out of the driving power is a transmission gear 13 that rotates integrally with the front wheel differential 11, a first external transmission shaft 15 that extends from the T / M case 9 to the rear axle case 14, And, it is transmitted to the left and right rear wheels 6B via the rear wheel transmission mechanism 16 incorporated in the rear axle case 14 and the like. The rear wheel transmission mechanism 16 includes left and right side clutches 17 that intermittently transmit power to the left and right rear wheels 6B, a speed reduction unit 18 that transmits power for driving the rear wheels to the left and right rear wheels 6B, and the like. ing. On the other hand, the working power is the one-way clutch 19, the inter-strain transmission 20, the first working clutch 21, and the second external transmission that extends from the T / M case 9 to the seedling planting device 4. It is transmitted to the seedling planting device 4 through the shaft 22 and the like.

  The engine 7 is a water-cooled gasoline engine. The main transmission 8 employs a hydrostatic continuously variable transmission. The sub-transmission 10 employs a gear-type transmission that can change gears in two levels, a low speed state for work travel and a high speed state for mobile travel. Each of the left and right side clutches 17 employs a multi-plate friction clutch, and includes a spring (not shown) that urges each side clutch 17 to return to the connected state. The inter-strain transmission 20 employs a gear-type transmission that enables six-stage shifting.

As shown in FIGS. 1, 4, and 6, the seedling planting device 4 has an operating state in which the power from the traveling vehicle body 1 is operated by the intermittent operation of the first work clutch 21 and the power from the traveling vehicle body 1. It switches to a non-operating state where it is cut off and stops operating. The seedling planting device 4 includes five leveling floats 23, an eight-row seedling stand (an example of a storage unit) 24, a lateral feed mechanism (not shown), a belt-type vertical feed mechanism 25, and eight units The planting mechanism 26 is provided. Each leveling float 23 slides on the mud surface of the paddy field as the traveling vehicle body 1 travels in a state where they are in contact with the ground, thereby leveling the mud surface such as a planting planned place. The seedling stage 24 is formed so that eight mat-like seedlings can be placed thereon. The lateral feed mechanism reciprocates in the left-right direction with a fixed stroke corresponding to the left-right width of the mat-like seedlings by the power from the traveling vehicle body 1. The vertical feed mechanism 25 feeds each mat-like seedling on the seedling table vertically toward the lower end of the seedling table 24 at a predetermined pitch every time the seedling table 24 reaches the left and right stroke ends. Each planting mechanism 26 is a rotary type and is arranged in the left-right direction at a constant interval corresponding to the planting strip. Then, each planting mechanism 26 cuts a predetermined amount of seedlings from the lower end of each mat-shaped seedling placed on the seedling placing stand 24 by the power from the traveling vehicle body 1 and plantes the seedlings in the mud after the leveling.
Thereby, in the operation state of the seedling planting device 4, a predetermined amount of seedlings can be taken out from the mat-like seedlings placed on the seedling mount 24 and planted in the mud portion of the paddy field. The work width W of the seedling planting device 4 is a length obtained by multiplying the number of planting strips of the seedling planting device 4 by the inter-strip distance.

  As shown in FIG. 1, the seedling planting device 4 includes a float fulcrum shaft 27 that extends to the left and right ends thereof so as to be relatively rotatable. Each of the leveling floats 23 is supported on the free ends of the five sets of support arms 28 extending rearward and downward from the float fulcrum shaft 27 so that the rear side thereof can swing up and down.

  As shown in FIGS. 1, 6, and 8 to 11, the seedling planting device 4 swings the left and right markers 29 that form a running reference line on the mud surface of the paddy field, and the left and right markers 29 in the vertical direction. An electric marker motor 30 to be driven is provided. The left and right markers 29 swing up and down over the retracted posture standing along the seedling planting device 4 and the acting posture projecting laterally outward from the seedling planting device 4 by the operation of the marker motor 30. In the retracted posture of the left and right markers 29, the running reference line-forming rotator 29A provided at the free end of the marker 29 is separated from the mud surface. Further, the left and right markers 29 are, in the acting posture, the rotation reference line L used in the travel route adjacent to the current travel route as the rotating body 29A enters the mud surface and travels along the current travel route. On the mud surface.

  As shown in FIGS. 1 and 6, the fertilizer application device 5 includes a horizontally long hopper (an example of a storage unit) 31, four feeding mechanisms 32, an electric blower 33, eight fertilizer hoses 34, and eight pieces. , And the like. The hopper 31 stores granular or powdered fertilizer. Each feeding mechanism 32 is operated by the power transmitted through the fertilization transmission mechanism 36. And each feeding mechanism 32 feeds out the fertilizer for two strips from the hopper 31 by predetermined amount by the action | operation. The blower 33 is operated by electric power from the battery 37 mounted on the traveling vehicle body 1. And the blower 33 produces | generates the conveyance wind which conveys the fertilizer delivered by each delivery mechanism 32 toward the mud surface of a paddy field by the action | operation. Each fertilizer hose 34 guides the fertilizer transported by the transport air to each groover 35. Each grooving device 35 is arranged in each leveling float 23. And each grooving device 35 goes up and down with each leveling float 23, and forms the fertilizer groove | channel in the mud part of a paddy field, and guides a fertilizer in the fertilization groove | channel at the time of the work running which each leveling float 23 contacts.

  The fertilizer application device 5 is an operation state in which each feeding mechanism 32 and blower 33 are operated by the intermittent operation of the second working clutch 38 provided in the fertilizer transmission mechanism 36 and the intermittent operation of the blower relay 39 provided in the electric circuit, Each feeding mechanism 32 and blower 33 is switched to a non-operating state in which the operation is stopped. And in the operating state of the fertilizer applicator 5, the fertilizer stored in the hopper 31 can be taken out by a predetermined amount and buried in the mud of paddy fields.

  As shown in FIGS. 1 to 3 and FIG. 6, the traveling vehicle body 1 includes a driving unit 40 on the rear side. The driving unit 40 includes a steering wheel 41 for steering the front wheels, a main transmission lever 42 that enables a transmission operation of the main transmission 8, a sub transmission lever 43 that enables a transmission operation of the auxiliary transmission 10, and braking of the braking device 100. Various information such as the brake pedal 44 that enables the operation, the first operation lever 45 and the second operation lever 46 that enable the raising / lowering operation and switching of the operation state of the seedling planting device 4, the engine speed, etc. And a driver seat 48 that can turn around a vertical axis from a forward reference position and is urged to return to the reference position.

  The brake pedal 44 automatically returns to the depression release position. The first work lever 45 is a swing type that can swing to planting, lowering, neutral, rising, and automatic operation positions, and is configured as a position holding type that can hold the position at each operation position. Has been. The second working lever 46 is configured as a cross swing type and a neutral return type that can be swung in the vertical direction and the front / rear direction.

  The notification device 47 is disposed in front of the steering wheel 41 in the driving unit 40. The notification device 47 includes a liquid crystal display unit 47A and a plurality of notification units 47B to 47H including LEDs or buzzers.

  As shown in FIG. 2, the steering wheel 41 includes a steering gear 50 that rotates integrally with the steering wheel 41 via a steering shaft 49, a sector gear 51 that meshes with the steering gear 50, and a steering member 52 that swings integrally with the sector gear 51. And, the left and right front wheels 6A are connected to each other via left and right tie rods 54 extending between the steering member 52 and the operation arms 53 of the left and right front wheels 6A.

  The traveling vehicle body 1 includes a side clutch operation mechanism 55 that intermittently operates the left and right side clutches 17 in conjunction with the operation of the steering wheel 41. The side clutch operating mechanism 55 includes left and right linking rods 57 that connect the steering member 52 and the operating arms 56 of the left and right side clutches 17 in an interlockable manner. The left and right linking rods 57 are provided with elongated holes 57 a that set the relationship between the operation angle θ of the steering member 52 and the intermittent operation of the left and right side clutch 17 at the linking position with the operation arm 56.

  With the above configuration, when the driver rotates the steering wheel 41 leftward from the straight traveling position, the steering member 52 swings rightward from the straight traveling position (reference angle) θo according to the amount of the rotation operation. As a result, the left and right front wheels 6A are steered from the rectilinear position to the left turning direction in accordance with the turning operation amount of the steering wheel 41. Further, the left and right side clutches 17 are acted upon by the action of the springs of the side clutches 17 and the long holes 57a of the linkage rods 57 until the steering member 52 reaches the first set angle θa on the right side from the straight advance position θo. Stay connected. Thereafter, when the steering member 52 swings from the first set angle θa on the right side to the second set angle θb, the left side clutch 17 is interlocked with the swing, and the left linkage rod 57 and the left operation arm 56 are linked. The connection state is switched to the cutoff state by the action of. On the other hand, the right side clutch 17 is maintained in the connected state by the action of the spring of the right side clutch 17 and the long hole 57a of the right linkage rod 57. Thereby, as the direction change state of the traveling vehicle body 1, it is possible to obtain a small left turning state in which the transmission to the left rear wheel 6B located inside the turning is cut off and the turning radius of the traveling vehicle body 1 is reduced.

  In this small left turn state, when the driver turns the steering wheel 41 in the right direction toward the straight position, the steering member 52 swings left in the straight direction θo according to the amount of the turning operation. To do. As a result, the left and right front wheels 6A are steered toward the straight traveling position in accordance with the rotational operation amount of the steering wheel 41. When the steering member 52 swings from the second set angle θb on the right side to the first set angle θa, the left side clutch 17 is linked to the swing, and the left side clutch 17 and the left side clutch 17 are connected. It is switched from the shut-off state to the connected state by the action of the spring. On the other hand, the right side clutch 17 is maintained in the connected state by the action of the spring of the right side clutch 17 and the long hole 57a of the right linkage rod 57. Thereafter, the left and right side clutches 17 are acted upon by the action of the spring of each side clutch 17 and the long hole 57a of each linkage rod 57 until the steering member 52 reaches the straight advance position θo from the first set angle θa on the right side. Stay connected.

  Conversely, when the driver rotates the steering wheel 41 in the right direction from the straight travel position, the steering member 52 swings left from the straight travel position (reference angle) θo according to the amount of the rotation operation. As a result, the left and right front wheels 6A are steered from the straight position to the right turning direction according to the amount of turning operation of the steering wheel 41. The left and right side clutches 17 are acted upon by the action of the springs of the side clutches 17 and the long holes 57a of the linkage rods 57 until the steering member 52 reaches the first set angle θa on the left side from the straight advance position θo. Stay connected. Thereafter, when the steering member 52 swings from the first set angle θa on the left side to the second set angle θb, the right side clutch 17 is linked to the swing, and the right side coupling clutch 57 and the right operation arm 56 are linked. The connection state is switched to the cutoff state by the action of. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the long hole 57 a of the left linkage rod 57. Thereby, as the direction change state of the traveling vehicle body 1, it is possible to obtain a small right turning state in which the transmission to the right rear wheel 6 </ b> B located inside the turning is cut off and the turning radius of the traveling vehicle body 1 is reduced.

  In this small right turn state, when the driver rotates the steering wheel 41 in the left direction toward the straight position, the steering member 52 swings in the right direction toward the straight position θo according to the amount of the rotation operation. To do. As a result, the left and right front wheels 6A are steered toward the straight traveling position in accordance with the rotational operation amount of the steering wheel 41. When the steering member 52 swings from the second set angle θb on the left side to the first set angle θa, the right side clutch 17 and the right side clutch 17 are interlocked with the swing. It is switched from the shut-off state to the connected state by the action of the spring. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the long hole 57 a of the left linkage rod 57. Thereafter, the left and right side clutches 17 are acted upon by the action of the springs of the side clutches 17 and the long holes 57a of the linkage rods 57 until the steering member 52 reaches the straight advance position θo from the first set angle θa on the left side. Stay connected.

  As shown in FIGS. 8 to 11, in this riding rice transplanter, basically a half length of the working width W of the seedling planting device 4 is obtained as the turning radius in the above-described left and right small turning states. Is set to Thereby, for example, in seedling planting work by reciprocating planting, the planting travel on the current work travel routes R1a to R1d is finished, and the traveling vehicle body 1 is placed on the current work travel routes R1a to R1d in the turning direction change area. When a so-called coasting turn is performed in which the direction is changed toward the next adjacent work travel route R1b to R1e, the driver can obtain either the left or right small turning state as the direction change state of the traveling vehicle body 1. By steering in this way, the cornering can be performed easily.

  As shown in FIGS. 1, 5, and 6, the main transmission lever 42 is disposed adjacent to the left side of the steering wheel 41. The main speed change lever 42 is configured to be swingable so as to be swingable along the guide groove 58A of the guide plate 58. The main speed change lever 42 is configured as a position holding type capable of holding the neutral position by a detent mechanism (not shown), the respective forward shift positions and the reverse three shift positions.

  The guide groove 58A is a left / right forward / reverse switching path 58a that is a neutral position of the main transmission lever 42, a forward transmission path 58b that extends forward from the right end of the forward / reverse switching path 58a, and a rearward from the left end of the forward / reverse switching path 58a. And a reverse speed change path 58c extending to the left and an auxiliary path 58d extending leftward from the left end of the forward / reverse switching path 58a. And the left end part of the auxiliary | assistant path | route 58d is set to the work interruption position 58e.

  The guide plate 58 includes an interruption switch 58B that detects the operation of the main transmission lever 42 to the operation interruption position 58e, and a holder 58C that enables the main transmission lever 42 to be held at the operation interruption position 58e. . A limit switch, a proximity switch, or the like can be employed as the interruption switch 58B.

  The main transmission lever 42 is linked to an operation shaft (not shown) of the main transmission 8 via a mechanical linkage mechanism (not shown) for main transmission. The main transmission 8 is switched to the neutral state when the main transmission lever 42 is operated by the forward / reverse switching path 58a. The main transmission 8 switches to a forward shift state corresponding to the shift position of the main shift lever 42 when the main shift lever 42 is operated to an arbitrary shift position on the forward shift path 58b. When the main transmission lever 42 is operated to an arbitrary transmission position on the reverse transmission path 58c, the main transmission 8 is switched to the reverse transmission state according to the operation position of the main transmission lever 42.

