JP2018000039A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To configure so as to set a work travel line accurately in a work vehicle configured so as to set a work travel line in a farm field.SOLUTION: A work vehicle is provided with: an acquisition part for acquiring positional data of outer peripheries B11 to B41 of a farm field; and a work setting part for setting work travel lines L01 to L07 where a traveling machine body 50 travels, in a farm field based on the positional data.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a working vehicle that travels while working on a farm field, such as a riding type rice transplanter, a riding type direct sowing machine, a combiner having a cutting unit, a tractor having a rotary tiller, and the like.

  As disclosed in Patent Document 1, a riding-type rice transplanter, which is an example of a work vehicle, travels (work) from one side to the other side in an agricultural field, and then the other side. And then traveling (working) from the other paddle to one paddle, traveling from one (other) paddle to the other (one) paddle (working), and , The turning at one side (the other side) is repeated.

  In Patent Document 1, first, the driver manually steers the front wheel of the traveling machine body to perform teaching traveling in which the work vehicle travels along the saddle, whereby a reference traveling line (see FIG. 7 of Patent Document 1). Set the reference line. Thus, when the reference travel line is set, a plurality of work travel lines (first to Nth columns in FIG. 7 of Patent Document 1) are parallel to each other along the reference travel line (畦). The field is set at a predetermined interval.

As a result, in Patent Document 1, the front wheels of the traveling machine body are automatically steered so that the traveling machine body automatically travels (work) along the first work travel line. When the first traveling (work) is completed and the traveling vehicle body reaches one saddle, the traveling vehicle body turns at the end of one saddle. Next, the front wheels of the traveling machine body are automatically steered so that the traveling machine body automatically travels (work) along the adjacent second work travel line, and the second traveling (work) is performed. Done.
If the automatic steering operation of the front wheels of the traveling aircraft is not performed as described above, the driver manually moves the front wheels of the traveling aircraft so that the traveling aircraft travels (operates) along the work travel line. Steering operation.

JP 2008-92818 A

In Patent Document 1, in order to set a plurality of work travel lines, the reference travel line is set by performing teaching travel first.
In this case, the driver manually steers the front wheels of the traveling aircraft to perform teaching traveling, so if an error occurs in the steering operation of the front wheels of the traveling aircraft by the driver, the reference traveling line is Error (especially because an error occurs in the direction of the reference travel line with respect to the field), the work travel line set in parallel to the reference travel line also has an error with respect to the field. Will occur.
An object of the present invention is to configure a work vehicle configured to set a work travel line in a field so that the work travel line can be set with high accuracy.

(Constitution)
A feature of the present invention is that the work vehicle is configured as follows.
An acquisition unit for acquiring position data of the outer periphery of the field is provided,
Based on the position data, a work setting unit is provided for setting a work travel line on which the traveling machine travels in the field.

(Operation and effect of the invention)
When the position data of the outer periphery of the field is obtained by GPS or the like, the position data is acquired by the work vehicle according to the present invention.
Thereby, in the work vehicle that has acquired the position data, the work travel line is set based on the position data, and the work travel line is accurately set for the field. ) Will be performed with high accuracy.

(Constitution)
In the present invention,
It is preferable that an automatic travel control unit that automatically performs a steering operation of the travel machine body is provided so that the travel machine body travels along the work travel line.

(Operation and effect of the invention)
According to the present invention, as described above, when the traveling machine body is provided with the automatic traveling control unit that automatically performs the steering operation of the traveling machine body so that the traveling machine body travels along the work traveling line, Since the line is set with high accuracy, the travel (work) along the work travel line is automatically performed with high accuracy.

(Constitution)
In the present invention,
In the work setting unit,
Based on the position data, a work start / end position setting unit that sets a work start position and a work end position in the field;
It is preferable that a work travel line setting unit that sets the work travel line in an agricultural field is provided across the work start position and the work end position based on the position data.

(Operation and effect of the invention)
In a work vehicle, in general, in a farm field, a state of traveling while performing work and a state of traveling for moving to a position where the next work should be performed may be alternately repeated.

  According to the present invention, the work start position and the work end position are set, and the work travel line is set between the work start position and the work end position. The travel (work) and the end of the work become clear, and the travel (work) along the work travel line is performed with high accuracy.

(Constitution)
In the present invention,
Based on the position data, the work start / end position setting unit sets a plurality of the work start positions and a plurality of the work end positions along the ridge,
Based on the position data, the work travel line setting unit sets the work travel line in the field across the work start position on one side and the work end position on the other side. In addition, it is preferable that the plurality of work travel lines are set on the farm field at predetermined intervals so as to be parallel to each other.

(Operation and effect of the invention)
According to the present invention, a plurality of work travel lines are accurately set for a farm field in a work vehicle that performs travel (work) as described in [Background Art].

According to the present invention, since the work start position and the work end position are set in the field along the ridge based on the position data, it is possible to easily align the work start position and the work end position at substantially the same position.
As described above, when the work start position and the work end position are aligned at substantially the same position, after traveling (work) along the work travel line is performed, traveling (work) along the heel is performed. It is possible to easily and cleanly travel (work) along the fence.

(Constitution)
In the present invention,
A positioning unit that outputs positioning data indicating the position of the traveling aircraft is provided,
It is preferable that a display device for displaying the work start position, the work end position, the work travel line, and the position of the traveling machine body is provided.

(Operation and effect of the invention)
According to the present invention, the driver visually observes the work start position, the work end position, the work travel line, and the position of the travel machine body displayed on the display device, so that the current travel machine body position, the work start position, and the work The positional relationship with the end position and the work travel line can be easily grasped.

(Constitution)
In the present invention,
It is preferable that a turning line setting unit for setting a turning line as a field is provided over the work end position and the work start position based on the position data.

(Operation and effect of the invention)
In a work vehicle such as a riding rice transplanter, the vehicle travels (work) along one work travel line in the field, and when the travel (work) along the work travel line ends (work end position), When turning to the next work travel line and reaching the next work travel line (work start position), travel (work) along the next work travel line may be started.
In the above-described state, according to the present invention, since the turning line is set over the work end position and the work start position, the turning along the turning line can be performed with high accuracy.

(Constitution)
In the present invention,
It is preferable that an automatic turning control unit that automatically performs a steering operation of the traveling machine body is provided so that the traveling machine body travels along the turning line.

(Operation and effect of the invention)
According to the present invention, by providing the automatic turning control unit, turning along the turning line is automatically performed with high accuracy.

(Constitution)
In the present invention,
It is preferable that a turning direction notifying unit for notifying the turning direction of the traveling machine body in the turning line before the traveling machine body enters the turning line is provided.

(Operation and effect of the invention)
When turning is performed as described above, according to the present invention, the turning direction of the traveling machine body on the turning line is notified in advance before the traveling machine body enters the turning line.
Thus, when the turning along the turning line is automatically performed by the automatic turning control unit, the turning direction of the traveling machine body is notified in advance, so that the driver can easily predict the turning. When the driver manually performs the turning operation, the turning direction of the traveling machine body is notified in advance, so that the driver does not mistake the turning operation (turning direction) manually.

(Constitution)
In the present invention,
In a turning state from the work end position to the work start position, it is preferable that a turning operation timing notification unit for notifying a timing and a turning direction of the turning operation of the traveling machine body is provided.

(Operation and effect of the invention)
According to the present invention, when the driver manually performs the turning operation, the timing and the turning direction of the turning operation of the traveling machine body are informed, so that the driver does not delay and make an error in the manual turning operation, Can be done appropriately.

(Constitution)
In the present invention,
A positioning unit for detecting positioning data indicating the position of the traveling aircraft is provided,
It is preferable that a display device for displaying the work start position, the work end position, the work travel line, the turning line, and the position of the traveling machine body is provided.

(Operation and effect of the invention)
According to the present invention, the driver visually observes the work start position, work end position, work travel line, turning line, and travel machine position displayed on the display device, so that the current travel machine body position and the work start position are displayed. It is possible to easily grasp the positional relationship between the position, the work end position, the work travel line, and the turning line.

(Constitution)
In the present invention,
A material remaining amount detection unit that detects the remaining amount of the mounted material is provided,
When the remaining amount of material decreases, it is preferable that a material notification unit is provided that notifies the driver that the material should be replenished after the traveling machine body has finished traveling along the work travel line. .

(Operation and effect of the invention)
The work vehicle travels (works) with materials such as seedlings, seeds, fertilizers, medicines, and travel fuel, for example. Therefore, when the amount of materials decreases, it is necessary to replenish the traveling machine body with materials. In this case, since the auxiliary worker who prepares the material puts the material on the bag and stands by, it is preferable to stop the traveling machine body at the shore and supply the material to the traveling machine body from the bag.

According to the present invention, when the remaining amount of material is reduced, the driver is informed that the material should be replenished after the traveling machine body has finished traveling (work) along the work travel line. The driver only has to stop the traveling machine body immediately after the traveling machine body finishes traveling (working) along the work traveling line.
Thereby, in the state which stopped the traveling body at the heel, material can be replenished to a traveling body from a saddle.