  As shown in FIG. 1, the auxiliary transmission lever 43 is disposed adjacent to the left side of the driver seat 48. The auxiliary transmission lever 43 is of a position holding type that is swingable back and forth and can be switched between a low-speed position for work travel and a high-speed position for mobile travel. The sub transmission lever 43 is linked to an operation shaft (not shown) of the sub transmission 10 through a mechanical linkage mechanism (not shown) for sub transmission. The auxiliary transmission 10 is switched to a low speed state for work traveling when the auxiliary transmission lever 43 is operated to a low speed position, and is switched to a high speed state for moving traveling when the auxiliary transmission lever 43 is operated to a high speed position.

The traveling vehicle body 1 includes a preliminary storage unit 59 that stores a spare mat-like seedling. The preliminary storage portion 59 includes a reverse U-shaped support frame 59A that extends upward from the left and right ends of the front portion of the traveling vehicle body 1, and four left and right support frames that are supported by the left and right sides of the support frame 59A. Spare seedling stand 59B.
As a result, eight spare mat-like seedlings can be stored in the spare storage section 59 separately for each of the four left and right mats.

  As shown in FIGS. 6 and 7, the traveling vehicle body 1 includes an electronic control unit (hereinafter referred to as an ECU) 60 that controls in-vehicle electrical components. The ECU 60 is configured by a microprocessor including a CPU, an EEPROM, and the like. The ECU 60 and each electrical component are connected so as to be communicable or capable of transmitting power via in-vehicle communication such as CAN (Controller Area Network) or a power line.

  As shown in FIG. 7, the riding rice transplanter includes a manual main switch 61 that intermittently energizes each electrical component such as the ECU 60 from the battery 37. The main switch 61 is a key operation type provided in the operation unit 40 and can be switched between the “OFF” position, the “ON” position, and the “START” position, and the “OFF” position and the “ON” position. The position can be held at the position “ON”, and the return is urged from the “START” position to the “ON” position.

  As shown in FIGS. 6 and 7, the ECU 60 is activated by energization from the battery 37 obtained by a connection operation of the main switch 61 from the OFF position to the ON position. When the energization from the battery 37 is cut off by the interruption operation from the ON position to the OFF position of the main switch 61, the ECU 60 maintains the energized state by the self-holding circuit 60A provided therein. Then, the ECU 60 writes the total operating time of the engine 7 and various setting information at the stage where the shut-off operation of the main switch 61 is performed in the nonvolatile storage unit 60B. In addition, the ECU 60 starts measuring time by the time measuring unit 60C provided therein in conjunction with the shut-off operation of the main switch 61, and until the set time elapses after the shut-off operation of the main switch 61 is performed. When the connection operation of the main switch 61 is not performed, the energization by the self-holding circuit 60A is stopped and the operation is stopped.

The main switch 61 is connected to a starter unit 63 for starting the engine via a brake switch 62 composed of an open / close switch. The brake switch 62 switches from the open state to the closed state in conjunction with the depression operation of the brake pedal 44 to the braking position, and switches from the closed state to the open state in conjunction with the depression release operation from the braking position of the brake pedal 44.
Thus, when starting the engine 7, the driver can de-energize the starter unit 63 from the battery 37 via the main switch 61 by depressing the brake pedal 44 to the braking position. In this state, the engine 7 can be started by the operation of the starter unit 63 by performing the engine start operation of the main switch 61 to the START position.

  As shown in FIGS. 1, 2, and 6, the traveling vehicle body 1 includes a first lever sensor 64 that detects an operation position of the first work lever 45 in the front-rear direction and a vertical direction and a front-rear direction of the second work lever 46. A second lever sensor 65 that detects an operation of the main shift lever 42, a third lever sensor 66 that detects an operation position of the main transmission lever 42 in the front-rear direction, and a vertical swing angle of the link mechanism 2 as a height position of the seedling planting device 4 A height sensor 67 for detecting, a float sensor 68 for detecting the vertical swing angle of the leveling float at the center of the left and right (hereinafter referred to as center float) 23, and a left and right for detecting the switching of the left and right markers 29 to the retracted position and the acting position. Marker sensor 69, steering angle sensor 70 that detects the swing operation angle of the steering member 52 from the straight position θo as the steering angle of the front wheel 6 </ b> A, and rotation sensor that detects the output rotational speed of the engine 7. 1, the voltage detector detects the voltage of the battery 37 72, and includes a water temperature sensor 73, and the like for detecting the temperature of the engine coolant.

  As the first lever sensor 64, the third lever sensor 66, the height sensor 67, the float sensor 68, and the rudder angle sensor 70, a rotary potentiometer or a rotary encoder can be employed. As the second lever sensor 65, a multi-contact switch or a limit switch unit including a plurality of limit switches can be employed. The left and right marker sensors 69 include a limit switch unit that includes a limit switch that detects the switching of the marker 29 to the storage posture and a limit switch that detects the switching of the marker 29 to the working posture, or the storage posture of the marker 29. A proximity switch unit that includes a proximity switch that detects a switch to the position and a proximity switch that detects a switch to the action posture of the marker 29 can be employed. As the rotation sensor 71, an electromagnetic pickup type or the like can be employed.

  As shown in FIG. 6, the ECU 60 includes an elevation control unit 60 </ b> D that controls the operation of the elevation cylinder 3 to raise and lower the seedling planting device 4. The elevating control unit 60D controls the operation of the elevating cylinder 3 by controlling the operation of the elevating valve unit 74 that controls the flow of oil to the elevating cylinder 3.

  As shown in FIGS. 1 and 6, the lifting control unit 60 </ b> D is a seedling planting device based on the outputs of the first lever sensor 64 and the height sensor 67 when the first operation lever 45 is manually operated. 1st raising / lowering control which raises / lowers 4 is performed.

Hereinafter, the control operation of the lifting control unit 60D in the first lifting control will be described.
When the lifting control unit 60D detects an operation of the first work lever 45 to the rising position based on the output of the first lever sensor 64, the lifting control unit 60D performs a lifting process for lifting the seedling planting device 4. In the ascending process, the elevating control unit 60D switches the valve unit 74 to a supply state in which oil is supplied to the elevating cylinder 3, thereby causing the elevating cylinder 3 to contract and raise the seedling planting device 4.
When the lifting control unit 60D detects an operation of the first work lever 45 to the lowered position based on the output of the first lever sensor 64, the lifting control unit 60D performs a lowering process for lowering the seedling planting device 4. In the lowering process, the lifting control unit 60D switches the valve unit 74 to a discharge state in which oil is discharged from the lifting cylinder 3, thereby extending the lifting cylinder 3 and lowering the seedling planting device 4.
When the lifting control unit 60D detects an operation to the neutral position of the first work lever 45 based on the output of the first lever sensor 64, the lifting control unit 60D stops the seedling planting device 4 at the height position at that time. I do. In the lifting / lowering stop process, the lifting / lowering control unit 60D switches the valve unit 74 to a supply / discharge stop state in which the supply / discharge of oil to / from the lifting cylinder 3 is stopped, thereby stopping the expansion / contraction operation of the lifting / lowering cylinder 3 and Stop.
When the lifting control unit 60D detects the arrival of the seedling planting device 4 at the upper limit position based on the output of the height sensor 67 during the above-described lifting process, the lifting control unit 60D performs the lifting stop process described above, thereby The planting device 4 is stopped at the upper limit position.
When the lifting control unit 60D detects that the seedling planting device 4 has reached the lower limit position based on the output of the height sensor 67 during the above-described lowering process, the lifting control unit 60D performs the above-described lifting stop process, The planting device 4 is stopped at the lower limit position.
That is, the driver operates the first work lever 45 by the control operation of the lifting control unit 60D based on the output of the first lever sensor 64, so that the seedling planting device 4 is positioned between the upper limit position and the lower limit position. It can be moved up and down to any height position.

  When the elevation control unit 60D detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 64, the second lever sensor 65, the height sensor 67, and the float sensor 68 The 2nd raising / lowering control which raises / lowers the seedling planting apparatus 4 based on an output is performed.

Hereinafter, the control operation of the lifting control unit 60D in the second lifting control will be described.
When the raising / lowering control unit 60 </ b> D detects the downward operation of the second work lever 46 based on the output of the second lever sensor 65, the raising / lowering control unit 60 </ b> D moves the seedling planting device 4 to the work height corresponding to the control target angle of the center float 23. When the automatic lowering process of lowering to the position is performed and the arrival of the seedling planting device 4 to the working height position is detected based on the output of the float sensor 68, the automatic raising and lowering that maintains the seedling planting device 4 at the working height position is performed. Start processing. In the automatic lowering process, the elevation control unit 60D determines that the vertical swing angle of the center float 23 matches the control target angle based on the output of the float sensor 68 (the output of the float sensor 68 falls within the dead zone width of the control target angle. The descending process described above is performed until it is detected. In the automatic elevating process, the elevating control unit 60D controls the operation of the valve unit 74 so that the output of the float sensor 68 matches the control target angle so as to extend and retract the elevating cylinder 3. The seedling planting device 4 is maintained at the working height position.
When the lifting control unit 60D detects an upward operation of the second working lever 46 based on the output of the second lever sensor 65, the lifting control unit 60D ends the automatic lifting process and raises the planting device 4 to the upper limit position. I do. In the automatic ascent process, the elevating control unit 60D performs the ascending process described above until it detects reaching the upper limit position of the seedling planting device 4 based on the output of the height sensor 67, and the upper limit position of the seedling planting device 4 When reaching to is detected, the raising / lowering stopping process described above is performed to stop the seedling planting device 4 at the upper limit position.
That is, in a state in which the first work lever 45 is positioned at the automatic position, the driver operates the second work lever 46 by the control operation of the lifting control unit 60D based on the output of the second lever sensor 65. The seedling planting device 4 can be automatically moved up and down to the upper limit position or the working height position, and the seedling planting device 4 can be maintained at the upper limit position or the working height position.
Thereby, at the time of work traveling with the seedling planting device 4 positioned at the working height position, the seedling planting device 4 is moved to the center float 23 regardless of the pitching of the traveling vehicle body 1 due to the ups and downs of the paddy field. It is possible to maintain the work height position corresponding to the control target angle.

  The work height position of the seedling planting device 4 (control target angle of the center float 23) can be arbitrarily changed by manual operation of the work height setting device 75 provided in the operation unit 40. . As the setting device 75, a rotary potentiometer or the like can be employed.

  As shown in FIG. 6, the ECU 60 includes an operation control unit 60E that switches the seedling planting device 4 and the fertilizer application device 5 between an operating state and a stopped state. The operation control unit 60E controls the operation of the electric first clutch motor 76 that intermittently operates the first work clutch 21, the electric second clutch motor 77 that intermittently operates the second work clutch 38, and the blower relay 39. By doing, the seedling planting apparatus 4 and the fertilizer application apparatus 5 are switched to an operation state and a stop state.

  As shown in FIGS. 1 and 6, the operation control unit 60 </ b> E is based on the outputs of the first lever sensor 64 and the float sensor 68 when the first operation lever 45 is manually operated. And the 1st operation switching control which switches the fertilizer application 5 to an operation state and a stop state is performed.

Hereinafter, the control operation of the operation control unit 60E in the first operation switching control will be described.
The operation control unit 60E detects the grounding of the center float 23 based on the output of the float sensor 68 after detecting the operation from the neutral position to the lowered position of the first work lever 45 based on the output of the first lever sensor 64. Then, a blower start process for starting the blower 33 is performed. In the blower starting process, the operation control unit 60E energizes the blower relay 39 and switches the blower relay 39 to a closed state that allows energization from the battery 37 to the blower 33, thereby starting the blower 33.
Thereafter, when the operation control unit 60E detects an operation of the first working lever 45 to the planting position based on the output of the first lever sensor 64, the seedling planting device 4 and the fertilizer application device 5 are changed from the stopped state to the activated state. An operation start process for switching is performed. In the operation start process, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the disengaged state to the engaged state, The seedling planting device 4 and the fertilizer application device 5 are switched from the stopped state to the operating state.
Thereafter, when the operation control unit 60E detects the operation of the first work lever 45 from the planting position to the lowered position based on the output of the first lever sensor 64 in the operation state of the seedling planting device 4 and the fertilizer application device 5. The blower stop process for stopping the blower 33 and the operation stop process for switching the seedling planting device 4 and the fertilizer application device 5 from the operating state to the stopped state are performed. In the blower stop process, the operation control unit 60E stops energization of the blower relay 39 and switches the blower relay 39 to an open state in which energization from the battery 37 to the blower 33 is blocked, thereby stopping the blower 33. In the operation stop process, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the on state to the off state, The seedling planting device 4 and the fertilizer application device 5 are switched from the operating state to the stopped state.
That is, the driver operates the first work lever 45 by the control operation of the operation control unit 60E based on the output of the first lever sensor 64, so that the seedling planting device 4 and the fertilizer application device 5 are stopped. You can switch to the state.

  When the operation control unit 60E detects the operation of the first working lever 45 to the automatic position based on the output of the first lever sensor 64, the operation control unit 60E and the seedling planting device 4 and the like based on the output of the second lever sensor 65 and the like. The second operation switching control for switching the fertilizer application device 5 between the operating state and the stopped state is executed.

Hereinafter, the control operation of the operation control unit 60E in the second operation switching control will be described.
The operation control unit 60E detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 64, or based on the output of the second lever sensor 65, the second work lever 46. After detecting the upward operation, when the first downward operation of the second working lever 46 is detected based on the output of the second lever sensor 65, the above-described blower starting process is performed. Thereafter, when the second operation of the second working lever 46 is detected downward based on the output of the second lever sensor 65, the seedling planting device 4 reaches the working height position based on the output of the float sensor 68. As described above, the operation start process described above is performed.
When the operation control unit 60E detects the upward operation of the second work lever 46 based on the output of the second lever sensor 65 in the operation state of the seedling planting device 4 and the fertilizer application device 5, the blower stop process and Stop operation.
That is, in the state where the first work lever 45 is located at the automatic position, the driver operates the second work lever 46 by the control operation of the operation control unit 60E based on the output of the second lever sensor 65. The seedling planting device 4 and the fertilizer application device 5 can be switched between an operating state and a stopped state.

  As shown in FIG. 6, the ECU 60 includes a marker control unit 60F that switches the left and right markers 29 between a storage posture and an action posture. The marker control unit 60F controls the operation of the left and right marker motors 30 to switch the left and right markers 29 between the storage posture and the action posture.

  As shown in FIGS. 1 and 6, the marker control unit 60 </ b> F outputs the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69 when the second operation lever 46 is manually operated. Based on the above, marker switching control for switching the left and right markers 29 between the storage posture and the action posture is executed.

Hereinafter, the control operation of the marker control unit 60F in the marker switching control will be described.
When the marker control unit 60F detects an operation from the neutral position of the second work lever 46 to the left based on the output of the second lever sensor 65, the seedling planting device 4 operates the work height based on the output of the float sensor 68. It is determined whether or not it is lowered to the vertical position. When the seedling planting device 4 is lowered to the working height position, the marker control unit 60F immediately performs a left marker overhanging process for switching the left marker 29 to the action posture. When the seedling planting device 4 has not been lowered to the working height position, the marker control unit 60F detects the lowering of the seedling planting device 4 to the working height position and detects the left marker overhanging process. I do. In the left marker overhanging process, the marker control unit 60F causes the left marker motor 30 to rotate forward until the left marker sensor 69 detects the switching of the left marker 29 to the operating posture.
When the marker control unit 60F detects an operation from the neutral position of the second work lever 46 to the right based on the output of the second lever sensor 65, the seedling planting device 4 operates the work height based on the output of the float sensor 68. It is determined whether or not it is lowered to the vertical position. When the seedling planting device 4 is lowered to the work height position, the marker control unit 60F immediately performs a right marker overhanging process for switching the right marker 29 to the action posture. When the seedling planting device 4 has not been lowered to the working height position, the marker control unit 60F detects the lowering of the seedling planting device 4 to the working height position and detects the right marker overhanging process. I do. In the right marker overhanging process, the marker control unit 60F causes the right marker motor 30 to rotate forward until the right marker sensor 69 detects the switching of the right marker 29 to the action posture.
When the marker control unit 60F detects the floating of the seedling planting device 4 based on the output of the float sensor 68 in a state where one of the left and right markers 29 is switched to the working posture, the marker 29 of the working posture is switched to the storage posture. Perform marker storage processing. In the marker storing process, the marker control unit 60F reversely operates the marker motor 30 corresponding to the marker 29 in the acting posture until the marker sensor 69 corresponding to the marker 29 in the acting posture detects the switching of the marker 29 to the retracted posture. .
That is, the driver operates the second working lever 46 by the control operation of the marker control unit 60F based on the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69. In the grounding state of the attachment device 4, the left and right markers 29 can be switched to the action posture. In addition, the marker 29 in the acting posture is automatically switched to the retracted posture as the seedling planting device 4 floats by the control operation of the marker control unit 60F based on the outputs of the float sensor 68 and the left and right marker sensors 69. be able to.

  As shown in FIGS. 2, 5, and 6, the ECU 60 performs work control for switching the seedling planting device 4 and the fertilizer application device 5 between a working state and a non-working state based on detection by the interruption switch 58 </ b> B or the rudder angle sensor 70. 60G is provided. The work control unit 60G outputs control commands to the lifting control unit 60D, the operation control unit 60E, and the marker control unit 60F, thereby bringing the seedling planting device 4 and the fertilizer application device 5 into a working state and a non-working state. Switch.

  The work control unit 60G switches the seedling planting device 4 and the fertilizer application device 5 to the non-working state in conjunction with the suspension switch 58B detecting the movement of the main transmission lever 42 to the work suspension position 58e. The state switching control is executed, and the first switch for switching the seedling planting device 4 and the fertilizer application device 5 to the working state in conjunction with the suspension switch 58B detecting the movement of the main transmission lever 42 from the work suspension position 58e. Execute work state switching control.

First, the control operation of the work control unit 60G in the first non-work state switching control will be described.
When the work control unit 60G detects the movement of the main transmission lever 42 to the work interruption position 58e based on the detection of the interruption switch 58B in the operation state of the seedling planting device 4 and the fertilizer application device 5, the left and right marker sensors 69 Based on the output, it is determined whether the left or right marker 29 is in the acting posture, and the determination result is stored in the storage unit 60B. Further, based on the output of the first lever sensor 64, it is determined whether the operation position of the first work lever 45 is a planting position or an automatic position.
If the operation position of the first work lever 45 is the planting position, the control unit 60D is instructed to execute the above-described automatic lifting process, and the control unit 60E is instructed to perform the above-described blower stop process and operation stop process. The marker control unit 60F is instructed to execute the marker storing process described above.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position, the end of the above-described automatic lifting process is commanded to the lifting control unit 60D.
As a result, the seedling planting device 4 and the fertilizer application device 5 are positioned at the upper limit position in conjunction with the swinging operation of the main transmission lever 42 to the work interruption position 58e. And the fertilizer application apparatus 5 will be in a stop state, and the left and right markers 29 can be automatically switched to a non-working state in a retracted posture.

Next, the control operation of the work control unit 60G in the first work state switching control will be described.
When the work control unit 60G detects the movement of the main transmission lever 42 from the work interruption position 58e based on the detection of the interruption switch 58B in the non-working state of the seedling planting device 4 and the fertilizer application device 5, the first lever sensor 64 is detected. Based on the output, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position.
If the operation position of the first work lever 45 is the planting position, the execution of the above-described automatic lowering process is instructed to the lifting control unit 60D, and then the grounding of the center float 23 is detected based on the output of the float sensor 68. The operation control unit 60E is instructed to execute the blower start-up process described above. After that, when the arrival of the seedling planting device 4 to the working height position is detected based on the output of the float sensor 68, the operation control unit 60E is instructed to execute the above-described operation start process, and the operation is performed on the storage unit 60B. The marker control unit 60F is instructed to execute the above-described right marker overhanging process or left marker overhanging process for returning one of the left and right markers 29 stored as the posture to the action posture.
If the operation position of the first work lever 45 is an automatic position, in addition to the control operation at the planting position described above, the automatic raising / lowering described above when the arrival of the seedling planting device 4 to the work height position is detected. Command the elevation control unit 60D to execute the process.
As a result, the seedling planting device 4 and the fertilizer application device 5 are positioned at the work height position in conjunction with the swinging operation of the main transmission lever 42 from the work interruption position 58e. The apparatus 4 and the fertilizer application apparatus 5 are in an operating state, and the marker 29 on the same side as the left or right marker 29 that was in the working posture at the time of work travel before the work interruption is automatically switched to the working state. Can do.

That is, when it becomes necessary to perform auxiliary work such as seedling supply to the seedling planting device 4 or fertilizer supply to the fertilizer application device 5 during the seedling planting operation, the driver moves to the neutral position of the main transmission lever 42. By operating the main speed change lever 42 to the work interruption position 58e while performing the travel stop operation such as the operation of the brake pedal 44 or the depression of the brake pedal 44, the travel vehicle body 1 can be stopped and the seedling planting device 4 can be stopped. And the fertilizer application apparatus 5 can be switched from a working state to a non-working state.
Thereby, the driver | operator can perform the transfer to the auxiliary | assistant operation state which performs auxiliary operations, such as seedling supply or fertilizer supply, from a driving | running state rapidly. In the non-working state of the seedling planting device 4, the seedling planting device 4 is raised to the upper limit position and the seedling mounting table 24 approaches the driving unit 40. It becomes easy to replenish seedlings for 24.
When the auxiliary work is completed, the driver operates the main speed change lever 42 from the work interruption position 58e to the forward speed change path 58b via the neutral position to move from the work interruption position 58e of the main speed change lever 42 to the neutral position. In conjunction with this operation, the seedling planting device 4 and the fertilizer application device 5 can be switched from the non-working state to the same working state as before the work interruption, and the operation from the neutral position of the main transmission lever 42 to the forward transmission path 58b In conjunction with this, the traveling vehicle body 1 can be moved forward, and the seedling planting device 4 and the fertilizer application device 5 can be driven.
As a result, the driver can quickly restart the seedling planting work after the work interruption by the auxiliary work by a simple operation.

  Based on the operation of the manual first changeover switch 78 provided in the operation unit 40, the work control unit 60G is changed into an execution state in which the control operation based on the detection of the steering angle sensor 70 is executed and a non-execution state in which the operation is not executed. Switch. As the first changeover switch 78, a toggle switch or a push button switch can be employed.

The rudder angle sensor 70 detects the swing of the steering member 52 from the rectilinear position θo to the second set angle θb on the right side as a transition from the straight traveling state to the left small turning state (an example of the direction change state). Then, the swing of the steering member 52 from the second set angle θb on the right side to the first set angle θa is detected as a transition from the left small turning state to the straight traveling state. The rudder angle sensor 70 also shifts the steering member 52 from the straight travel position θo to the second set angle θb on the left side, from the straight travel state of the traveling vehicle body 1 to the right small turn state (an example of a direction change state). And the swing of the steering member 52 from the second set angle θb on the left side to the first set angle θa is detected as a transition from the right small turning state to the straight traveling state.
That is, the rudder angle sensor 70 functions as a transition detection unit that detects the transition of the traveling state in the traveling vehicle body 1.

  In the execution state, the work control unit 60G does not work the seedling planting device 4 and the fertilizer application device 5 in conjunction with the steering angle sensor 70 detecting the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state. The second non-working state switching control for switching to the state is executed, and the seedling planting device 4 and the fertilizer are applied in conjunction with the steering angle sensor 70 detecting the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state. Second work state switching control for switching the device 5 to the work state is executed.

First, the control operation of the work control unit 60G in the second non-work state switching control will be described.
The work control unit 60G shifts the traveling vehicle body 1 from the straight traveling state to the left small turning state or the right small turning state based on the detection of the rudder angle sensor 70 in the working state of the seedling planting device 4 and the fertilizer application device 5. When detected, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position based on the output of the first lever sensor 64.
If the operation position of the first work lever 45 is the planting position, the control unit 60D is instructed to execute the above-described automatic lifting process, and the control unit 60E is instructed to perform the above-described blower stop process and operation stop process. The marker control unit 60F is instructed to execute the marker storing process described above.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position, the end of the above-described automatic lifting process is commanded to the lifting control unit 60D.
Thereby, the seedling planting device 4 and the fertilizer application device 5 can be automatically switched to the non-working state described above in conjunction with the transition from the straight traveling state of the traveling vehicle body 1 to the left small turning state or the right small turning state. .

Next, the control operation of the work control unit 60G in the second work state switching control will be described.
The work control unit 60G shifts the traveling vehicle body 1 from the left small turning state or the right small turning state to the straight traveling state based on the detection of the steering angle sensor 70 in the non-working state of the seedling planting device 4 and the fertilizer application device 5. When detected, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position based on the output of the first lever sensor 64.
If the operation position of the first work lever 45 is the planting position, the execution of the above-described automatic lowering process is instructed to the lifting control unit 60D, and then the grounding of the center float 23 is detected based on the output of the float sensor 68. The operation control unit 60E is instructed to execute the blower start-up process described above. Thereafter, when arrival of the seedling planting device 4 to the working height position is detected based on the output of the float sensor 68, the operation control unit 60E is instructed to execute the operation start process described above, and the turning direction of the traveling vehicle body 1 is determined. Instructs the marker control unit 60F to execute the above-described right marker overhanging process or left marker overhanging process for switching the marker 29 on the opposite side to the action posture.
If the operation position of the first work lever 45 is an automatic position, in addition to the control operation at the planting position described above, the automatic raising / lowering described above when the arrival of the seedling planting device 4 to the work height position is detected. Command the elevation control unit 60D to execute the process.
Accordingly, the seedling planting device 4 and the fertilizer application device 5 are positioned at the working height position in conjunction with the transition of the traveling vehicle body 1 from the left small turning state or the right small turning state to the straight traveling state. Then, the seedling planting device 4 and the fertilizer application device 5 are in the operating state, and the marker 29 on the opposite side to the left or right marker 29 that was in the working posture at the time of the work travel before the cornering turn is in the working posture. Can automatically switch to the state.

  That is, when performing seedling planting work by reciprocating planting, the driver operates the first changeover switch 78 to switch the work control unit 60G to the execution state. Just by performing the steering for the turning, the seedling planting device 4 and the fertilizer application device 5 can be switched from the working state to the non-working state with the start of the turning turning. Accordingly, the seedling planting device 4 and the fertilizer application device 5 can be switched from a non-working state to a working state suitable for work on the next work travel route R1a to R1e.

  As shown in FIGS. 5 to 7, the ECU 60 includes an engine control unit 60 </ b> H that controls the operation of the engine 7, and a condition determination unit 60 </ b> K that determines whether the temporary stop condition and the restart condition of the engine 7 are satisfied. I have.

  The engine control unit 60H performs engine pause control for temporarily stopping the engine 7 when the condition determination unit 60K determines that the temporary stop condition of the engine 7 is satisfied. The engine control unit 60H executes engine restart control that restarts the engine 7 when the condition determination unit 60K determines that the restart condition of the engine 7 is satisfied.

  The engine control unit 60H includes a starter relay 80 that enables power supply from the battery 37 bypassing the main switch 61 to the starter unit 63 and an igniter 7A of the engine 7 from the battery 37 in the engine temporary stop control and the engine restart control. By controlling the operation of the igniter relay 81 that intermittently energizes the engine 7, the engine 7 is temporarily stopped or restarted.

  The starter relay 80 is connected to the starter unit 63 via the brake switch 62, similarly to the main switch 61. As a result, in the same manner as the engine 7 starting operation by the main switch 61, the driver can depress the brake pedal 44 to the braking position in the engine 7 restarting operation based on the engine restarting control of the engine control unit 60H. It is mandatory.