(Constitution)
In the present invention,
It is preferable that notification by the material notification unit is also performed by the auxiliary worker of the bag.

(Operation and effect of the invention)
When replenishing materials from the kite to the traveling machine, an auxiliary worker who prepares for material replenishment may be waiting on the kite.

According to the present invention, in addition to notifying the driver that the material should be replenished after the traveling body has finished traveling (working) along the work traveling line as described above, The auxiliary worker who waits is also notified.
Thus, as described above, the driver only has to stop the traveling machine body immediately after the traveling machine body has finished traveling (working) along the work traveling line. The preparation for replenishment of the vehicle can be started early (for example, it can be started before the traveling vehicle reaches the shore).

(Constitution)
In the present invention,
It is preferable that an automatic stop unit is provided to automatically stop the traveling machine body immediately after the traveling machine body finishes traveling along the work traveling line based on the operation command.

(Operation and effect of the invention)
As described above, when it is informed that the material should be replenished after the traveling machine body has finished traveling (working) along the work traveling line, according to the present invention, the automatic stop unit is based on the operation command. When the traveling machine body finishes traveling (work) along the work traveling line, the traveling machine body automatically stops at the heel.
As a result, it is possible to appropriately obtain a state in which materials are replenished from the saddle to the traveling aircraft in a state where the traveling aircraft is stopped at the shore.

(Constitution)
In the present invention,
It is preferable that the automatic stop unit advances and stops the traveling machine body to the eaves after the traveling machine body finishes traveling along the work traveling line.

(Operation and effect of the invention)
When replenishing materials from the heel to the traveling aircraft, there are materials that are convenient to replenish from the heel to the front of the traveling aircraft (for example, in a riding type rice transplanter equipped with a spare seedling stand at the front of the traveling aircraft When replenishing seedlings, if the seedlings are replenished from the heel to the front part of the traveling machine, the replenished seedlings can be easily placed on the reserve seedling platform.

As described above, when the traveling machine body is automatically stopped at the heel, according to the present invention, after the traveling machine body finishes traveling (work) along the work traveling line, the traveling machine body moves forward to the heel and stops. Therefore, the traveling vehicle body stops at the shore with the front part of the traveling vehicle body approaching the heel.
Thereby, workability of replenishment of materials can be improved in materials that are convenient to replenish from the eaves to the front part of the traveling machine body.

(Constitution)
In the present invention,
It is preferable that the automatic stop unit turns the traveling machine body after the traveling machine body finishes traveling along the work traveling line, and then reverses the traveling machine body to the saddle and stops it.

(Operation and effect of the invention)
When replenishing materials from the heel to the traveling aircraft, there are materials that are convenient to replenish from the heel to the rear of the traveling aircraft (for example, a riding rice transplanter equipped with a fertilizer application device, a seeding device, and a drug spraying device at the rear of the traveling aircraft In the case of replenishing fertilizers, seeds, and drugs from the cocoon, the fertilizer, seeds, and drugs are replenished from the heel to the rear of the traveling machine. Easy to refill sprayer).

When the traveling machine body is automatically stopped at the heel as described above, according to the present invention, after the traveling machine body finishes traveling (work) along the work traveling line, the traveling machine body turns at the shore, Next, the traveling aircraft moves backward to the foot and stops.
Thereby, workability of replenishment of materials can be improved in materials that are convenient to replenish from the saddle to the rear part of the traveling machine body.

(Constitution)
In the present invention,
When the remaining amount of the material is less than a preset amount, a forced automatic stop unit that automatically stops the traveling body on the heel after the traveling body finishes traveling along the work traveling line. It is suitable if it is provided.

(Operation and effect of the invention)
Even if an operation command is not issued and the automatic stop unit is in a stopped state, according to the present invention, if the remaining amount of material is less than a preset amount, the traveling machine body follows the work travel line. It stops automatically on the heels after all the running (work).
As a result, it is possible to appropriately obtain a state in which materials are replenished from the saddle to the traveling machine body in a state where the traveling machine body is stopped at the heel.

(Constitution)
In the present invention,
It is preferable that the dredging that automatically stops after the traveling machine body finishes traveling along the work travel line is a dredging of a specific dredging to which materials are supplied.

(Operation and effect of the invention)
When replenishing materials from the saddle to the traveling aircraft, as in the present invention, if the traveling aircraft is automatically stopped at the edge of a specific saddle and the traveling aircraft is replenished from a specific saddle, There is no need to distribute the materials in multiple bags, and the materials can be concentrated on a specific bag.

As a result, when an auxiliary worker who prepares materials transports materials from a warehouse or the like to a field by a truck, the materials need only be transported in a specific basket, and the materials need to be transported in multiple baskets. There is no. When replenishing materials to the traveling aircraft from the fence, the auxiliary worker only needs to wait for a specific fence, and when the traveling aircraft stops at the edge of a specific fence, the auxiliary worker will supply material to the traveling aircraft from the fence. What is necessary is just to replenish, and it is not necessary for an auxiliary | assistant worker to move over several cage | baskets.
As described above, the workability of replenishing materials is good for auxiliary workers who prepare materials.

(Constitution)
In the present invention,
It is preferable that the work travel line is based on positioning data indicating the position of a work vehicle that has traveled in the past in the field.

(Operation and effect of the invention)
In the field, various work vehicles such as a combine and a tractor are traveling (working) in addition to the riding type rice transplanter and the riding direct seeding machine, and the working vehicle is traveling in different seasons.
According to the present invention, when one work vehicle travels (operates) on the field and obtains positioning data indicating the position of the work vehicle that has traveled on the field, the above-described positioning data is used by another work vehicle. Can do.
When one work vehicle travels (works) on the field and obtains positioning data indicating the position of the work vehicle that has traveled on the field, the same work vehicle may use the above positioning data in the next year. it can.

(Constitution)
In the present invention,
It is preferable that the position data includes obstacle data indicating the position of the obstacle present in the field.

(Operation and effect of the invention)
In the field, there may be obstacles such as trees.
According to the present invention, since the obstacle data indicating the position of the obstacle present in the field is included in the position data, it is possible to appropriately travel (work) while recognizing the presence of the obstacle.

(Constitution)
In the present invention,
It is preferable that the position data includes inclination data indicating an inclination with respect to a horizontal plane at each position of the field.

(Operation and effect of the invention)
In each position of the agricultural field, there may be a position inclined with respect to the horizontal plane in addition to the horizontal position. In particular, on the shore, there may be a state where the hill is slightly uphill toward the ridge from the center side of the field.
According to the present invention, since the position data includes the inclination data indicating the inclination with respect to the horizontal plane at each position of the farm field, it becomes possible to appropriately run (work) while recognizing the inclination of each position of the farm field. .

It is a whole side view of a riding type rice transplanter. It is a whole top view of a riding type rice transplanter. FIG. 3 is a schematic plan view showing a steering operation system for front wheels, a transmission system for front wheels and rear wheels. It is a figure which shows the cooperation state of a control apparatus and each part. It is a top view which shows the state of the setting of a work travel line and a turning line. It is a top view which shows the state of the setting of a work travel line and a turning line. It is a top view which shows the state of the setting of a work travel line and a turning line. It is a top view which shows the state of the automatic driving | running | working (work | work) along the work travel line of a traveling body. It is a top view which shows the state of the automatic driving | running | working (work | work) along the work travel line of a traveling body. It is a top view which shows the state of the automatic driving | running | working (work | work) along the work travel line of a traveling body. It is a top view which shows the state of the automatic driving | running | working (work | work) in the rotation work driving | running | working of a traveling body. It is a top view which shows the state of the setting of the work travel line and turning line different from the state shown in FIG. In 1st another form of implementation of invention, it is a top view which shows the state of the automatic driving | running | working (turning) along the turning line of a traveling body. In the 2nd another form of implementation of invention, it is a top view which shows the state of the automatic driving | running | working (turning) along the turning line of a traveling body. In 4th another form of implementation of this invention, it is a top view which shows the state of the automatic driving | running | working (work | work) along the work travel line of a traveling body. In 5th another form of implementation of this invention, it is a top view which shows the state of the automatic driving | running | working (work | work) along the work travel line of a traveling body. In 7th another form of implementation of this invention, it is a figure which shows the cooperation state of a control apparatus and each part. In the 8th another form of implementation of invention, it is a top view which shows the automatic stop state of the traveling body in the shore. In the 8th another form of implementation of invention, it is a top view which shows the automatic stop state of the traveling body in the shore. In the 8th another form of implementation of this invention, it is a figure which shows the connection state of a control apparatus and each part. In 10th another form of implementation of this invention, it is a top view which shows the automatic stop state of the traveling body in the shore.

  The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. When the traveling machine body 50 travels, the forward traveling direction is “front”, and the backward traveling direction is “rear”. The direction corresponding to the right side is “right” and the direction corresponding to the left side is “left” based on the forward posture in the front-rear direction.