  For example, the condition determination unit 60K detects that the interruption switch 58B has moved to the work interruption position 58e of the main transmission lever 42, and, for example, the output rotational speed of the engine 7 is equal to or lower than a set rotational speed (for example, idling rotational speed). If conditions suitable for restarting the engine 7 such as the voltage of the battery 37 being equal to or higher than a set value and the temperature of the engine coolant being equal to or higher than a set value (for example, 55 degrees) are ensured. Then, it is determined that the temporary stop condition of the engine 7 is satisfied, and otherwise, it is determined that the temporary stop condition of the engine 7 is not satisfied. The condition determination unit 60K determines that the restart condition of the engine 7 is not satisfied while the interruption switch 58B does not detect the movement of the main transmission lever 42 from the work interruption position 58e, and the interruption switch 58B When the movement of the lever 42 from the work interruption position 58e is detected, it is determined that the restart condition of the engine 7 is satisfied.

  The condition determination unit 60K determines whether or not the output rotation speed of the engine 7 is equal to or less than the set rotation speed based on the output of the rotation sensor 71. The condition determination unit 60K determines whether the voltage of the battery 37 is equal to or higher than a set value based on the output of the voltage detector 72. The condition determination unit 60K determines whether or not the temperature of the engine coolant is equal to or higher than a set value based on the output of the water temperature sensor 73.

Hereinafter, the control operation of the engine control unit 60H in the engine temporary stop control will be described.
When the engine control unit 60H detects the establishment of the temporary stop condition of the engine 7 based on the determination of the condition determination unit 60K, the engine control unit 60H turns on the first notification unit 47B composed of the LED provided in the notification device 47 and igniter relay 81 The engine 7 is temporarily stopped by switching the igniter relay 81 to an open state in which the energization from the battery 37 to the igniter 7A is stopped.
As a result, when the driver stops traveling the vehicle body 1 to perform auxiliary work such as seedling replenishment or fertilizer replenishment, for example, the operation to the neutral position of the main transmission lever 42 or the depression of the brake pedal 44 is performed. It is possible to temporarily stop the engine 7 by operating the main speed change lever 42 to the work interruption position 58e while performing the travel stop operation according to the above. As a result, auxiliary work such as seedling replenishment and fertilizer replenishment is performed. During this time, it is possible to prevent wasteful fuel consumption due to the engine 7 continuing to operate.
Further, even if the main speed change lever 42 is operated to the work interruption position 58e, if the above-described temporary stop condition is not satisfied, the temporary stop operation of the engine 7 is not performed. To avoid the possibility of inconvenience such as troublesome restarting operation of the engine 7 due to the engine 7 being temporarily stopped when the temperature is lower than the set value or when the temperature of the engine cooling water is lower than the set value. Can do.
Then, the driver can easily determine whether or not the engine 7 has been temporarily stopped by operating the main transmission lever 42 to the work interruption position 58e from the state of the first notification unit 47B.

Next, the control operation of the engine control unit 60H in the engine restart control will be described.
When the engine control unit 60H detects that the restart condition of the engine 7 is satisfied based on the determination of the condition determination unit 60K, the engine control unit 60H performs an engine restart process in response to the detection.
In the engine restart process, first, the energization of the igniter relay 81 is stopped, and the igniter relay 81 is switched to a closed state in which the igniter 7A is energized from the battery 37, thereby allowing the engine 7 to start. Next, the starter relay 80 is energized and switched to a closed state in which the starter relay 80 is energized from the battery 37 to the starter unit 63, thereby energizing the starter unit 63 from the battery 37 bypassing the main switch 61. Is operated to restart the engine 7.
After performing the engine restart process, it is determined based on the output of the rotation sensor 71 whether or not the output rotational speed of the engine 7 is equal to or higher than the set rotational speed. It is determined that there was no engine restart process. If it is equal to or higher than the set rotational speed, it is determined that restart of the engine 7 is completed, and the first notification unit 47B is turned off.
As a result, the driver can easily operate the engine 7 by operating the main speed change lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position after completing the auxiliary work. Can be restarted.
Then, the driver can easily determine whether or not the engine 7 has been restarted by the operation from the work interruption position 58e of the main transmission lever 42 to the neutral position from the state of the first notification unit 47B.

  As shown in FIGS. 2 and 6, the traveling vehicle body 1 includes an automatic steering unit 83 that enables automatic steering of the left and right front wheels 6 </ b> A. The automatic steering unit 83 includes an electric steering motor 84 and a gear mechanism 85 that transmits power from the steering motor 84 to the steering shaft 49.

  As shown in FIGS. 1 and 6, the traveling vehicle body 1 includes a positioning unit 86 that measures its position and orientation. The positioning unit 86 uses a well-known GPS (Global Positioning System), which is an example of a Global Navigation Satellite System (GNSS), a satellite navigation device 87 that measures the position and orientation of the traveling vehicle body 1, and An inertial measurement device (IMU: Inertial) that has a three-axis gyroscope (not shown) and a three-direction acceleration sensor (not shown) and measures the roll angle, pitch angle, and yaw angle of the traveling vehicle body 1 Measurement Unit) 88.

The satellite navigation device 87 is supported by the upper end portion 59C of the preliminary storage portion 59 located at the top of the traveling vehicle body 1 so that the reception sensitivity of radio waves from the satellite by the GPS antenna 87A is increased. Therefore, the positioning result by the satellite navigation device 87 includes a positioning error due to the positional deviation of the GPS antenna 87A due to the inclination of the traveling vehicle body 1. Therefore, this passenger rice transplanter is provided with an inertial measurement device 88 to correct a positioning error of the satellite navigation device 87 caused by a positional deviation of the GPS antenna 87A due to the inclination of the traveling vehicle body 1.
Further, by providing the satellite navigation device 87 and the inertial measurement device, for example, the cumulative position included in the relative position of the traveling vehicle body 1 obtained from the inertial measurement device 88 by the absolute position of the traveling vehicle body 1 obtained from the satellite navigation device 87. It is also possible to correct the error.
That is, by providing the satellite navigation device 87 and the inertial measurement device, the position and orientation of the traveling vehicle body 1 can be accurately measured.

  The inertial measurement device 88 is disposed at the center of the left and right sides of the rear axle case 14 having high rigidity.

  As shown in FIGS. 6 and 8 to 11, the ECU 60 includes a route setting unit 60 </ b> L that sets the target straight traveling route Rs and a direction control unit 60 </ b> M that controls the traveling direction of the traveling vehicle body 1.

  When the pressing operation of the first switch 89 and the second switch 90 for teaching provided in the driving unit 40 is performed, the route setting unit 60L is configured to travel the vehicle body 1 when performing reciprocal planting in a paddy field based on the pressing operation. Teaching control is performed to determine the reference orientation.

Hereinafter, the control operation of the route setting unit 60L in teaching control will be described.
When the path setting unit 60L detects a pressing operation of the first switch 89 during traveling, the route setting unit 60L registers the measurement result of the positioning unit 86 obtained at this time as the teaching start end position Pta.
Next, when the pressing operation of the second switch 90 is detected during traveling, the measurement result of the positioning unit 86 obtained at this time is registered as the teaching end position Ptb.
Then, the extending direction of the straight line passing through the registered teaching start end position Pta and teaching end position Ptb is determined as the reference orientation Ro described above and written in the storage unit 60B.
Thereby, for example, in the preparation travel stage before the start of the work travel performed in order to secure the work travel routes R2a to R2d for turning planting at the saddle, the driver can enter the work travel routes R1a to R1e for reciprocating planting. The paddy field to be worked is obtained by performing a pressing operation of the first switch 89 and the second switch 90 and causing the path setting unit 60L to perform teaching control during straight traveling on the work traveling paths R2a and R2c for along-planting. Can be easily obtained.

  As the first switch 89 and the second switch 90, a momentary switch or the like can be employed.

  The route setting unit 60L is configured to execute the target route setting control for setting the target straight travel route Rs based on the operation of the manual second changeover switch 91 provided in the main transmission lever 42 and the non-executed state not to execute it. And switch to As the second changeover switch 91, a momentary switch, a two-position changeover type toggle switch, or the like can be employed.

  In the execution state of the target route setting control, the route setting unit 60L, when the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, is orthogonal to the straight traveling route immediately before the turning based on this detection. A target straight path Rs along the reference direction Ro written in the storage unit 60B is set at a position on the turning direction side that is a set distance (for example, a distance corresponding to the work width W of the seedling planting device 4) in the direction. .

  In the control target region Rsa of the target straight path Rs set by the path setting unit 60L, the direction control unit 60M automatically moves the traveling vehicle body 1 to the target straight path based on the target straight path Rs and the positioning result of the positioning unit 86. Automatic straight-ahead control for running on Rs is executed.

Hereinafter, the control operation of the direction control unit 60M in the automatic linear advance control will be described.
First, the direction control unit 60M, based on the target straight path Rs and the positioning result of the positioning unit 86, the shift amount and the shift direction of the current position of the traveling vehicle body 1 with respect to the target straight path Rs and the travel with respect to the target straight path Rs. A deviation angle and a deviation direction of the current direction of the vehicle body 1 are obtained as deviation information.
Next, based on the obtained deviation information, the output of the vehicle speed sensor 92 that detects the output rotational speed of the auxiliary transmission 10 as the vehicle speed, and the correction data for automatic straight-ahead control stored in the storage unit 60B, the left and right The control target rudder angle of the front wheel 6A is determined.
Based on the determined control target rudder angle and the output of the rudder angle sensor 70, the operation of the steering motor 84 is controlled so that the rudder angle of the left and right front wheels 6A becomes the control target rudder angle.
That is, in the control target region Rsa of the target straight path Rs, the traveling vehicle body 1 automatically travels on the target straight path Rs by the automatic straight travel control of the direction control unit 60M. It is not necessary to steer so as not to deviate from the route Rs. As a result, it is possible to reduce the driver's labor required for work travel.

  The direction control unit 60M switches to a functional state in which automatic straight-ahead control can be executed as the route setting unit 60L switches to the execution state of the target route setting control based on the operation of the second changeover switch 91, and also notifies The second notification unit 47 </ b> C composed of the LED mounted on the device 47 is blinked. In addition, the direction control unit 60M switches to a stop state in which automatic straight-ahead control is not performed as the route setting unit 60L switches to the non-execution state of the target route setting control based on the operation of the second changeover switch 91. 2 Turn off the notification unit 47C.

  The vehicle speed sensor 92 may be an electromagnetic pickup type. The correction data for automatic rectilinear control indicates the relationship between the shift amount and the shift direction of the current position of the traveling vehicle body 1 with respect to the target straight travel route Rs, the vehicle speed of the traveling vehicle body 1, and the control target steering angle of the left and right front wheels 6A. Map data or relational expression, and map data indicating the relationship between the deviation angle and deviation direction of the current direction of the traveling vehicle body 1 with respect to the target straight path Rs, the vehicle speed of the traveling vehicle body 1, and the control target steering angle of the left and right front wheels 6A Alternatively, a relational expression or the like can be adopted.

  As shown in FIGS. 6 and 11, the control target region Rsa of the target straight path Rs for which the direction control unit 60M performs the automatic straight control is an automatic straight control for the traveling vehicle body 1 from the travel start point Pa on the target straight path Rs. This is a region obtained by removing the manual travel region Rsb traveled until the execution condition is satisfied from the actual travel region Rsc extending from the travel start point Pa to the travel end point Pb on the target straight path Rs. The travel start point Pa is a point where the direction control unit 60M detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state based on the detection of the steering angle sensor 70. The travel end point Pb is a point where the direction control unit 60M detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state based on the detection of the steering angle sensor 70. The direction control unit 60M, based on the target straight path Rs set by the path setting unit 60L and the measurement result of the positioning unit 86, the amount of deviation of the current position of the traveling vehicle body 1 from the target straight path Rs and the target straight path Rs. When it is detected that the deviation angle of the current azimuth of the traveling vehicle body 1 has changed from outside the allowable range to within the allowable range, it is determined that the execution condition for the automatic straight-ahead control is satisfied.

  For this reason, the driver greatly deviates the position of the center mascot 93 provided at the left and right central portions of the front end portion of the traveling vehicle body 1 with respect to the traveling reference line L formed by the marker 29 after the cornering turning. If it is determined that the deviation amount and the deviation angle are outside the allowable range, the deviation amount and the deviation angle are set within the allowable range in order to satisfy the execution condition of the automatic linear advance control. Specifically, manual correction steering in which the steering wheel 41 is operated to steer the left and right front wheels 6A so that the traveling reference line L extends straight ahead of the line of sight of the center mascot 93 from the seating position. Need to do.

Therefore, in order to facilitate such a correction operation by the driver, the direction control unit 60M starts traveling of the traveling vehicle body 1 based on information from the operation control unit 60E or the work control unit 60G in the functional state. When arrival at the point Pa is detected, determination control is performed to determine whether or not an automatic straight-ahead control execution condition is satisfied based on the target straight-ahead route Rs set by the route setting unit 60L and the measurement result of the positioning unit 86. To do. In this determination control, when it is determined that the execution condition is not satisfied, the second notification unit 47C is maintained in a blinking state to notify the driver that the execution condition for the automatic straight-ahead control is not satisfied. When it is determined that the execution condition is satisfied, the second notification unit 47C is switched from the blinking state to the lighting state, and the direction control unit 60M notifies the driver that the automatic straight-ahead control is being executed.
As a result, when the second notification unit 47C is switched from the blinking state to the lighting state with the end of the coasting turn, the driver grasps that the automatic straight-ahead control is executed with the end of the coasting turn. can do. In addition, when the second notification unit 47C continues to blink even after the end of the turning, the driver has determined that the above-described deviation amount and deviation angle are outside the allowable range, and the above-described manual correction steering is performed. Can understand that is necessary. And if the 2nd alerting | reporting part 47C switches from a blinking state to a lighting state by manual correction | amendment steering, it can grasp | ascertain that the deviation amount and deviation angle mentioned above were in the tolerance | permissible_range, and automatic straight-ahead control was performed.

  Next, based on FIG. 6 and FIGS. 8 to 11, when performing seedling planting work in a rectangular paddy field using control operations of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, and the like. An example will be described.

(1) The driver performs a preparatory travel for securing the respective work travel routes R2a to R2d for turning planting at the heel before the start of the work travel. In this preparatory travel, the driver starts the first work lever 45 or the second work lever at the start of straight traveling on each of the work travel routes R2a and R2c for planting along the work travel routes R1a to R1e for reciprocating planting. The seedling planting device 4 is lowered to the working height position by the operation of 46, and the marker 29 on the reciprocating planting region side is switched to the action posture by the operation of the second working lever 46. As a result, the travel reference line L that can be used when traveling on the first work travel route R1a and the final work travel route R2e for reciprocating planting can be formed on the mud surface.
(2) The driver first performs teaching by the route setting unit 60L by operating the first switch 89 during straight traveling on the work travel route R2a for rotation planting adjacent to the first work travel route R1a for reciprocating planting. The start end position Pta is registered, and after the straight travel of the set distance from this registration, the teaching end position Ptb is registered by the route setting unit 60L by operating the second switch 90. Then, the route setting unit 60L executes the above-described teaching control, and thereby, it is possible to obtain a reference orientation Ro suitable for reciprocal planting in this paddy field.
(3) The driver switches the work control unit 60G to the execution state described above by operating the first changeover switch 78 during the straight traveling on the work travel route R2a for planting around. Further, by operating the second changeover switch 91, the route setting unit 60L is switched to the execution state of the target route setting control, and the direction control unit 60M is switched to the functional state. Then, at this time, the second notification unit 47C blinks because the direction control unit 60M is in a state where the above-described automatic straight-ahead control is executable.
(4) When the traveling vehicle body 1 reaches the reversal direction change area by the straight traveling on the work planting route R2a for planting around, the driver is adjacent to the work traveling route R2a for planting around the traveling vehicle body 1. A coasting turning operation (180 degree direction changing operation) for moving to the first work travel route R1a for reciprocating planting is performed. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and based on this detection, the work control unit 60G executes the second non-working state switching control described above, and the seedling While raising the planting apparatus 4 to an upper limit position, the marker 29 of an action position is switched to a retracted position. Further, the route setting unit 60L executes the target route setting control, and is away from the work traveling route R2a for the rotation planting by a set distance (here, a distance corresponding to the work width W of the seedling planting device 4). The target straight path Rs along the reference direction Ro described above is set at a position on the turning direction side.
(5) When the traveling vehicle body 1 approaches the traveling start point Pa of the first work traveling route R1a for reciprocating planting (target straight traveling route Rs) by this saddle turning operation, the driver recognizes that the traveling vehicle body 1 is used for reciprocating planting. The coasting turning operation is terminated so as to obtain a state of traveling straight on the first work travel route R1a. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the second work state switching control described above. As a result, the seedling planting device 4 and the fertilizer application device 5 are switched from the above-described non-working state to the above-described working state in conjunction with the traveling vehicle body 1 shifting from the coasting turning state to the straight traveling state, and the riding rice transplanter is The mobile travel state is switched to the work travel state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa, and executes the above-described determination control in accordance with this detection.
(6) In this determination control, if the direction control unit 60M determines that the execution condition of the automatic straight-ahead control is not satisfied, the second notification unit 47C maintains the blinking state while this determination is continued. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is positioned on the first work traveling route R1a for reciprocating planting (the above-described displacement amount and displacement angle are within the allowable range).
Further, in this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight-ahead control is satisfied, the direction control unit 60M starts the automatic straight-ahead control because the control target region Rsa is reached. And the 2nd alerting | reporting part 47C switches from a blinking state to a lighting state. Then, based on the automatic straight-ahead control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the first work travel route R1a (target straight-travel route Rs) for reciprocating planting. This eliminates the need for steering so that the traveling vehicle body 1 does not deviate from the first work traveling route R1a for reciprocating planting.
(7) When the traveling vehicle body 1 reaches the reversal direction change region by the straight traveling on the first working traveling route R1a for reciprocating planting, the driver adjoins the traveling vehicle body 1 from the current working traveling route R1a. A coasting turning operation for moving to the next work travel route R1b is performed. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and based on this detection, the work control unit 60G executes the second non-working state switching control described above. Further, the route setting unit 60L executes the target route setting control, and sets the target straight traveling route Rs along the reference direction Ro described above at a position on the turning direction side that is a set distance in the orthogonal direction from the current work traveling route R1a. Set. Further, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the current work travel route R1a to the travel end point Pb and terminates the above-described automatic linear control, and the second notification unit 47C is turned on. Switches to the blinking state. As a result, the seedling planting device 4 and the fertilizer application device 5 are switched from the aforementioned working state to the aforementioned non-working state in conjunction with the traveling vehicle body 1 shifting from the straight traveling state to the coasting turning state, and the riding rice transplanter is The working travel state is switched to the traveling state.
(8) When the traveling vehicle body 1 approaches the travel start point Pa of the next work travel route R1b by this drooping turning operation, the driver relies on the above-described reciprocation travel routes (5) to (7). The above operations are appropriately performed in that order until the traveling vehicle body 1 reaches the turning direction changing area by straight traveling on the final work traveling route R1e for reciprocating planting.
That is, in the control target region Rsa of the target straight travel route Rs in the reciprocating travel route, the automatic straight travel control is executed, and the traveling vehicle body 1 automatically travels on the target straight travel route Rs. In the direction change region, the driver's The second non-working state switching control and the second working state switching control are appropriately executed in conjunction with the dredging turning operation, and the seedling planting device 4 and the fertilizer application device 5 are in the non-working state and working state at appropriate timing. And switch to
As a result, it is possible to satisfactorily plant seedlings and fertilize on the reciprocating travel route while effectively reducing the driver's labor required for work travel without causing a decrease in work efficiency.
(9) After that, when the traveling vehicle body 1 reaches the reversal direction turning region by the straight traveling on the final work traveling route R1e for reciprocating planting, the driver operates the route setting unit 60L by operating the second changeover switch 91. Is switched to the non-execution state described above, and the direction control unit 60M is switched to the stop state. In addition, a cornering turning operation for moving the traveling vehicle body 1 from the final work travel route R1e for reciprocating planting to the adjacent work travel route R2c for planting is performed. Then, based on the detection of the rudder angle sensor 70 at this time, the work control unit 60G executes the second non-work state switching control described above, whereby the riding rice transplanter is switched from the work travel state to the travel travel state. Then, the driver switches the work control unit 60G to the above-described non-execution state by operating the first changeover switch 78 during the turning at this time. Then, even if the driver finishes the saddle turning operation in order to make the traveling vehicle body 1 travel along the planting work traveling route R2c, the riding rice transplanter maintains the traveling traveling state.
Thus, the driver can quickly move the riding rice transplanter from the final work travel route R1e for reciprocating planting toward the first work travel route R2a for planting.
(10) Then, after moving to the first work travel route R2a for the planting, the driver manually operates the traveling vehicle body 1 along the respective work travel routes R2a to R2d for the planting. By the operation of the lever 45 or the second work lever 46, the working state and the non-working state of the seedling planting device 4 and the fertilizer application device 5 suitable for round planting are switched.

  As shown in FIG. 6, the traveling vehicle body 1 includes a first remaining amount detection unit 24 </ b> A that detects the remaining amount of mat-like seedlings on the seedling mount 24, and a second remaining amount that detects the remaining amount of fertilizer in the hopper 31. 31A of detection parts, and the clogging sensor (an example of a malfunction sensor) 35A which detects the clogging of the fertilizer in each grooving device 35 as a malfunction regarding an operation | work are provided. The first remaining amount detecting unit 24A employs eight limit switches that detect that the remaining amount of the mat-like seedling has decreased to a set value for seedling replenishment. The second remaining amount detection unit 31A employs a transmission photoelectric sensor that detects that the remaining amount of fertilizer has decreased to a set value for fertilizer supply. The clogging sensor 35A includes a pair of electrodes arranged at predetermined intervals in each grooving device, and the fertilizer supplied through the pair of electrodes adheres to the fertilizer to detect clogging of the fertilizer. To detect.

  The notification device 47 includes a third notification unit 47D and a hopper 31 that are made of LEDs that notify the driver that the remaining amount of any mat-shaped seedling placed on the seedling placing table 24 has decreased to a set amount for seedling replenishment. That the fertilizer clogging has occurred in the fourth notifying unit 47E, which is an LED that informs the driver that the remaining amount of fertilizer stored in the tank has decreased to the set value for replenishing fertilizer, and any of the grooving devices 35. A fifth notification unit 47F made of an LED for notifying the driver is provided.

  Based on the output of the first remaining amount detecting unit 24A, the work control unit 60G detects that the remaining amount of any mat-shaped seedling placed on the seedling placing table 24 has decreased to the set value for seedling replenishment. Then, the 3rd alerting | reporting part 47D for seedling replenishment alerting | reporting is switched from a light extinction state to a blinking state. As a result, the driver can be urged to replenish the seedling mount 24 with mat-like seedlings. Thereafter, in the blinking state of the third notification unit 47D, based on the output of the first remaining amount detecting unit 24A, the remaining amount of all mat-like seedlings placed on the seedling placing stand 24 is set to the set value for seedling replenishment. When it is detected that the number has been exceeded, the third notification unit 47D is switched from the blinking state to the unlit state.

  When the work control unit 60G detects that the remaining amount of fertilizer stored in the hopper 31 has decreased to the set value for supplying fertilizer based on the output of the second remaining amount detecting unit 31A, the work control unit 60G 4 The notification unit 47E is switched from the extinguished state to the blinking state. Thereby, the driver can be urged to supply the hopper 31 with fertilizer. Then, in the blinking state of the fourth notification unit 47E, based on the output of the second remaining amount detection unit 31A, when detecting that the remaining amount of fertilizer stored in the hopper 31 has exceeded the set value for fertilizer supply, The fourth notification unit 47E is switched from the blinking state to the unlit state.

  When the work control unit 60G detects that a fertilizer clogging has occurred in any of the grooving devices 35 based on the output of the clogging sensor 35A, the work control unit 60G switches the fifth notification unit 47F for clogging notification from the off state to the blinking state. . Thereby, the driver can be urged to remove the fertilizer clogged in the grooving device 35. Thereafter, in the blinking state of the fifth notification unit 47F, when it is detected that the clogging of the fertilizer in each grooving device 35 has been eliminated based on the output of the clogging sensor 35A, the fifth notification unit 47F is turned off from the blinking state. Switch to.

  When the driver visually recognizes the flashing of the third notification unit 47D, the fourth notification unit 47E, or the fifth notification unit 47F during the work travel on each of the work travel routes R1a to R1e and R2a to R2d, the driver seat 48 Away from the driving seat 48 from the driving state where the steering wheel 41 or the like is operated, and the seedling supply to the seedling stage 24, the fertilizer supply to the hopper 31, or the removal of the fertilizer clogged in the groove producing device 35 , Etc., to shift to an auxiliary work state (an example of another work state).

  Next, based on FIG. 6 and FIG. 7, a case where the driver needs to shift from the driving state to the auxiliary working state during the work traveling on each of the work traveling routes R1a to R1e, R2a to R2d will be described. .

(1) When the driver visually recognizes the flashing of the third notification unit 47D, the fourth notification unit 47E, or the fifth notification unit 47F, first, the driver performs an operation to the neutral position of the main transmission lever 42 or depresses the brake pedal 44. The main speed change lever 42 is operated to the work interruption position 58e while performing a travel stop operation such as an operation. Then, based on these operations, the traveling vehicle body 1 stops traveling, and the work control unit 60G executes the first non-working state switching control described above. By this first non-working state switching control, the seedling planting device 4 and the fertilizer application 5 switch from a working state to a non-working state. In addition, when the condition determination unit 60K determines whether or not the temporary stop condition of the engine 7 is satisfied and is determined to be satisfied, the engine control unit 60H executes the engine temporary stop control described above. While the engine 7 is temporarily stopped, the first notification unit 47B is turned on.
That is, when the driver needs to shift from the driving state to the auxiliary working state during the work travel on each of the work travel routes R1a to R1e and R2a to R2d, the driver operates the main transmission lever 42 together with the travel stop operation. It is possible to switch the riding rice transplanter from the working travel state to the travel stop state and to temporarily stop the engine 7 only by performing an operation to the interruption position 58e.
As a result, the driver can quickly move from the driving state to the auxiliary work state, and can perform the auxiliary work while preventing fuel from being consumed unnecessarily during the auxiliary work. In the non-working state of the seedling planting device 4, the seedling planting device 24 moves up to the upper limit position so that the seedling mounting table 24 approaches the driving unit 40. It becomes easy to supply seedlings to the table 24.
(2) When the driver finishes the auxiliary work such as seedling replenishment or fertilizer replenishment, the driver operates the main transmission lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position. Then, based on this operation, the work control unit 60G executes the first work state switching control described above, and the seed work planting device 4 and the fertilizer application device 5 perform the auxiliary work from the non-working state by the first work state switching control. Switch to the same working state as before the start. When the engine 7 is temporarily stopped, the engine control unit 60H executes the engine restart control described above. With this engine restart control, the engine 7 is restarted and the first notification unit 47B is turned off. . Thereafter, when the driver performs an operation of returning the brake pedal 44 to the braking release position and an operation from the neutral position of the main transmission lever 42 to the forward transmission path 58b, the traveling vehicle body 1 starts forward traveling, The planting device 4 and the fertilizer application device 5 are driven.
That is, when the driver finishes the seedling supply or the fertilizer supply and resumes the work travel on the work travel routes R1a to R1e, R2a to R2d, the driver depresses the brake pedal 44 to the braking position, After the operation from the work interruption position 58e of 42 to the neutral position, the return operation of the brake pedal 44 to the braking release position and the operation from the neutral position of the main transmission lever 42 to the forward transmission path 58b are performed. The riding rice transplanter can be switched from the travel stop state to the work travel state.