[1]
An overall configuration of a riding type rice transplanter that travels (operates) in a farm field (paddy field) will be described.
As shown in FIGS. 1 and 2, a link mechanism 3 and a hydraulic cylinder 4 that drives the link mechanism 3 up and down are provided at the rear of a traveling machine body 50 that includes a right and left front wheel 1 and a right and left rear wheel 2. A six-row planting type seedling planting device 5 is supported at the rear of the link mechanism 3 to constitute a riding type rice transplanter as an example of a work vehicle.

  As shown in FIGS. 1 and 2, the seedling planting device 5 includes three planting transmission cases 6 arranged at predetermined intervals in the left-right direction, and the right and left sides of the rear part of the planting transmission case 6. The rotating case 7 rotatably supported, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, a seedling platform 10, and the like are configured in a six-row planting type.

  As shown in FIGS. 1 and 4, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and the action posture (see FIG. 1) that touches the rice field, and upward from the rice field. It is configured to be freely changeable to a separate storage posture (see FIG. 4). The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. An electric motor 21 is provided for operating the right and left markers 19 to the working posture and the retracted posture.

[2]
The transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 3, the power of the engine 31 provided in the front part of the traveling machine body 50 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 via the transmission belt 32, and the transmission is performed. It is transmitted from the auxiliary transmission (not shown) inside the case 34 to the right and left front wheels 1 via a front wheel differential mechanism (not shown) and a transmission shaft (not shown) inside the front axle case 35. The

  As shown in FIGS. 1 and 3, the power of the sub-transmission device includes a transmission shaft 36, an input shaft 38 of the rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, and a bevel gear 39a. It is transmitted to the right and left rear wheels 2 via a fixed transmission shaft 39 and right and left side clutches 40.

  As shown in FIGS. 1, 2, and 4, a shift lever 45 is provided on the left side of the steering handle 20, and the continuously variable transmission 33 is operated by the shift lever 45. By means of the shift lever 45, the continuously variable transmission 33 can be operated steplessly from the neutral position N to the forward side F and the reverse side R.

  As shown in FIG. 3, a steering member 41 is swingably supported around the vertical axis P <b> 2 at the bottom of the mission case 34, and is steered to the front side of the driver seat 13 as shown in FIGS. 1, 3, and 4. A handle 20 is provided. The steering member 41 is configured to swing by the steering handle 20, and a tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. By operating the steering handle 20, the right and left front wheels 1 can be steered from the straight travel position A1 over the right and left steering limits A3.

  As shown in FIG. 3, the right and left side clutches 40 are configured as a friction multi-plate type, and are urged to a transmission state by a spring (not shown). The right and left operation shafts 43 that operate the right and left side clutches 40 against the springs in the disconnected state are supported downward by the rear axle case 37, and the steering member 41 and the right and left operation shafts 43 are supported. The right and left operation rods 44 are connected to each other. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 3, when the right and left front wheels 1 are steered within the range of the straight advance position A1 and the right and left set angles A2, the interchange of the long holes 44a of the right and left operation rods 44 The right and left side clutches 40 are operated in a transmission state. As a result, the aircraft moves forward (reverse) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

  As shown in FIG. 3, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the long hole 44a of the right operating rod 44 is exceeded. Thus, the right operating rod 44 is pulled, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43. Thus, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (the right side clutch). The airframe turns to the right in a state of free rotation (40 interruption state).

  As shown in FIG. 3, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the long hole 44a of the left operating rod 44 is exceeded. Thus, the left operating rod 44 is pulled, and the left side clutch 40 is operated to be disconnected by the left operating shaft 43. Accordingly, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The airframe turns to the left in a state of free rotation (40 interruption state).

  As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side beyond the right (left) set angle A2 to the rectilinear position A1 side, the shut-off state is established. The right (left) side clutch 40 that has been operated in the above state is operated in the transmission state, and the right and left side clutches 40 are returned to the state in which they are operated in the transmission state.

[3]
The transmission system to the seedling planting device 5 will be described.
As shown in FIGS. 1 and 4, in the transmission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 25, and planting is performed. An electric motor 28 for operating the clutch 26 to a transmission and disconnection state is provided.

  As shown in FIGS. 1 and 2, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is turned in the direction shown in FIG. The planting arm 8 is driven to rotate clockwise, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling platform 10 and plant them on the rice field. When the planting clutch 26 is operated in the disconnected state, the seedling bed 10 and the rotating case 7 are stopped.

[4]
The automatic raising / lowering control of the seedling planting device 5 will be described.
As shown in FIG. 4, the rear portion of the central float 9 is supported so as to be swingable up and down around the horizontal axis P <b> 1 of the seedling planting device 5, and the height of the central float 9 with respect to the seedling planting device 5. The height sensor 22 of the potentiometer type which detects this is provided, and the detection value of the height sensor 22 is input to the control device 23. As the traveling machine body 50 advances, the center float 9 follows the surface of the field, and the height from the field (center float 9) to the seedling planting device 5 is detected by the detection value of the height sensor 22. be able to.

  As shown in FIG. 4, the lifting operation unit 57 is provided as software in the control device 23, and the control valve 24 that supplies and discharges hydraulic oil to and from the hydraulic cylinder 4 is operated by the lifting operation unit 57. When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the control valve 24 is operated to the lowered position, the hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

  As shown in FIG. 4, in the operating state of the automatic lifting control, the seedling planting device 5 is maintained at the set height from the rice field based on the height from the surface (float 9 in the center) to the seedling planting device 5. As shown (so that the detection value of the height sensor 22 (the vertical distance between the height sensor 22 and the center float 9) is maintained at the set value), the control valve 24 is operated by the elevating operation unit 57, The hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down.

[5]
The operation lever 12 will be described.
As shown in FIGS. 1, 2, and 4, an operation lever 12 is provided on the right lateral side below the steering handle 20, and the operation lever 12 extends to the right lateral outer side. The operation lever 12 has a first raised position UU1, an upper second raised position UU2, a lower first lowered position DD1, a second lowered position DD2, a rear right marker position MR, and a front left marker position from the neutral position N. It is configured to be operable in the ML cross direction and is biased to the neutral position N, and the operation position of the operation lever 12 is input to the control device 23.

  As shown in FIG. 4, an angle sensor 29 that detects the vertical angle of the link mechanism 3 with respect to the traveling machine body 50 is provided, and the detection value of the angle sensor 29 is input to the control device 23. A clutch operation unit 58 and a marker operation unit 59 are provided in the control device 23 as software.

  As described in [6], which will be described later, based on the operation of the operation lever 12, the control valve 24 is operated to the ascending, neutral and descending positions by the ascending / descending operation unit 57, and the automatic ascending / descending control described in [4] is performed. Activated and deactivated.

  As described in [6], which will be described later, based on the operation of the operation lever 12, the electric motor 28 is operated by the clutch operation unit 58, and the planting clutch 26 is operated to the transmission and disconnection states. The electric motor 21 is operated by the operation unit 59, and the right and left markers 19 are operated to the action and retracted posture.

[6]
The operation of each part based on the operation of the operation lever 12 will be described.
As shown in FIG. 4, when the operating lever 12 is operated to the second ascending position UU2, the planting clutch 26 is operated in the disconnected state, the automatic lifting control is stopped, and the right and left markers 19 are operated in the retracted position. Then, the control valve 24 is operated to the raised position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the angle sensor 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 automatically stops.

As shown in FIG. 4, when the operation lever 12 is operated to the second lowered position DD2, the planting clutch 26 is operated in the disconnected state, the automatic lifting control is stopped, and the right and left markers 19 are operated in the retracted position. In this state, the control valve 24 is operated to the lowered position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center float 9 comes in contact with the rice field, the automatic lifting control is activated, and the seedling planting device 5 comes into contact with the rice field and stops.
After operating the operating lever 12 to the second lowered position DD2 to the neutral position N and then operating the operating lever 12 to the second lowered position DD2 again, the planting clutch 26 is in the transmission state in the operating state of the automatic lifting control. To be operated.

  In the state where the automatic lifting control is stopped, the planting clutch 26 is operated in the disconnected state, and the right and left markers 19 are operated in the retracted position, as shown in FIG. When operated to UU1, the control valve 24 is operated to the raised position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised only while the operation lever 12 is operated to the first raised position UU1. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the raising of the seedling planting device 5 is stopped.

  In a state where the automatic lifting control is stopped and the planting clutch 26 is operated in the disconnected state and the right and left markers 19 are operated in the retracted posture, as shown in FIG. 4, the operation lever 12 is moved to the first lowered position. When operated to DD1, the control valve 24 is operated to the lowered position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered only while the operation lever 12 is operated to the first lowered position DD1. When the operation lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position, and the descent of the seedling planting device 5 is stopped.