The direction control unit 60M interrupts the automatic linear advance control when the engine pause control is executed during the execution of the automatic linear advance control described above, and automatically when the engine restart control is executed during the interruption of the automatic linear advance control. Resume straight-ahead control.
Accordingly, the driver needs to perform the auxiliary work during the work traveling on the work traveling routes R1a to R1e for reciprocating planting using the automatic linear control of the direction control unit 60M. When the engine control unit 60H operates the operation interruption position 58e and executes the engine temporary stop control based on this operation, the direction control unit 60M interrupts the automatic straight-ahead control in conjunction with this, so that the auxiliary operation is performed. Therefore, it is possible to prevent wasteful power consumption due to the continuous automatic linear control even in the travel stop state in which the engine 7 is temporarily stopped.
Thereafter, when the driver finishes the auxiliary work and operates the main transmission lever 42 from the work interruption position 58e to the neutral position, the engine control unit 60H executes engine restart control based on this operation, and in conjunction with this, Since the direction control unit 60M resumes the automatic straight-ahead control, the traveling vehicle body 1 can automatically travel on the target straight-ahead route Rs based on the automatic straight-ahead control of the direction control unit 60M even after resuming the work travel. .

  As shown in FIGS. 6 and 8 to 11, the ECU 60 stores a point storage unit 60 </ b> N that stores a turning start point P at which the traveling vehicle body 1 shifts from the straight traveling state to the coasting turning state (180-degree direction changing state), and An arrival determination unit 60P that determines whether or not the traveling vehicle body 1 has reached the conversion start point P is provided.

  Based on the output of the steering angle sensor 70 and the positioning result of the positioning unit 86, the point storage unit 60N detects the transition of the traveling vehicle body 1 from the straight traveling state to the left small turning state or the right small turning state. Sometimes, the transition start point from the straight traveling state of the traveling vehicle body 1 obtained from the positioning result of the positioning unit 86 to the left small turning state or the right small turning state is stored as the left turning start point Pc or the right turning start point Pd. Based on the left turn start point Pc or the right turn start point Pd stored in the point storage unit 60N, the arrival determination unit 60P determines the turn start points Pc and Pd on the current work travel routes R1a to R1e for reciprocating planting. Whether or not the traveling vehicle body 1 has reached the conversion start points Pc and Pd in the current work travel routes R1a to R1e for reciprocating planting based on the set conversion start points Pc and Pd and the positioning result of the positioning unit 86 Setting determination control for determining whether or not is executed.

  When the arrival determination unit 60P determines the arrival of the traveling vehicle body 1 to the left turn start point Pc or the right turn start point Pd, the direction control unit 60M automatically carries out the current work travel in the reciprocating planting. Automatic direction change control is executed to change the direction from the path R1a to R1d (target straight path Rs) to the next work travel path R1b to R1e (target straight path Rs).

Hereinafter, the control operation of the direction control unit 60M in the automatic direction change control will be described.
When the direction control unit 60M detects the arrival of the traveling vehicle body 1 to the left turning start point Pc based on the determination result of the arrival determination unit 60P, the operation of the steering motor 84 is performed so that the left small turning state of the traveling vehicle body 1 is obtained. The left direction changing process for controlling the time is performed, and the time measurement by the time measuring unit 60C is started.
Thereafter, when a predetermined time has elapsed from the start of the leftward turning process until the traveling vehicle body 1 completes the coasting turn (180-degree turning), the straight traveling state of the traveling vehicle body 1 is obtained as a result. Thus, a straight-ahead return process for controlling the operation of the steering motor 84 is performed.
Conversely, when the arrival of the traveling vehicle body 1 to the right turning start point Pd is detected based on the determination result of the arrival determination unit 60P, the operation of the steering motor 84 is controlled so that the traveling vehicle body 1 is in a small right turn state. While performing a right direction change process, the time measuring part 60C starts time measurement.
Thereafter, when a predetermined time required for the traveling vehicle body 1 to complete the coasting turn from the start of the rightward turning process, the straight-ahead return process described above is performed along with the elapse of time.
That is, in the turning direction changing area, it is possible to automatically turn the traveling vehicle body 1 by the automatic turning control of the direction control unit 60M. The driver's labor required can be further reduced.

  The direction control unit 60M switches between an execution state in which the automatic direction change control is executed and a non-execution state in which the automatic direction change control is not executed based on an operation of the manual third changeover switch 94 provided in the operation unit 40. The arrival determination unit 60P switches to the execution state in which the setting determination control is executed as the direction control unit 60M switches to the execution state of the automatic direction change control based on the operation of the third changeover switch 94. Further, the arrival determination unit 60P switches to a non-execution state in which the setting determination control is not executed as the direction control unit 60M switches to the non-execution state of the automatic direction change control based on the operation of the third changeover switch 94. As the third change-over switch 94, a toggle switch or a push button switch can be employed.

  The direction control unit 60M notifies when the left turn start point Pc and the right turn start point Pd of the traveling vehicle body 1 are not stored in the point storage unit 60N and are switched to an execution state in which the automatic turn control is executed. The sixth notification unit 47G composed of a buzzer provided in the device 47 is intermittently operated to notify the driver that the left turn start point P and the right turn start point P are not stored in the point storage unit 60N.

Next, in a rectangular paddy field, when seedling planting work is performed using control operations such as the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the point storage unit 60N, and the arrival determination unit 60P An example will be described.
Here, the above-described teaching control is completed, the work control unit 60G switches to the execution state described above, the path setting unit 60L switches to the execution state described above, and the direction control unit 60M functions and execution states described above. A description will be given from the stage where the switching to, the switching of the arrival determination unit 60P to the execution state described above, and the like are completed.

(1) When the vehicle travels straight on the work travel route R2a for planting adjacent to the first work travel route R1a for reciprocating planting, the left turn start point Pc and the right turn start point Pd of the traveling vehicle body 1 are the point storage unit 60N. Therefore, the sixth notification unit 47G operates intermittently to inform the driver that the left turn start point Pc and the right turn start point Pd are not stored in the point storage unit 60N. As a result, when the traveling vehicle body 1 reaches the turning direction changing area during the straight traveling on the work planting route R2a for rotation planting, the driver moves the traveling vehicle body 1 to the left from the work traveling route R2a for planting. A left turn operation is performed to move to the adjacent first traveling route R1a for reciprocating planting. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the left small turning state, and based on this detection, the work control unit 60G executes the second non-working state switching control described above, While raising the seedling planting device 4 to the upper limit position, the marker 29 of the action posture is switched to the retracted posture. Further, the route setting unit 60L executes the target route setting control, and the target straight path along the reference direction Ro described above at a position on the turning direction side that is a set distance away from the work traveling route R2a for rotation planting in the orthogonal direction. Set Rs. And the point memory | storage part 60N memorize | stores the driving | running | working end point Pb of the straight traveling in the work driving | running route R2a for rotation planting as the left conversion start point Pc.
(2) When the traveling vehicle body 1 approaches the travel start point Pa of the first work travel route R1a for reciprocating planting by this left-turning turning operation, the driver can use the first work travel route for the travel vehicle body 1 to reciprocate planting. The port side turning operation is terminated so as to obtain a state of traveling straight on R1a. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the left small turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the second work state switching control described above, and riding The rice transplanter is switched from the traveling state to the working state. Further, based on the detection by the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa and executes the above-described determination control.
(3) In this determination control, if the direction control unit 60M determines that the execution condition of the automatic straight-ahead control is not satisfied, the second notification unit 47C maintains the blinking state while this determination is continued. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is positioned on the first work traveling route R1a for reciprocating planting.
Further, in this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight-ahead control is satisfied, the direction control unit 60M starts the automatic straight-ahead control because the control target region Rsa is reached. And the 2nd alerting | reporting part 47C switches from a blinking state to a lighting state. Then, based on the automatic linear advance control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the first work traveling route R1a for reciprocating planting. There is no need to steer so as not to deviate from the first work travel route R1a for reciprocating planting.
However, in the automatic straight traveling control at this time, since the right turning start point Pd is not stored in the point storage unit 60N, the sixth notification unit 47G continues the intermittent operation, and the right turning start point Pd is stored in the point storage. The driver is informed that the information is not stored in the unit 60N.
(4) When the traveling vehicle body 1 reaches the turning direction changing region by the straight traveling on the first work traveling route R1a for reciprocating planting, the driver travels based on the intermittent operation of the sixth notification unit 47G. A starboard turning operation for moving the vehicle body 1 from the current work travel route R1a to the next work travel route R1b adjacent on the right side is performed. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small right turn state, and based on this detection, the work control unit 60G executes the second non-working state switching control described above, The passenger rice transplanter is switched from the working traveling state to the traveling traveling state. Further, the route setting unit 60L executes the target route setting control, and the target straight traveling route Rs along the reference direction Ro described above at a position on the side of the turning direction that is separated from the current work travel route R1a by a set distance in the orthogonal direction. Set. Further, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the current work travel route R1a to the travel end point Pb and terminates the above-described automatic linear control, and the second notification unit 47C is turned on. Switches to the blinking state. And the point memory | storage part 60N memorize | stores the driving | running | working end point Pb in the straight running of this present work driving | running route R1a as a right turning start point Pd, and, thereby, the 6th alerting | reporting part 47G stops intermittent operation | movement.
(5) When the traveling vehicle body 1 approaches the travel start point Pa of the next work travel route R1b by this starboard turning operation, the driver can obtain a state in which the travel vehicle body 1 travels straight on the work travel route R1b. Thus, the starboard turning operation is terminated. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the right small turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the second work state switching control described above, and the riding The rice transplanter is switched from the traveling state to the working state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the travel start point Pa and executes the above-described determination control. Based on this determination control and the like. As described in (3) above, manual correction steering by the driver, automatic straight-ahead control by the direction control unit 60M, or the like is performed.
(6) In the subsequent automatic linear control, the left turning start point Pc in the work travel route R2a for turning planting and the right turn start point Pd in the work travel route R1a for reciprocating planting are stored in the point storage unit 60N. Since it is stored, the arrival determination unit 60P executes the above-described setting determination control in the subsequent work travel routes R1b to R1e based on these conversion start points Pc and Pd. Further, the direction control unit 60M ends the above-described automatic straight-ahead control and executes the above-described automatic direction change control every time the arrival determination unit 60P determines the arrival of the traveling vehicle body 1 at the respective conversion start points Pc, Pd. To do. Each time the automatic turning control is executed, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and based on this detection, the work control unit 60G performs the second described above. The non-working state switching control is executed to switch the passenger rice transplanter from the working traveling state to the traveling traveling state, the route setting unit 60L executes the target route setting control to set the next target straight traveling route Rs, and the second notification unit 47C switches from the lighting state to the blinking state. Then, when the predetermined time for coasting turning described above elapses, the direction control unit 60M ends the coasting turning operation by the automatic direction change control so that the traveling vehicle body 1 can be in the straight traveling state. Then, the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the second work state switching control described above, and the riding rice transplanting is performed. The machine is switched from the traveling state to the working state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the travel start point Pa and executes the above-described determination control. Based on this determination control and the like. As described in (3) above, manual correction steering by the driver, automatic straight-ahead control by the direction control unit 60M, or the like is performed.
That is, when performing seedling planting work by reciprocating planting in a rectangular paddy field, control operations such as the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the point storage unit 60N, and the arrival determination unit 60P If the left turn start point Pc and the right turn start point Pd are stored in the point storage unit 60N, the execution condition of the above-mentioned automatic straight-ahead control is not satisfied after the coasting turn by the automatic turn control. The driver does not need to operate the riding rice transplanter except during the time and when it is necessary to perform auxiliary work such as seedling supply and fertilizer supply. As a result, it is possible to significantly reduce the labor of the driver required for work travel.
(7) After that, when the straight traveling by the automatic straight traveling control is performed in the final work traveling route R1e for reciprocating planting, the driver operates the third changeover switch 94 to set the direction control unit 60M and the arrival determination unit 60P as described above. Switch to the non-executed state. When the traveling vehicle body 1 reaches the turning direction changing area, the driver switches the route setting unit 60L to the non-execution state described above by operating the second changeover switch 91 and the direction control unit 60M described above. Switch to the stopped state. In addition, a cornering turning operation for moving the traveling vehicle body 1 from the final work travel route R1e for reciprocating planting to the adjacent work travel route R2c for planting is performed. Then, based on the detection of the rudder angle sensor 70 at this time, the work control unit 60G executes the second non-working state switching control described above to switch the riding rice transplanter from the working traveling state to the traveling traveling state. Then, the driver switches the work control unit 60G to the above-described non-execution state by operating the first changeover switch 78 during the turning at this time. Then, even if the driver finishes the saddle turning operation in order to make the traveling vehicle body 1 travel along the planting work traveling route R2c, the riding rice transplanter maintains the traveling traveling state.
Thus, the driver can quickly move the riding rice transplanter from the final work travel route R1e for reciprocating planting toward the first work travel route R2a for planting.
(8) Then, after moving to the first work travel route R2a for the rotation planting, the driver performs the first work while manually traveling the traveling vehicle body 1 along each of the work travel routes R2a to R2d for planting. By the operation of the lever 45 or the second work lever 46, the working state and the non-working state of the seedling planting device 4 and the fertilizer application device 5 suitable for round planting are switched.

As shown in FIGS. 1 and 6, the traveling vehicle body 1 includes a reserve remaining amount sensor 59 </ b> D that detects a decrease in the remaining amount of seedlings in the reserve storage unit 59. As the reserve remaining amount sensor 59D, a load sensor that detects the seedling weight in the reserve remaining amount sensor 59D, a limit switch that detects the presence or absence of mat-like seedlings in each reserve seedling stand 59B, and the like can be employed. .
The direction control unit 60M is configured to detect a decrease in the seedling remaining amount in the reserve storage unit 59 based on the detection of the reserve remaining amount sensor 59D in the execution state of the automatic direction change control. When it is detected based on the output of 24A that the remaining amount of any mat-like seedling placed on the seedling mounting table 24 has decreased to the set value for seedling supply, the third notification unit 47D for seedling supply notification Is switched from the extinguished state to the blinking state, the automatic direction change control is changed from the execution state to the stop state, and the sixth notification unit 47G is continuously operated to notify the driver that the automatic direction change control is not executed.
As a result, the driver can recognize the necessity of replenishing seedlings to the reserve storage unit 59 as well as replenishing seedlings to the seedling mount 24. Then, when the traveling vehicle body 1 reaches the turning direction change region, the driver performs a traveling stop operation by an operation to the neutral position of the main transmission lever 42 or an operation of depressing the brake pedal 44. The traveling vehicle body 1 can be stopped while the front end of the vehicle body 1 is close to the heel.
As a result, replenishment of seedlings from the basket to the seedling mounting table 24 and the preliminary storage unit 59 can be performed quickly using the getting-on / off steps 95 provided at the left and right end portions on the front end side of the vehicle body.