  As described above, the seedling planting device 5 can be raised and lowered only while the operation lever 12 is operated to the first ascending and first descending positions UU1 and DD1. Can be raised and lowered to a height of

  As shown in FIG. 4, when the operation lever 12 is operated to the right marker position MR, the right marker 19 is operated to the action posture. When the operation lever 12 is operated to the left marker position ML, the left marker 19 is operated to the action posture.

[7]
A configuration of position detection and azimuth detection of the traveling machine body 50 will be described.
As shown in FIG. 1 and FIG. 2, right and left support frames 16 are provided on the right and left portions of the front part of the traveling machine body, and a preliminary seedling setting table 15 is supported on the support frame 16. A support frame 17 is connected over the upper portions of the right and left support frames 16.

  As shown in FIGS. 1 and 2, a measuring device 30 (corresponding to a positioning unit) is attached to a portion of the support frame 17 that is located at the left and right center CL of the traveling machine body 50 in plan view. The measuring device 30 includes a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measuring device (not shown) that detects the inclination (pitch angle, roll angle) of the traveling machine body 50. The measuring device 30 outputs positioning data indicating the position of the traveling machine body 50.

  As shown in FIGS. 1 and 2, an inertia measuring device 48 that measures inertia information is attached to a portion of the rear axle case 37 that is positioned at the left and right center CL of the traveling machine body 50 in plan view. The inertial measurement of the inertial measurement device 48 and the measurement device 30 is configured by an IMU (Internal Measurement Unit).

  A typical example of the above-described satellite positioning system (GNSS) is a GPS (Global Positioning System). The GPS uses a plurality of GPS satellites that orbit the earth, a control station that tracks and controls the GPS satellites, and a receiver that is included in the object to be measured (the traveling vehicle body 50). The position of the device is measured.

  The inertial measurement device 48 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the traveling machine body 50 (the turning angle of the traveling machine body 50), and an acceleration sensor that detects acceleration in three axial directions orthogonal to each other. (Not shown). The inertia information measured by the inertia measuring device 48 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[8]
A configuration related to automatic traveling will be described.
As shown in FIGS. 1, 2, and 4, the operating position of the shift lever 45 is input to the control device 23. A center mascot 14 is provided at a position of the left and right center CL of the traveling machine body 50 in a plan view at the front portion of the traveling machine body 50. A steering motor 51 for operating the steering handle 20 (steering member 41) is provided, and a transmission motor 53 for operating the transmission lever 45 is provided.

  As shown in FIG. 4, a smartphone 46 (portable information terminal) (corresponding to an acquisition unit) is provided, and a Wi-Fi unit 47 (corresponding to an acquisition unit) is provided. The smartphone 46 and the Wi-Fi unit 47 are configured to perform wireless communication with each other according to the Wi-Fi standard, and the Wi-Fi unit 47 and the control device 23 are connected by a CAN. The smartphone 46 and the external computer 49 can communicate with each other by wireless data communication via the Internet.

  As shown in FIG. 4, a work start / end position setting unit 60 (corresponding to a work setting unit), a work travel line setting unit 61 (corresponding to a work setting unit), an automatic travel control unit 62, a turning line setting unit 63, an automatic turning The control unit 64 and the turning direction notifying unit 65 are provided in the control device 23 as software.

  As shown in FIGS. 2 and 4, a push button type operation unit 18 that artificially operates the automatic traveling control unit 62 and the automatic turning control unit 64 in an activated state and a stopped state is provided in the grip portion of the transmission lever 45. The operation signal of the operation unit 18 is input to the control device 23. A display device 27 constituted by a liquid crystal display or the like is provided on the front side of the steering handle 20, and an audio output device 52 constituted by a speaker or the like for outputting various sounds is provided.

[9]
The acquisition of the position data (corresponding to the position data of the outer periphery of the field) of the border lines B11, B21, B31, B41 of the ridges B1, B2, B3, B4 will be described.
As shown in FIG. 5, for example, in a field provided with ridges B1, B2, B3, and B4, the position data of the border lines B11, B21, B31, and B41 of the ridges B1, B2, B3, and B4 are represented by the following (9 -1) to (9-5) are obtained in advance by any one (or a plurality) of methods shown in FIG.

(9-1)
The measurement device 30 shown in FIGS. 1 and 2 is removed from the traveling machine body 50, and the worker with the measurement device 30 walks along the shoreline B11 to B41, so that the position of the worker by the measurement device 30 is determined. The indicated positioning data is obtained as the position data of the border lines B11 to B41.

(9-2)
Positioning data indicating the position of the traveling machine body 50 by the measuring device 30 by traveling the riding type rice transplanter shown in FIG. 1 and FIG. 2 (with the measuring device 30 attached) along the shoreline B11 to B41. Is obtained as position data of the border lines B11 to B41.

  In this case, since the measuring device 30 is attached to the portion located at the left and right center CL of the traveling machine body 50 (the outer end portion of the traveling machine body 50 (the seedling planting device 5) is located at the edge line B11 to B41. Therefore, from the positioning data indicating the position of the traveling machine body 50 by the measuring device 30, the position outside the lateral width of the traveling machine body 50 (the seedling planting device 5) is the position data of the edge lines B11 to B41. Correction is performed so that

(9-3)
The same riding type rice transplanter (or another riding type rice transplanter or riding type seeding machine equipped with a measuring device 30) travels (operates) in the past and measures the position of the traveling machine body 50 that has traveled in the field. When the data has been obtained, this positioning data is used as the position data of the border lines B11 to B41. In this case, the correction described in the previous section (9-2) is performed.

(9-4)
When various work vehicles such as a combine and a tractor equipped with the measuring device 30 have traveled (worked) in the past (or present) and have obtained positioning data indicating the position of the work vehicle that has traveled on the field. The positioning data is used as the position data of the shoreline B11 to B41 (position data of the outer periphery of the field obtained by another work vehicle).

(9-5)
If there is a commercially available storage medium that records the position data of the border lines B11 to B41, this storage medium is used.

[10]
The setting of the work travel line L (L01 to L07) and the turning lines LL1 to LL6 will be described.
As shown in [9] above, when the position data of the border lines B11 to B41 is stored in the computer 49, as shown in FIG. The position data of the machine body 50 and the position data of the border lines B11 to B41 are transmitted from the computer 49 to the smartphone 46. The position data of the border lines B11 to B41 received by the smartphone 46 is transmitted from the smartphone 46 to the Wi-Fi unit 47 and sent from the Wi-Fi unit 47 to the control device 23.

  Thereby, the following setting is performed in the control device 23 based on the position data of the border lines B11 to B41. In this case, it is assumed that the border lines B11 and B21 are parallel and the border lines B31 and B41 are parallel and have a rectangular shape in plan view.

  As shown in FIG. 6, the work start / end position setting unit 60 sets the heel line B11, B21 from the heel line B11, B21 to the position on the center side of the field by the lateral width of the traveling machine body 50 (the seedling planting device 5). A work start / end line LA1, LA2 (corresponding to a work start position and a work end position) is set. The headland lines LB1 and LB2 are set along the heel line B31 and B41 at the position on the center side of the field by the lateral width of the traveling machine body 50 (the seedling planting device 5) from the heel line B31 and B41.

Thereby, the work start end lines LA1 and LA2 and the headland lines LB1 and LB2 are displayed on the display device 27.
In this case, based on (9-3) of the previous item [9], when position data of the border lines B11 to B41 is obtained, work start positions C1 to C7 and work end positions D1 to D7 described later are The work start end lines LA1, LA2 and the headland line LB1, so as to coincide with (or be close to) the work start positions C1 to C7 and the work end positions D1 to D7 when traveling (working) in the past. The work start / end position setting unit 60 may be configured so that the position of LB2 is corrected.

  Next, as shown in FIG. 6, a plurality of work travel lines L are formed by the work travel line setting unit 61 between the one work start end line LA1 and the work start end line LA2 on the opposite side. The predetermined interval W1 (the lateral width of the traveling machine body 50 (the seedling planting device 5)) is set so as to be parallel to the LB1 and LB2 and to be parallel to each other, and set over the work start / end lines LA1 and LA2.

  Thereby, the position (positioning data) of the traveling machine body 50 by the work start / end lines LA1 and LA2, the headland lines LB1 and LB2, the work travel line L, and the measuring device 30 is displayed on the display device 27.

  Next, the driver designates a work start position at which the work is first started on the display device 27. As shown in FIG. 7, for example, when the position K2 is designated as the work start position, the work travel line setting unit 61 sequentially selects the work travel line L01 from the work travel lines L close to the position K2 in the plurality of work travel lines L. , L02, L03, L04, L05, L06, and L07 are set, and the directions of the work travel lines L01 to L07 (see the arrows of the work travel lines L01 to L07 shown in FIG. 7) are set.

  As shown in FIG. 7, the positions of the work start end lines LA1 and LA2 at the start ends of the work travel lines L01 to L07 are the work start positions C1, C2, C3, C4, C5, C6, and C7. The positions of the work start end lines LA1 and LA2 at the end portions of the work travel lines L01 to L07 are the work end positions D1, D2, D3, D4, D5, D6, and D7.

  Thereby, the work start end lines LA1, LA2 and the headland lines LB1, LB2, the work start positions C1 to C7 and the work end positions D1 to D7, the work travel lines L01 to L07, and the position of the traveling machine body 50 by the measuring device 30 (positioning) Data) is displayed on the display device 27.

[11]
The setting of the turning lines LL1 to LL6 will be described.
As described in the previous item [10], when the work start positions C1 to C7 and the work end positions D1 to D7 are set, the control device 23 shows the following based on the position data of the border lines B11 to B41. Settings are made.

As shown in FIG. 7, the turning line setting unit 63 sets a circular turning line LL1 in a plan view across the work end position D1 and the work start position C2 in the field.
Similarly, by the turning line setting unit 63, the work end position D2 and work start position C3, the work end position D3 and work start position C4, the work end position D4 and work start position C5, the work end position D5 and work start position C6, A circular turning line LL2, LL3, LL4, LL5, LL6 in a plan view is set in the field across the work end position D6 and the work start position C7.

  Thereby, work start end lines LA1, LA2 and headland lines LB1, LB2, work start positions C1-C7 and work end positions D1-D7, work travel lines L01-L07, turning lines LL1-LL6, travel by measuring device 30 The position (positioning data) of the aircraft 50 is displayed on the display device 27.

  In the previous item [10], as shown in FIG. 12, for example, when position K10 is designated as the work start position, work start positions C1 to C7 and work end positions D1 to D7 different from the state shown in FIG. To L07 and the turning lines LL1 to LL6 are set as shown in FIG.

[12]
The traveling (work) by the riding type rice transplanter will be described (part 1).
As described in [10] and [11] in the previous section, in the state where the work start positions C1 to C7 and the work end positions D1 to D7, the work travel lines L01 to L07, and the turning lines LL1 to LL6 are set, the driver operates By operating the unit 18, the following operation is performed by the automatic travel control unit 62.

  As shown in FIG. 8, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K <b> 1, the position (positioning data) of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertial measuring device 48. Thus, the speed change motor 53 (speed change lever 45) and the steering motor 51 (steering handle 20) are automatically operated by the control device 23.

As a result, as shown in FIG. 8, the traveling machine body 50 automatically starts at position K1, travels automatically along the route LC1, and serves as a work start position at which the driver first starts planting work. Stops automatically at the specified position K2.
Thereafter, in a state where the traveling machine body 50 is positioned at the position K2, the driver operates the operation unit 18 in order to start work.

  As shown in FIG. 8, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is positioned at the position K2, as shown in [13], [14], and [15] described later, the lifting operation unit 57 is operated. , The control valve 24 is operated, the planting clutch 26 (electric motor 28) is operated by the clutch operating unit 58, the right and left markers 19 (electric motor 21) are operated by the marker operating unit 59, and the turning direction notifying unit The display device 27 and the audio output device 52 are operated by 65.

  As described above, as described in [13], [14], and [15] described later, automatic traveling control is performed based on the position (positioning data) of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertia measuring device 48. The shift lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51) are operated by the unit 62 and the automatic turning control unit 64.

[13]
The traveling (work) by the riding type rice transplanter will be described (part 2).
As shown in FIG. 7, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K2, the shift lever 45 is operated to a predetermined shift position, and the traveling machine body 50 starts automatically. Then, the steering handle 20 is operated, and the traveling machine body 50 automatically travels along the work travel line L01. The start of running (work) is displayed on the display device 27 and is notified by voice from the voice output device 52.

  In this case, the seedling planting device 5 is lowered onto the paddy field from a position just before the seedling planting device 5 (planting arm 8) reaches the work start position C1 (see automatic lifting control (refer to [4] in the previous section)). The operating state, the disengagement state of the planting clutch 26), the right marker 19 is operated to the operating posture (the left marker 19 is retracted). It is displayed on the display device 27 that the seedling planting device 5 has been lowered to the rice field and that the right marker 19 has been operated to the action posture, and the sound output device 52 is notified by sound.

As shown in FIGS. 8 to 9, when the seedling planting device 5 (planting arm 8) reaches the work start position C1, the planting clutch 26 is operated in a transmission state, and seedling planting is started from the work start position C1. Is started. The start of planting is displayed on the display device 27 and notified by voice by the voice output device 52.
Thus, as shown in FIG. 9, the seedlings are planted while the traveling machine body 50 automatically travels along the work travel line L01, and the right marker 19 allows the seed surface to correspond to the work travel line L02. An index is formed at the position (see position K3 of the traveling machine body 50).

  As shown in FIG. 9, in the work travel line L01, when the traveling machine body 50 approaches the work end position D1 to the set distance, the traveling machine body 50 has approached the work end position D1, and the traveling machine body 50 is in the work end position. When D1 is reached, the fact that the turning in the turning direction is performed (right direction in the turning line LL1) is displayed on the display device 27 and is notified by voice from the audio output device 52.

As shown in FIG. 9, when the seedling planting device 5 (planting arm 8) reaches the work end position D <b> 1, the planting clutch 26 is operated in a disconnected state (stopping seedling planting), and the seedling planting device 5. Is lifted from the surface, and the right marker 19 is moved to the retracted position. At the same time, the speed change lever 45 is operated slightly to the low speed side from the predetermined speed change position, and the traveling machine body 50 automatically travels (turns) along the turning line LL1 (see position K4 of the traveling machine body 50).
The display device 27 indicates that seedling planting has stopped and the seedling planting device 5 has been lifted, that the right marker 19 has been operated to the retracted position, and that turning to the right has started. Is displayed and notified by voice by the voice output device 52.

  As shown in FIG. 9, in the turning line LL1 (see the position K4 of the traveling machine body 50), the seedling planting device 5 is lowered onto the rice field from a position just before the traveling machine body 50 reaches the work start position C2 (automatically). The operating state of the raising / lowering control (refer to the preceding item [4], the disengagement state of the planting clutch 26), the left marker 19 is operated to the acting posture (the right marker 19 is the retracted posture). It is displayed on the display device 27 that the seedling planting device 5 has been lowered to the paddy surface, and the left marker 19 has been operated to the acting posture, and the sound output device 52 is notified by sound.

  As shown in FIGS. 9 to 10, when the seedling planting device 5 (planting arm 8) reaches the work start position C <b> 2, the planting clutch 26 is operated in a transmission state, and seedling planting is started from the work start position C <b> 2. Is started, and the shift lever 45 is operated to a predetermined shift position. The start of planting of the seedling is displayed on the display device 27 and notified by voice by the voice output device 52. Thus, as shown in FIG. 10, the seedling is planted while the traveling machine body 50 automatically travels along the work travel line L02, and the left marker 19 corresponds to the work travel line L02. An index is formed at the position on the surface (see position K5 of the traveling machine body 50).

  In the above state, work start end lines LA1, LA2 and headland lines LB1, LB2, work start positions C1-C7 and work end positions D1-D7, work travel lines L01-L07, turning lines LL1-LL6, measuring device 30 The position (positioning data) of the traveling machine body 50 is displayed on the display device 27. In the display device 27, the traveling machine body 50 moves along the work traveling lines L01 and L02 and the turning line LL1.

As described above, when the traveling machine body 50 automatically travels along the work traveling line L02, in the state of the automatic traveling (working) along the work traveling line L01 of the previous traveling machine body 50, the right The marker 19 forms an index at the position on the surface corresponding to the work travel line L02 (see the position K3 of the traveling machine body 50 in FIG. 9).
As a result, the driver visually checks the display device 27 and at the same time, visually checks the center mascot 14 and the index of the position of the surface corresponding to the above-described work travel line L02, so that the traveling machine body 50 moves to the work travel line L02. It can be confirmed that the vehicle automatically travels along.

  As described above, as shown in FIGS. 9 and 10, the automatic traveling (work) along the work traveling lines L01 to L07 of the traveling machine body 50 and the turning lines LL1 to LL6 of the traveling machine body 50 are performed. Automatic traveling (turning) along is performed.

[14]
The traveling (work) by the riding type rice transplanter will be described (No. 3).
When the driver determines that the traveling speed of the traveling machine body 50 needs to be changed in the work traveling lines L01 to L07 and the turning lines LL1 to LL6 in the state of the previous item [13], the driver In contrast, the shift lever 45 can be manually operated from a predetermined shift position to the high speed side and the low speed side (temporarily stopped operation of the shift lever 45 (transmission motor 53) by the automatic travel control unit 62).

  Thereafter, when the traveling machine body 50 reaches the work start positions C1 to C7 or the work end positions D1 to D7 (or when the driver operates the operation unit 18) (or when the driver releases his / her hand from the shift lever 45), The shift lever 45 is operated to a predetermined shift position by the automatic travel control unit 62.