As shown in FIG. 6, the ECU 60 includes a vehicle speed control unit 60Q that controls the vehicle speed, and a transition estimation unit 60R that estimates a transition from the driving state of the driver to another work state other than driving. When the transition estimation unit 60R estimates the transition of the driver to another work state, the vehicle speed control unit 60Q executes the deceleration control that reduces the vehicle speed to the set vehicle speed and causes the traveling vehicle body 1 to travel at a low speed.
When the detection value of the first remaining amount detection unit 24A decreases to the set amount for seedling replenishment, the transition estimation unit 60R estimates the transition to the driver's seedling replenishment state (an example of another work state). When the detection value of the second remaining amount detection unit 31A decreases to the set value for fertilizer supply, the transition estimation unit 60R estimates the transition to the driver's fertilizer supply state (an example of another work state). When the clogging sensor 35A detects a fertilizer clogging in the grooving device, the transfer estimation unit 60R estimates the shift to the clogging removal state (an example of another work state) of the driver.
Thereby, based on the detection of the first remaining amount detection unit 24A, the second remaining amount detection unit 31A, or the clogging sensor 35A, the transition estimation unit 60R determines the seedling supply state, the fertilizer supply state, Alternatively, the vehicle speed can be reduced by the deceleration control of the vehicle speed control unit 60Q from the stage where the transition to the clogging removal state is estimated.
As a result, in the travel stop operation of the traveling vehicle body 1 performed before the driver shifts from the driving state to the seedling supply state, the fertilizer supply state, or the clogging removal state, the time required for the traveling vehicle body 1 to stop traveling is shortened. Accordingly, the driver can efficiently perform the transition from the driving state to the seedling supply state, the fertilizer supply state, or the clogging removal state.

The driver seat 48 includes a first seat sensor 48A that detects a change in the load applied to the driver seat 48, and a second seat sensor 48B that detects a turning movement of the driver seat 48 from the reference position.
When the transition estimation unit 60R detects a decrease in load based on the detection of the first seat sensor 48A and detects a turning movement from the reference position of the driver seat 48 based on the detection of the second seat sensor 48B. The transition from the driving state of the driver to another working state is estimated.
As a result, when the driver tries to leave the driving body 1 without stopping the traveling vehicle body 1 in order to perform other work other than the seedling replenishing work, the fertilizer replenishing work, and the clogging removing work. The operation at that time is detected by the first seat sensor 48A and the second seat sensor 48B. Then, based on the detection of the first seat sensor 48A and the second seat sensor 48B, the transition estimation unit 60R operates from the driver's driving state to the seedling supply state, the fertilizer supply state, and other work states other than the clogging removal state. The vehicle speed decreases to the set vehicle speed and the traveling vehicle body 1 travels at a low speed by the deceleration control of the vehicle speed control unit 60Q based on this estimation.
The reduction in the vehicle speed makes it possible to make the driver realize that he has forgotten to stop traveling the vehicle body 1 and to prompt the vehicle body 1 to stop traveling. Further, it is possible to reduce the time required for the traveling vehicle body 1 to stop traveling after the driver performs the traveling stop operation of the traveling vehicle body 1.
Further, the transition estimation unit 60R detects a decrease in load based on the detection of the first seat sensor 48A, and detects turning movement from the reference position of the driver seat 48 based on the detection of the second seat sensor 48B. In this case, since the transition from the driving state of the driver to another working state is estimated, the load is reduced due to the driver's re-seat on the driver seat 48 or the driver seat 48 in the driver's seating state. Based on the turning movement, it is possible to avoid a decrease in work efficiency due to the vehicle speed control unit 60Q executing the deceleration control.

The transition estimation unit 60 </ b> R switches between an operating state and a stopped state based on an operation of a manual fourth changeover switch 96 provided in the operating unit 40.
Thereby, for example, when the driver determines that it is not necessary to perform other work such as seedling replenishment work and fertilizer replenishment work near the end of the work travel, the transition estimation unit 60R is switched to the stop state. Thus, a decrease in the vehicle speed due to the deceleration control of the vehicle speed control unit 60Q can be avoided.
As a result, when there is no need to perform other operations, it is possible to avoid a decrease in work efficiency due to a decrease in the vehicle speed due to the deceleration control of the vehicle speed control unit 60Q.

The ECU 60 includes a transition detection unit 60S that detects a transition from the driving state of the driver to the seedling supply state when the reserve remaining amount sensor 59D detects a decrease in the remaining amount. The vehicle speed control unit 60Q determines the deceleration described above when the transition detection unit 60S detects the transition to the seedling replenishment state of the driver while the traveling body 1 is detected based on the output of the vehicle speed sensor 92. Control is executed to reduce the vehicle speed to zero.
Thereby, it is possible to prevent the seedling replenishment work by the driver from being performed while the traveling state of the traveling vehicle body 1 is maintained.

The transition detection unit 60 </ b> S switches between an operating state and a stopped state based on an operation of the manual fifth changeover switch 97 provided in the operation unit 40.
Thereby, it can switch to the state which employ | adopts the automatic stop of the traveling vehicle body 1 by the deceleration control of the vehicle speed control part 60Q based on the detection of the transition detection part 60S, and the state which is not employ | adopted.

When executing the deceleration control, the vehicle speed control unit 60Q blinks the seventh notification unit 47H formed by the LED provided in the notification device 47 to notify the driver that the vehicle speed is reduced by executing the deceleration control. .
As a result, it is possible to avoid the possibility that the driver feels uncomfortable when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit 60Q.

  As shown in FIGS. 6 and 7, the ECU 60 includes an energization control unit 60 </ b> T that controls energization from the battery 37 bypassing the main switch 61 to the satellite navigation device 87 and the inertial measurement device 88. The traveling vehicle body 1 includes a first holding relay 98A interposed in a power transmission path extending from the battery 37 to the satellite navigation device 87, and a second holding relay 98B interposed in a power transmission path extending from the battery 37 to the inertial measurement device 88. I have. The energization control unit 60T, the first holding relay 98A, and the second holding relay 98B allow energization holding that enables energization from the battery 37 bypassing the main switch 61 to the satellite navigation device 87 and the inertial measurement device 88. A portion 98 is configured.

  The energization holding unit 98 switches to the first energization holding state in which the satellite 37 is energized from the battery 37 by the energization control unit 60T energizing the first holding relay 98A and switching the first holding relay 98A to the closed state. In addition, the energization control unit 60T stops energizing the first holding relay 98A and switches the first holding relay 98A to the open state, thereby stopping the energization from the battery 37 to the satellite navigation device 87. Switch to state.

  The energization holding unit 98 switches to the second energization holding state in which the inertia measurement device 88 is energized from the battery 37 by the energization control unit 60T energizing the second holding relay 98B and switching the second holding relay 98B to the closed state. In addition, the energization control unit 60T stops energizing the second holding relay 98B and switches the second holding relay 98B to the open state, thereby stopping energization from the battery 37 to the inertial measurement device 88. Switch to state.

  The energization holding unit 98 switches between the first energization holding state and the second energization holding state in conjunction with the cutoff operation of the main switch 61. In addition, with the shut-off operation, the timer unit 60C starts timing. When the connection operation of the main switch 61 is performed after the set time elapses after switching between the first energization holding state and the second energization holding state, the energization holding unit 98 interlocks with the connection operation. Then, the main switch 61 is not connected until the set time elapses after the first energization holding state and the second energization holding state are switched to the first energization stop state and the second energization stop state. In this case, as the set time elapses, the first energization holding state and the second energization holding state are switched to the first energization stop state and the second energization stop state. The set time for energization holding can be arbitrarily set by operating the time setting unit 99 provided in the operation unit 40. For the time setting unit 99, a momentary switch or the like can be employed.

According to this configuration, for example, if the set time is set to a time longer than the longest time (for example, a break time required for lunch) assumed as an interruption time of work travel by the time setter 99, a break is caused. In order to prevent useless fuel consumption during interruption of work travel due to, for example, the satellite is operated after the energization is started even when the driver performs the shut-off operation of the main switch 61 to stop the engine 7. The main switch is energized to the satellite navigation device 87 having a long rise time required for positioning using the GPS and the inertial measurement device 88 including a gyroscope whose measurement accuracy is not stable unless warm-up operation is performed. It can be prevented from being stopped in response to the shut-off operation 61.
As a result, when the driver finishes a break or the like and operates the main switch 61 to start the engine 7, the driver can resume working travel using the automatic linear advance control as the engine 7 starts. it can.
Further, for example, if the set time is set to the shortest time (for example, 0 minute or 1 minute) by the time setting device 99, the driver performs the shut-off operation of the main switch 61 upon completion of the work. In such a case, energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped simultaneously with the shut-off operation of the main switch 61, or the energization is maintained as the shortest set time elapses from the shut-off operation of the main switch 61. The unit 98 automatically switches from the first energization holding state and the second energization holding state to the first energization stop state and the second energization stop state, and energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped. Therefore, it is possible to prevent the energization of the satellite navigation device 87 and the inertial measurement device 88 from being unnecessarily continued even after the work is completed.
As a result, wasteful fuel consumption during a break and the like can be prevented without causing a reduction in work efficiency, and wasteful power consumption after the work can be prevented.

The energization holding unit 98 includes a third holding relay 98 </ b> C interposed in a power transmission path from the battery 37 to the notification device 47. Then, the energization controller 60T energizes the third holding relay 98C and switches the third holding relay 98C to the closed state, thereby switching to the third energization holding state in which the battery 37 energizes the notification device 47, and energization control. The part 60T stops energization to the third holding relay 98C and switches the third holding relay 98C to the open state, thereby switching to the third energization stop state where the energization from the battery 37 to the notification device 47 is stopped.
During operation in the third energization holding state by the energization holding unit 98, the notification device 47 has the satellite navigation device 87 and the inertial measurement device 88 in the energization holding state by the energization holding unit 98 as information on the energization holding state. The remaining time until the energization holding unit 98 switches from the energization holding state to the energization stopped state is displayed on the liquid crystal display unit 47A to notify the driver.
Thus, the driver can easily confirm whether or not the energization holding unit 98 is in the energization holding state and the remaining time until the energization holding unit 98 switches to the energization stop state.

The satellite navigation device 87 and the inertial measurement device 88 are provided with operation lamps 87B and 88A composed of LEDs that are lit in their operating state and inform them that they are operating.
The energization control unit 60T uses the first set time for maintaining energization to the satellite navigation device 87 and the inertial measurement device 88 and the second set time for maintaining energization to the notification device 47 as the set time described above. And. The first set time is set to be longer than the second set time.
That is, from the viewpoint of work efficiency, the first set time, which is the energization holding time of the satellite navigation device 87 and the inertial measurement device 88, which is more important than the notification device 47, is the energization holding time of the notification device 47. A time longer than the second set time is set.
Thereby, compared with the case where the energization holding time of the satellite navigation device 87 and the inertial measurement device 88 with high importance of energization holding is the same as the energization holding time of the notification device 47 with low importance of energization holding, The consumption of the battery 37 during a break or the like can be suppressed without causing a reduction in work efficiency.

When the energization from the battery 37 is cut off by the shut-off operation of the main switch 61, the ECU 60 maintains the energized state by the internal self-holding circuit 60A as described above and starts timing by the time measuring unit 60C. Further, the energization state of the notification device 47 is maintained together with the energization state of the satellite navigation device 87 and the inertial measurement device 88 by the control operation of the energization holding unit 98. Thereafter, when the second set time elapses without the connection operation of the main switch 61 being performed, the energization to the notification device 47 is stopped, and when the first set time elapses, the energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped. When the set time for maintaining the energized state in the self-holding circuit 60A has elapsed, the energization by the self-holding circuit 60A is stopped and the operation is stopped.
That is, the set time for maintaining the ECU 60 having the highest importance of energization holding in the energized state by the self-holding circuit 60A is set to be longer than the first set time and the second set time.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above embodiment, and a typical alternative embodiment of the present invention will be exemplified below.

[1] The work vehicle may be configured in a semi-crawler specification having left and right crawlers instead of the left and right rear wheels 6B.
Further, the work vehicle may be configured as a full crawler specification including left and right crawlers instead of the left and right front wheels 6A and the left and right rear wheels 6B.

[2] The work vehicle is provided with left and right side clutch brakes instead of the left and right side clutches 17, and a brake turn in which the side clutch brake inside the turn is operated as the direction change state (small turning state) of the traveling vehicle body 1. It may be configured in a brake turning specification in which the state appears.
Further, the work vehicle is provided with a front wheel speed increasing device instead of the left and right side clutches 17, and the front wheel speed increasing turn in which the front wheel 6 </ b> A outside the turning speed is increased as the direction of the traveling vehicle body 1 is changed (small turning state). It may be configured to a front-wheel accelerated turning specification in which the state appears.
In addition, the work vehicle may perform a switch turn that uses reverse travel as the direction change.

[3] The work vehicle may be configured to include a rolling control unit that controls the roll angle of the ground work apparatus A.

[4] The work vehicle may be configured not to perform the non-working state switching control and the working state switching control by the work control unit 60G.

[5] The work vehicle may be configured not to perform the engine temporary stop control and the engine restart control by the engine control unit 60H.

[6] The ground work device A may be a direct sowing device, a rotary tilling device, a plow, a plowing device, a mowing device, a mowing device, a bucket, or the like.

[7] The path setting unit 60L, for example, in advance measurement or at the time of the previous work travel, each work travel route R2a to R2d for rotation planting and each work travel route R1a to R1e for reciprocating planting for each work site. May be configured to set the target straight-ahead route Rs based on the work place data set.