  Similarly, in the work travel lines L01 to L07 and the turning lines LL1 to LL6, when the driver determines that the direction of the traveling machine body 50 needs to be corrected, the driver manually controls the steering motor 51 against the steering motor 51. The handle 20 can be operated (a temporary stop state of the operation of the steering handle 20 (steering motor 51) by the automatic travel control unit 62).

  Thereafter, when the driver releases his hand from the steering handle 20 (or when the driver operates the operation unit 18), the steering handle 20 (steering motor 51) is operated by the automatic travel control unit 62 as described above. Return to state.

When it is necessary to stop the traveling machine body 50 in the work traveling lines L01 to L07 and the turning lines LL1 to LL6 (for example, when the seedlings of the reserve seedling platform 15 are replenished to the seedling platform 10 of the seedling planting device 5) Etc.), the driver operates the speed change lever 45 to the neutral position N to stop the traveling machine body 50 (temporarily stopped state of the automatic travel control unit 62).
In this case, when the driver operates the operation lever 12, the operation described in the previous item [5] can be performed.

  Thereafter, when the driver operates the operation unit 18, the automatic travel control unit 62 returns to the operating state, the shift lever 45 is operated to a predetermined shift position by the automatic travel control unit 62, and the traveling machine body 50 starts.

[15]
The traveling (work) by the riding type rice transplanter will be described (part 4).
In the preceding paragraphs [13] and [14], as shown in FIG. 11, when the traveling machine body 50 reaches the work end position D7 from the work travel line L07, the travel (work) along the work travel lines L01 to L07 is completed. The traveling machine body 50 stops at the work end position D7.

As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is stopped at the work end position D7, the position (positioning data) of the traveling machine body 50 by the measuring device 30 and the inertial measuring device 48 are used. Based on the inertia information, the automatic travel control unit 62 automatically operates the transmission motor 53 (transmission lever 45) and the steering motor 51 (operation handle 20), so that the traveling machine body 50 automatically travels along the route LC2. Then, the direction of the traveling machine body 50 is corrected and the vehicle moves forward and backward, and the traveling machine body 50 automatically stops at the position K6.
Thereafter, in a state where the traveling machine body 50 is located at the position K6, the driver operates the operation unit 18 in order to start the turning operation.

  As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K6, the seedling planting device 5 is lowered to the paddy surface (automatic lifting control (see the previous section [4]). ), The planting clutch 26 is disengaged), and the right and left markers 19 are held in the retracted posture without being operated in the acting posture. It is displayed on the display device 27 that the seedling planting device 5 has been lowered onto the rice field, and is notified by voice from the voice output device 52.

Thereafter, as shown in FIG. 11, the shift lever 45 is operated to a predetermined shift position, the traveling vehicle body 50 is automatically started, the steering handle 20 is operated, and the traveling vehicle body 50 is moved toward the border line B41 and Travels automatically along the headland line LB2. At the same time when the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and seedling planting is started from the position K6. The start of planting of the seedling is displayed on the display device 27 and notified by voice by the voice output device 52.
Thereby, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 automatically travels along the shoreline B41 and the headland line LB2 (turning operation traveling LD1).

  As shown in FIG. 11, when the traveling machine body 50 approaches the shoreline B21 to the set distance in the turning work travel LD1, the display device 27 displays that the traveling machine body 50 has approached the shoreline B21. The output device 52 is notified by voice.

As shown in FIG. 11, when the turning operation travel LD1 is finished and the front part of the traveling machine body 50 reaches the heel line B21, the planting clutch 26 is operated to be in a disconnected state (stopping seedling planting), The planting device 5 is operated to be lifted from the surface, the transmission lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped.
Next, when the driver operates the operation unit 18, the direction of the traveling machine body 50 is corrected and the vehicle moves forward and backward, and the traveling machine body 50 automatically stops at the position K7.

  As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K7, the lowering operation is performed on the surface of the seedling planting device 5 in the same manner as the turning work traveling LD1 (automatic lifting / lowering). The operation state of the control (refer to the preceding item [4], the disengagement state of the planting clutch 26), the right and left markers 19 are held in the retracted posture without being operated in the acting posture. It is displayed on the display device 27 that the seedling planting device 5 has been lowered onto the rice field, and is notified by voice from the voice output device 52.

Thereafter, the shift lever 45 is operated to a predetermined shift position, the traveling machine body 50 is automatically started, the steering handle 20 is operated, and the traveling machine body 50 moves along the coast line B21 and the work start / end line LA2. At the same time when the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and planting of seedlings is started from the position K7. The start of planting of the seedling is displayed on the display device 27 and notified by voice by the voice output device 52.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 automatically travels along the heel line B21 and the work start / end line LA2 (turning work travel LD2).

Thereafter, as shown in FIG. 11, in the same manner as the turning work runs LD1 and LD2, the turning work run LD3 along the landing line B31 and the headland line LB1 from the position K8 and the dredging from the position K9. The turning work travel LD4 is performed along the contact line B11 and the work start / end line LA1, and when the traveling work body LD4 is finished and the traveling machine body 50 reaches the position K6, the traveling machine body 50 leaves the field. go.
As described above, planting of seedlings in one field is completed.

[First Alternative Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention], the turning lines LL1 to LL6 shown in FIGS. 7 to 12 are circular in plan view, but the turning line LL1 having a shape in plan view as shown below. ˜LL6 may be set.

  The turning line LL1 will be described as a representative. As shown in FIG. 13, in the work travel line L01, when the front part of the traveling machine body 50 goes straight until it reaches the shoreline B11, the planting clutch 26 is operated in a disconnected state (stopping seedling planting), and seedling planting is performed. The attaching device 5 is lifted from the surface, the shift lever 45 is moved to the neutral position N, and the traveling machine body 50 stops. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

  As shown in FIG. 13, after the traveling machine body 50 is stopped, the reverse part LL11, the forward part LL12, the rotary part LL13, the forward part LL14, the rotary part LL15, and the forward part LL16 are performed on the turning line LL1, The planting device 5 (planting arm 8) is located at the work start position C2.

[Second Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention], the turning lines LL1 to LL6 shown in FIGS. 7 to 12 are circular in plan view, but the turning line LL1 having a shape in plan view as shown below. ˜LL6 may be set.

  The turning line LL1 will be described as a representative. As shown in FIG. 14, in the work travel line L01, when the front portion of the traveling machine body 50 reaches a position slightly in front of the heel line B11, the planting clutch 26 is operated in a disconnected state (stopping seedling planting). Then, the seedling planting device 5 is raised from the paddy surface, the transmission lever 45 is operated to the neutral position N, and the traveling machine body 50 stops. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

  As shown in FIG. 14, after the traveling machine body 50 is stopped, the turning part LL17, the forward part LL18, and the turning part LL19 are performed in the turning line LL1, and the seedling planting device 5 (planting arm 8) is operated. Located at the start position C2.

[Third Another Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] [Second Alternative Embodiment of the Invention], the configuration may be as follows.

  In FIG. 5, based on the position data of the border lines B11 to B41, work start / end lines LA1 and LA2 are set along the border lines B31 and B41, and the headland line LB1 along the border lines B11 and B21. , LB2 are set.

  Next, between the one work start end line LA1 and the opposite work start end line LA2, a plurality of work travel lines L (L01 to L07) are connected to the headland lines LB1, LB2 (border line B11, B21) and a predetermined interval W1 (lateral width of the traveling machine body 50 (the seedling planting device 5)) so as to be parallel to each other and set over the work start / end lines LA1 and LA2.

  [Form for carrying out the invention] [First alternative embodiment of the invention] [Second alternative embodiment of the invention] and this section [Third alternative embodiment of the invention] L01 to L07 and turning lines LL1 to LL6 can also be applied to a tractor (an example of a work vehicle) (not shown) in which a rotary tiller (not shown) is supported at the rear of the traveling machine body 50 so as to be movable up and down.

[Fourth Embodiment of the Invention]
In a combine harvester (not shown) for harvesting crops in the field, FIG. 15 is used instead of the work travel lines L01 to L07 and the turning lines LL1 to LL6 shown in FIGS. It may be set as shown in FIG.

  As shown in FIG. 15, in the field, the traveling machine body 50 is driven in parallel along the shoreline B11-B41, and the crop at the shoreline of the heel B1-B4 (part of the rotating work travel LD1-LD4 in FIG. 11). The crops in advance). Thereby, the outer peripheral part lines LE1, LE2, LE3, and LE4 indicating the outer peripheral part of the crop remaining in the field are generated based on the position data of the border lines B11 to B41.

  As shown in FIG. 15, the driver next designates a work start position at which the cutting work is first started on the display device 27. As shown in FIG. 15, for example, when the position K11 is designated as the work start position, the work start positions C1 to C9 are set based on the position data of the outer peripheral lines LE1 to LE4 and the lateral width of the traveling machine body 50, and the work ends. Positions D1 to D9 are set. Based on the work start positions C1 to C9 and the work end positions D1 to D9, work travel lines L01 to L09 are set, and directions of the work travel lines L01 to L09 (see arrows of the work travel lines L01 to L09 shown in FIG. 15). Is set.

  As shown in FIG. 15, when the work start positions C1 to C9 and the work end positions D1 to D9 are set, the work start position is based on the position data of the border lines B11 to B41 (outer peripheral lines LE1 to LE4). A turning line LL1 is set across C1 to C9 and work end positions D1 to D9.

  As shown in FIG. 15, the turning line LL1 extending between the work end position D1 and the work start position C2 will be described as a representative. In the turning line LL1, the turning part LL20 in the forward direction, the turning part LL21 in the reverse direction, and the forward part LL22. And is located at the work start position C2.

[Fifth Embodiment of the Invention]
In a combine harvester (not shown) that harvests crops in the field, instead of the work travel lines L01 to L07 and the turning lines LL1 to LL6 shown in FIGS. It may be set as shown in FIG.

  As shown in FIG. 16, in the field, the traveling machine body 50 is run in parallel along the shoreline B11 to B41, and the crop at the shoreline of the heel B1 to B4 (part of the rotating work travel LD1 to LD4 in FIG. 11). The crops in advance). Thereby, the outer peripheral part lines LE1, LE2, LE3, and LE4 indicating the outer peripheral part of the crop remaining in the field are generated based on the position data of the border lines B11 to B41.

  As shown in FIG. 16, the driver next designates a work start position at which the cutting operation is first started on the display device 27. For example, when the position K12 is designated as the work start position, the work start positions C1 to C7 are set based on the position data of the outer peripheral lines LE1 to LE4 and the lateral width of the traveling machine body 50, and the work end positions D1 to D7 are set. The Based on the work start positions C1 to C7 and the work end positions D1 to D7, work travel lines L01 to L07 are set, and the directions of the work travel lines L01 to L07 (see arrows of the work travel lines L01 to L07 shown in FIG. 16). Is set.

  As shown in FIG. 16, when the work start positions C1 to C7 and the work end positions D1 to D7 are set, the work start position is based on the position data of the border lines B11 to B41 (outer peripheral lines LE1 to LE4). Turning lines LL1 to LL6 are set across C1 to C7 and work end positions D1 to D7.

[Sixth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] to [Fifth Alternative Embodiment of the Invention], the following (6-1) to (6-4) are described. You may comprise as follows.

(6-1)
When the automatic traveling control unit 62 and the automatic turning control unit 64 are provided, the automatic traveling control unit 62 is configured to be able to be operated in an operating state and a stopped state independently by manual operation, and the automatic turning control unit 64 is independent by manual operation. It is configured so that it can be operated in an operating state and a stopped state.

(6-2)
The automatic travel control unit 62 is provided, and the automatic turning control unit 64 is not provided. In this case, the automatic travel control unit 62 is configured so that it can be independently operated in the operating state and the stopped state by manual operation.

(6-3)
The automatic turning control unit 64 is provided, but the automatic traveling control unit 62 is not provided. In this case, the automatic turning control unit 64 is configured so as to be able to be operated in an activated state and a stopped state independently by manual operation.

(6-4)
Neither the automatic traveling control unit 62 nor the automatic turning control unit 64 is provided.

In the preceding paragraphs (6-1) to (6-4), when the automatic traveling control unit 62 is not provided (when the automatic traveling control unit 62 is operated in a stopped state), when the automatic turning control unit 64 is not provided (automatic turning) When the control unit 64 is operated to the stop state), the driver operates the control handle 20 and the shift lever 45 while visually observing the display on the display device 27, so that the traveling machine body 50 is moved to the work traveling lines L01 to L07 (L09). And it makes it drive | work along turning lines LL1-LL6.
In this case, in the riding type rice transplanter, in addition to the display on the display device 27, the steering handle 20 and the shift lever 45 are observed by visually checking the center mascot 14 and the index of the position of the surface corresponding to the work travel lines L02 to L07. Is operated to cause the traveling machine body 50 to travel along the work traveling lines L01 to L07.

[Seventh Embodiment of the Invention]
In the above [sixth embodiment of the invention], when the automatic turning control unit 64 is not provided (when the automatic turning control unit 64 is configured to be operable in a stopped state), as shown in FIG. The timing notification unit 66 may be provided in the control device 23 as software.
Thereby, in a state where the automatic turning control unit 64 is not provided (a state where the automatic turning control unit 64 is operated in a stopped state), the turning operation timing notification unit 66 is described in the following (7-1) to (7-4). It is configured to operate as follows.

(7-1)
As shown in FIG. 7, when the traveling machine body 50 reaches the work end positions D1 to D6,
“Operating the turning direction of the traveling body 50 and the steering handle 20 in the turning direction”
Is displayed on the display device 27 and notified by the voice output device 52 by voice.
When the traveling machine body 50 reaches the work start positions C2 to C7,
“Operating the steering handle 20 to the straight position”
Is displayed on the display device 27 and notified by the voice output device 52 by voice.
Thus, the driver only has to operate the steering handle 20 and the shift lever 45 in accordance with the display on the display device 27 and the audio notification by the audio output device 52.

(7-2)
As shown in FIG. 13, when the traveling machine body 50 reaches the work end positions D1 to D6,
“Stop traveling machine body 50 and move backward” (reverse portion LL11)
“Stop traveling machine body 50 and move forward” (forward movement portion LL12)
“Operating the turning direction of the traveling machine body 50 and the steering handle 20 in the turning direction” (turning part LL13)
“Advancing the traveling machine body 50” (advanced portion LL14)
“Operating the turning direction of the traveling body 50 and the steering handle 20 in the turning direction” (turning portion LL15)
“Advancing the traveling machine body 50” (advanced portion LL16)
Is displayed on the display device 27 and notified by the voice output device 52 by voice.
Thus, the driver only has to operate the steering handle 20 and the shift lever 45 in accordance with the display on the display device 27 and the audio notification by the audio output device 52.

(7-3)
As shown in FIG. 14, when the traveling machine body 50 reaches the work end positions D1 to D6,
“Operating the turning direction of the traveling body 50 and the steering handle 20 in the turning direction” (turning portion LL17)
“Advancing the traveling machine body 50” (advanced portion LL18)
“Operating the turning direction of the traveling body 50 and the steering handle 20 in the turning direction” (turning portion LL19)
Is displayed on the display device 27 and notified by the voice output device 52 by voice.
Thus, the driver only has to operate the steering handle 20 and the shift lever 45 in accordance with the display on the display device 27 and the audio notification by the audio output device 52.

(7-4)
As shown in FIG. 15, when the traveling machine body 50 reaches the work end positions D1 to D8,
"Operating the turning direction of the traveling body 50 and the steering handle 20 in the turning direction" (turning portion LL20 in the forward direction)
“Turning direction of the traveling machine body 50, operating the steering handle 20 in the turning direction, and moving the traveling machine body 50 backward” (turning part LL21 in reverse)
“Advancing the traveling machine body 50” (advanced portion LL22)
Is displayed on the display device 27 and notified by the voice output device 52 by voice.
Thus, the driver only has to operate the steering handle 20 and the shift lever 45 in accordance with the display on the display device 27 and the audio notification by the audio output device 52.
In this case, in the turning lines LL <b> 1 to LL <b> 6 as shown in FIG. 16, the display on the display device 27 and the voice notification by the voice output device 52 as described above may be performed.

  In the preceding paragraphs (7-1) to (7-4), the seedling planting device by the lifting operation unit 57 as described in [13] [14] [15] of the above-mentioned [Mode for Carrying Out the Invention] 5 so that the operation of the planting clutch 26 by the clutch operating unit 58 and the operation of the right and left markers 19 by the marker operating unit 59 are not performed. The operation, the operation of the planting clutch 26, and the operation of the right and left markers 19 may be performed by the driver operating the operation lever 12 (the above-mentioned [Description of the Invention]). [5] [6].

[Eighth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] to [Seventh Alternative Embodiment of the Invention], the configuration described below may be provided.

  As shown in FIG. 20, the material remaining amount detection unit 67 for detecting the remaining amount of seedlings (corresponding to materials) placed on the seedling platform 10 and the reserve seedling platform 15 includes the seedling platform 10 and the spare seedling platform. The detection value of the material remaining amount detection unit 67 is input to the control device 23. An automatic stop switch 54 that is manually operated by the driver is provided, and an operation command for the automatic stop switch 54 is input to the control device 23.

As shown in FIG. 20, the remaining material amount calculation unit 68, the material notification unit 69, the automatic stop unit 70, and the forced automatic stop unit 71 are provided in the control device 23 as software. Thereby, based on the detected value of the material remaining amount detection unit 67, the material remaining amount calculation unit 68 calculates the remaining amount of seedlings as shown in the following (8-1) and (8-2).
As shown in FIG. 18, seedlings are transported by a truck or the like and placed on the heel B1 (corresponding to a specific heel), and an auxiliary worker is waiting at B1.