[8] The condition determination unit 60K may be configured to determine whether the temporary stop condition of the engine 7 is satisfied when the interruption switch 58B detects the movement of the main transmission lever 42 to the work interruption position 58e. .
In addition, the condition determination unit 60K is a special feature of an existing switch such as a long press operation of the first switch 89 or the second switch 90 for teaching or a double press operation of the first switch 89 or the second switch 90. When an operation is detected, the establishment of a temporary stop condition for the engine 7 may be determined.
The condition determination unit 60K detects the special operation of the existing switch, and, for example, the output speed of the engine 7 is equal to or lower than a set speed (for example, idling speed), and the voltage of the battery 37 is equal to or higher than the set value. And when a condition suitable for restarting the engine 7 such as the temperature of the engine coolant is equal to or higher than a set value (for example, 55 degrees) is established. It may be configured to determine.

[9] The point storage unit 60N may store, for example, the conversion start points Pc and Pd for each work place obtained by prior measurement or the previous work travel.

[10] The point storage unit 60N stores change start points Pc and Pd at which the traveling vehicle body 1 shifts from the straight traveling state to the direction change state, and a conversion end point at which the traveling vehicle body 1 transitions from the direction change state to the straight traveling state. The arrival determination unit 60P determines whether or not the traveling vehicle body 1 has reached the conversion start points Pc and Pd, determines whether or not the traveling vehicle body 1 has reached the conversion end point, and the direction control unit 60M When the arrival determination unit 60P determines that the traveling vehicle body 1 has reached the conversion start points Pc and Pd, the automatic direction change control is started, and the arrival determination unit 60P determines the arrival of the traveling vehicle body 1 at the conversion end point. Sometimes it may be configured to end the automatic turn control.

[11] After the coasting turn is finished, the deviation amount of the current position of the traveling vehicle body 1 with respect to the target straight path Rs and the deviation angle of the current direction of the traveling vehicle body 1 with respect to the target straight path Rs are outside the allowable range or within the allowable range. You may make it equip the center mascot 93 with the 2nd alerting | reporting part 47C which notifies a driver | operator inside.

[12] The positioning unit 86 may include a DGPS (Differential GPS) or an RTK-GPS (Real Time Kinematic GPS) as the satellite navigation device 87.

[13] The positioning unit 86 may include, for example, an optical measurement device that measures the position of the vehicle body using laser light instead of the satellite navigation device 87.

[14] The remaining amount detection units 24 </ b> A and 31 </ b> A may be configured to detect the remaining amount in the storage units 24 and 31 by calculation processing based on the positioning result of the positioning unit 86.
Specifically, the remaining amount detection units 24 </ b> A and 31 </ b> A are obtained as, for example, the storage amount of the supply in the storage units 24 and 31, the supply amount of the supply per unit distance, and the positioning result of the positioning unit 86. The remaining amount in the storage units 24 and 31 is detected by a calculation process based on the travel distance at the work place.
That is, the remaining amount in the storage units 24 and 31 can be detected without providing a dedicated sensor for detecting the remaining amount of the supply as the remaining amount detection units 24A and 31A.

[15] The transition detection unit 70 is a rotation sensor that detects the amount of rotation of the steering wheel 41 as the steering angle of the front wheel 6A, or a rotary potentiometer or rotary encoder that directly detects the steering angle of the left and right front wheels 6A. , Etc.

[16] The transition estimation unit 60R may be configured to estimate the transition of the driver to another work state when a decrease in load is detected based on the detection of the first seat sensor 48A.

[17] The transition estimation unit 60R estimates the transition of the driver to another work state when detecting the turning movement from the reference position of the driver seat 48 based on the detection of the second seat sensor 48B. It may be configured.

[18] The transition detection unit 60S detects a decrease in load based on detection by the first seat sensor 48A, and detects turning movement from the reference position of the driver seat 48 based on detection by the second seat sensor 48B. In this case, the transition from the driving state of the driver to another work state is detected, and the transition detection is performed in a state where the vehicle speed control unit 60Q detects the traveling of the traveling vehicle body 1 based on the output of the vehicle speed sensor 92. When the part 60S detects a shift from the driving state of the driver to another working state, the vehicle speed may be reduced to zero speed by executing the above-described deceleration control.

[19] The transition detection unit 60S is configured to detect a transition from the driving state of the driver to another work state when a decrease in load is detected based on the detection of the first seat sensor 48A. Also good.
Further, the transition detection unit 60S detects the transition from the driving state of the driver to another work state when the turning movement from the reference position of the driving seat 48 is detected based on the detection of the second seat sensor 48B. It may be configured as follows.

[20] The energization holding unit 98 includes a single holding relay interposed in the power transmission path from the battery 37 to the satellite navigation device 87 and the inertial measurement device 88, and an energization control unit 60T that controls the operation of the holding relay. May be.

[21] The notification device 47 may be configured to perform a notification operation that prompts the driver to start the engine 7 by the liquid crystal display unit 47A or the like during the operation in the third energization holding state by the energization holding unit 98. Good.

[22] The malfunction sensor 35A may be, for example, a clogging sensor that detects clogging of seeds in each grooving device of the direct seeding device.

[23] The preliminary storage unit 59 may be a unit on which a preliminary fertilizer bag is placed.

  The present invention is a riding rice transplanter, a riding direct sowing machine, a tillage specification tractor, a plowing specification tractor, a loader specification tractor, a combine, and a riding grass mower that have a ground working device that can move up and down, and that perform a reciprocating traveling operation It can be applied to work vehicles such as machines and wheel loaders.

1 traveling vehicle body 7 engine 24 storage part (seedling stage)
24A remaining amount detection unit (first remaining amount detection unit)
31 Reservoir (hopper)
31A Remaining amount detection unit (second remaining amount detection unit)
35A Fault sensor (clogging sensor)
37 battery 47 notification device 47D notification unit (third notification unit)
47E Notification Unit (Fourth Notification Unit)
47F notification section (fifth notification section)
47G notification section (sixth notification section)
47H notification section (seventh notification section)
48 Driving seat 48A First seat sensor 48B Second seat sensor 59 Preliminary storage unit 59D Reserve remaining amount sensor 60G Work control unit 60H Engine control unit 60K Condition determination unit 60L Route setting unit 60M Direction control unit 60N Point storage unit 60P Arrival determination unit 60Q vehicle speed control unit 60R transition estimation unit 60S transition detection unit 61 main switch 70 transition detection unit 86 positioning unit 87 satellite navigation device 88 inertial measurement device 94 changeover switch (third changeover switch)
96 selector switch (fourth selector switch)
97 changeover switch (5th changeover switch)
98 Energization holding part A Ground working device Pc Conversion start point Pd Conversion start point Rs Target straight path Rsa Control target area

Claims (22)

A path setting unit that sets a target straight path, a positioning unit that measures the position and orientation of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and a transition that detects the transition of the traveling state of the traveling vehicle body A detection unit, and a work control unit that switches the ground work device connected to the traveling vehicle body to be movable up and down between a working state and a non-working state,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The work control unit performs non-work state switching control for switching the ground work device to the non-working state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the straight traveling state to the direction change state. And performing work state switching control for switching the ground work device to the work state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the direction change state to the straight travel state. car. A route setting unit that sets a target straight path, a positioning unit that measures the position and orientation of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, an engine control unit that controls the operation of the engine, A condition determination unit that determines whether or not a temporary stop condition and a restart condition of the engine are satisfied,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The engine control unit executes engine pause control for temporarily stopping the engine when the condition determination unit determines that the pause condition is satisfied, and the condition determination unit satisfies the restart condition. When the engine is determined, engine restart control is performed to restart the engine,
The direction control unit interrupts the automatic linear advance control when the engine temporary stop control is executed during execution of the automatic linear advance control, and the engine restart control is executed while the automatic linear advance control is interrupted. Then, the work vehicle that resumes the automatic straight-ahead control. A path setting unit that sets a target straight path, a positioning unit that measures the position and orientation of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and a transition that detects the transition of the traveling state of the traveling vehicle body A detection unit; a work control unit that switches a ground work device connected to the traveling vehicle body to be movable up and down between a working state and a non-working state; an engine control unit that controls operation of the engine; A condition determination unit that determines whether or not a restart condition is satisfied,
In the control target area of the target straight path, the direction control unit automatically moves the traveling vehicle body on the target straight path based on the target straight path and the positioning result of the positioning unit. Run
The work control unit performs non-work state switching control for switching the ground work device to the non-working state in conjunction with the transition detection unit detecting the transition of the traveling vehicle body from the straight traveling state to the direction change state. And, in conjunction with the transition detection unit detecting a transition from the direction change state of the traveling vehicle body to the straight traveling state, executing work state switching control for switching the ground work device to the work state,
The engine control unit executes engine pause control for temporarily stopping the engine when the condition determination unit determines that the pause condition is satisfied, and the condition determination unit satisfies the restart condition. When the engine is determined, engine restart control is performed to restart the engine,
The direction control unit interrupts the automatic linear advance control when the engine temporary stop control is executed during the execution of the automatic linear advance control, and the engine restart control is executed during the interruption of the automatic linear advance control. A work vehicle that resumes the automatic straight-ahead control when it is performed.   The work vehicle according to claim 1, wherein the positioning unit includes a satellite navigation device and an inertial measurement device. A manual main switch for intermittently energizing each electrical component from the battery, and an energization holding unit that enables energization from the battery bypassing the main switch to the satellite navigation device,
The energization holding unit is switched to an energization holding state in which the satellite navigation device is energized from the battery in conjunction with the shut-off operation of the main switch, and in conjunction with the connection operation of the main switch, The work vehicle according to claim 4, wherein the work vehicle is switched to an energization stop state in which energization to the satellite navigation device is stopped. A manual main switch that intermittently energizes each electrical component from the battery, and an energization holding unit that enables energization from the battery that bypasses the main switch to the inertial measurement device,
The energization holding unit is switched to an energization holding state in which the inertial measurement device is energized from the battery in conjunction with the shut-off operation of the main switch, and from the battery in conjunction with the connection operation of the main switch. The work vehicle according to claim 4, wherein the work vehicle is switched to an energization stop state in which energization to the inertial measurement device is stopped.   The energization holding unit switches to the energization holding state in conjunction with the shut-off operation of the main switch and starts measuring time until the set time elapses after switching to the energization holding state. When the operation is performed, the main switch connection operation is not performed until the set time elapses after the energization holding state is switched from the energization holding state in conjunction with the connection operation. In this case, the work vehicle according to claim 5 or 6 that switches from the energization holding state to the energization stop state as the set time elapses.   The set time is set to a longer time for an electrical component having a higher importance level according to the importance level of the energization retention set for each electrical component that is energized and held by the energization holding unit. Working vehicle. Provide a notification device that informs the driver of various information,
The energization holding unit energizes the notification device from the battery in the energization retention state, and stops energization to the notification device in the energization stop state,
The work vehicle according to any one of claims 5 to 8, wherein the notification device notifies a driver of information related to the energization holding state during operation in the energization holding state. A vehicle speed control unit that controls the vehicle speed, and a transition estimation unit that estimates a transition from the driving state of the driver to a work state other than driving,
The said vehicle speed control part performs the deceleration control which reduces a vehicle speed, when the said transfer estimation part estimates the shift to a said other working state of a driver | operator. Work vehicle. A first seat sensor for detecting a change in load applied to the driver's seat;
The work vehicle according to claim 10, wherein the transition estimation unit estimates a transition of the driver to the other work state when a decrease in load is detected based on the detection of the first seat sensor. A second seat sensor for detecting a turning movement of a driver seat capable of turning around a vertical axis from a forward reference position;
The shift estimation unit estimates a shift of the driver to the other work state when detecting a turning movement of the driver seat from the reference position based on detection of the second seat sensor. Or the work vehicle of 11. A storage unit that stores the supply to be supplied to the work place, a remaining amount detection unit that detects the remaining amount in the storage unit, and that the detection value of the remaining amount detection unit has been reduced to a replenishment set value. A notification section to inform the person,
13. The shift estimation unit according to claim 10, wherein the shift estimation unit estimates a shift of the driver to the other work state when a detection value of the remaining amount detection unit decreases to the set value. Working vehicle.   The work vehicle according to claim 13, wherein the remaining amount detecting unit detects the remaining amount in the storage unit by a calculation process based on a positioning result of the positioning unit. A defect sensor that detects the occurrence of a defect related to the work, and a notification unit that informs the driver of the occurrence of the defect,
The work vehicle according to any one of claims 10 to 14, wherein the transition estimation unit estimates a transition of the driver to the other work state when the malfunction sensor detects the occurrence of a malfunction.   The work vehicle according to any one of claims 10 to 15, further comprising a manual changeover switch that switches the transition estimation unit between an operating state and a stopped state. Provided with a transition detection unit that detects the transition from the driving state of the driver to a work state other than driving,
The said vehicle speed control part performs the deceleration control which reduces a vehicle speed, when the said transition detection part detects the transition to the said other work state of a driver, and reduces a vehicle speed to zero speed. The work vehicle as described in any one of. A reserve storage unit for storing reserves of supplies to be supplied to the work site, and a reserve remaining amount sensor for detecting a decrease in the remaining amount in the reserve storage unit;
The work vehicle according to claim 17, wherein the transition detection unit detects a transition of the driver to the other work state when the reserve remaining amount sensor detects a decrease in the remaining amount.   The work vehicle according to claim 17 or 18, further comprising a manual changeover switch that switches the transition detection unit between an operating state and a stopped state.   The work vehicle as described in any one of Claims 10-19 provided with the alerting | reporting part which notifies a driver | operator of execution of the said deceleration control. A point storage unit that stores a change start point at which the traveling vehicle body transitions from a straight traveling state to a direction change state; and an arrival determination unit that determines whether the traveling vehicle body has reached the conversion start point;
The direction control unit automatically directs the traveling vehicle body from the current target straight path to the next target straight path when the arrival determination unit determines that the traveling vehicle body has reached the conversion start point. The work vehicle according to any one of claims 1 to 20, wherein automatic direction change control for changing is executed. The direction control unit includes a manual changeover switch that switches between an execution state in which the automatic direction change control is executed and a stop state in which the automatic direction change control is not executed.
When the direction control unit is switched to the execution state in a state where the conversion start point is not stored in the point storage unit, the driver is notified that the conversion start point is not stored in the point storage unit. The work vehicle according to claim 21, further comprising a notification unit that informs the user.

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