(8-1)
As shown in FIG.
“When the traveling machine body 50 is positioned on the work travel line L01 (L03) (L05) and enters the next work travel line L02 (L04) (L06), the two work travel lines L02, L03 (L04) , L05) Whether or not there is a remaining amount of seedlings that can reach 畦 B1 after finishing traveling (work) along (L06, L07) "

(8-2)
As shown in FIG.
“When the traveling machine body 50 is positioned on the work travel line L02 (L04) (L06) and enters the next work travel line L03 (L05) (L07), the next work travel line L03 (L05) ( In the middle of L07), whether the seedlings on the seedling platform 10 and the spare seedling platform 15 will be lost "

  As a result, for example, as shown in FIG. 18, when the traveling machine body 50 is located at the position K13 (work travel line L03), if the next work travel line L04 is entered, the work travel lines L04, L05 It is assumed that the material remaining amount calculation unit 68 calculates when the seedling raising table 10 and the reserve seedling setting table 15 are lost.

In the state as described above, as shown in FIGS.
“Travel aircraft 50 should be stopped at the edge of heel B1 to replenish seedlings”
However, the information is displayed on the display device 27 by the material notification unit 69 and notified by voice by the voice output device 52, and the driver may operate the automatic stop switch 54 according to his / her own judgment.
At the same time, the same notification content as described above is transmitted from the smartphone 46 to the smartphone 55 (portable information terminal) carried by the auxiliary worker, and the auxiliary worker is based on the notification to the smartphone 55 carried by himself / herself. Start preparing for seedling supply.

When the driver operates the automatic stop switch 54, the automatic stop unit 70 is activated.
Accordingly, as shown in FIG. 18, when the driver operates the automatic stop switch 54 in a state where the traveling machine body 50 is located at the position K13 (working travel line L03), the work traveling line L03 of the traveling machine body 50 is displayed. The automatic travel (work) along the road continues.

Thereafter, as shown in FIG. 18, when the seedling planting device 5 (planting arm 8) reaches the work end position D3, the planting clutch 26 is operated in a disconnected state (stop of seedling planting), and seedling planting is performed. The attaching device 5 is moved up from the surface, and the right marker 19 is operated to the retracted posture. Next, the automatic traveling (turning) of the traveling machine body 50 along the turning line LL3 is not performed, the traveling machine body 50 moves forward as it is, and the position K14 where the front portion of the traveling machine body 50 is located on the coast line B11. Thus, the traveling machine body 50 automatically stops.
As a result, the auxiliary worker hands the seedling to the driver of the traveling machine body 50 in the bag B1, and the driver who has received the seedling supplies the seedling to the seedling setting table 10 and the spare seedling setting table 15.

Next, the operation of the forced automatic stop unit 71 will be described.
As shown in FIG. 18, in a state where the traveling machine body 50 is located at the position K13 (work traveling line L03),
“Travel aircraft 50 should be stopped at the edge of heel B1 to replenish seedlings”
However, if the driver does not operate the automatic stop switch 54 even if the material is displayed on the display device 27 by the material notification unit 69 and is notified by voice by the voice output device 52, as shown in FIG. It is assumed that automatic traveling (turning) is performed along 50 turning lines LL3 and the traveling machine body 50 enters the work traveling line L04 (see position K15).

In this case, based on the detection value of the material remaining amount detection unit 67, the remaining amount calculation of the seedling is performed again by the material remaining amount calculation unit 68,
“When the traveling machine body 50 is positioned on the work travel line L04 and enters the next work travel line L05, the seedlings on the seedling raising stand 10 and the spare seedling raising stand 15 are midway along the next work traveling line L05. Will disappear "
When the state of the remaining amount of seedling is calculated (corresponding to a state where the remaining amount of material is less than the preset amount set in advance), the forced automatic stop unit 71 operates.

  As shown in FIG. 19, when the forced automatic stop unit 71 is operated, the automatic traveling (work) along the work traveling line L04 of the traveling machine body 50 is continued, and the seedling planting device 5 (planting) When the arm 8) reaches the work end position D4, the planting clutch 26 is operated in a disengaged state (stop of seedling planting), the seedling planting device 5 is raised from the surface, and the left marker 19 is retracted. To be operated.

Next, automatic traveling (turning) along the turning line LL4 of the traveling machine body 50 is not performed, the traveling machine body 50 moves forward as it is, and a position K16 where the front portion of the traveling machine body 50 is located on the coast line B21. Thus, the traveling machine body 50 automatically stops.
In this case, the auxiliary worker waiting on the heel B1 needs to move the seedling prepared on the heel B1 to the heel B2, and the seedling is replenished in the heel B2.

[Ninth Embodiment of the Invention]
In the above-mentioned [eighth embodiment of the invention], the forced automatic stop unit 71 may be configured so that the traveling machine body 50 travels and stops as described below.

As shown in FIG. 18, in a state where the traveling machine body 50 is located at the position K13 (work traveling line L03),
“Travel aircraft 50 should be stopped at the edge of heel B1 to replenish seedlings”
However, if the driver does not operate the automatic stop switch 54 even if the material is displayed on the display device 27 by the material notification unit 69 and is notified by voice by the voice output device 52, as shown in FIG. It is assumed that automatic traveling (turning) is performed along 50 turning lines LL3 and the traveling machine body 50 enters the work traveling line L04 (see position K15).

In this case, based on the detection value of the material remaining amount detection unit 67, the remaining amount calculation of the seedling is performed again by the material remaining amount calculation unit 68,
“When the traveling machine body 50 is positioned on the work travel line L04 and enters the next work travel line L05, the seedlings on the seedling raising stand 10 and the spare seedling raising stand 15 are midway along the next work traveling line L05. Will disappear "
When the state of the remaining amount of seedling is calculated (corresponding to a state where the remaining amount of material is less than the preset amount set in advance), the forced automatic stop unit 71 operates.

When the forced automatic stop unit 71 is activated, the automatic traveling (work) along the work travel line L04 of the traveling machine body 50 is continued, and the automatic traveling (turning) along the turning line LL3 of the traveling machine body 50 is continued. And the traveling machine body 50 enters the work traveling line L05.
In this case, there are no seedlings on the seedling platform 10 and the reserve seedling platform 15 in the middle of the work travel line L05, but the seedlings on the seedling platform 10 and the reserve seedling platform 15 are in the middle of the work traveling line L05. When it disappears, the planting clutch 26 is operated in a disconnected state (stopping seedling planting), the seedling planting device 5 is raised from the paddy surface, and the right marker 19 is operated to the retracted posture.
Thereafter, traveling of the traveling machine body 50 along the work traveling line L05 is continued, and when the traveling machine body 50 reaches the work end position D5 and the front portion of the traveling machine body 50 is positioned on the border line B11, the traveling machine body 50 travels. The aircraft 50 automatically stops.

As a result, the auxiliary worker of the cocoon B1 hands the seedling prepared in the cocoon B1 to the driver of the traveling machine body 50, and the driver who has received the seedling sends the seedling to the seedling platform 10 and the reserve seedling platform 15. To replenish.
Thereafter, the driver manually operates the steering handle 20 and the shift lever 45 to move the traveling machine body 50 backward along the work traveling line L05, and the position where the planting clutch 26 is operated in the disconnected state. Returning to (the seedling planting stop position), automatic travel (work) along the work travel line L05 of the traveling machine body 50 is resumed.

[Tenth Embodiment of the Invention]
In the above-mentioned [8th embodiment of the invention] [9th embodiment of the invention], the automatic stopping unit 70 may be configured to travel and stop as described below. Good.

  As shown in FIG. 21, when the driver operates the automatic stop switch 54 in a state where the traveling machine body 50 is located at the position K17 (working travel line L03), the traveling machine body 50 along the work traveling line L03. Automatic travel (work) continues.

  As shown in FIG. 21, when the seedling planting device 5 (planting arm 8) reaches the work end position D <b> 3, the planting clutch 26 is operated in a disengaged state (stop of seedling planting), and the seedling planting device 5. Is lifted from the surface, and the right marker 19 is moved to the retracted position. At the same time, the speed change lever 45 is operated slightly to the low speed side from the predetermined speed change position, and the traveling machine body 50 automatically travels (turns) along the turning line LL3.

  As shown in FIG. 21, in the turning line LL3, even if the traveling machine body 50 reaches the work start position C4 (see position K18), the seedling planting device 5 is maintained in the raised operation state (planting clutch 26). In the closed state of the right and left markers 19), the automatic traveling (work) of the next traveling machine body 50 along the work traveling line L04 is not performed, and the traveling machine body 50 moves backward as it is, The traveling machine body 50 automatically stops at a position K19 where the planting device 5 is located on the heel line B11.

For example, in a riding-type rice transplanter or a riding-type direct sowing machine provided with a fertilizer (not shown), a seeding device (not shown), and a medicine spraying device (not shown) on the rear part of the traveling machine body 50 or the link mechanism 3 When replenishing fertilizer, seeds, and medicines from 畦 B1, fertilizers, seeds, and medicines are replenished from 畦 B1 to the rear part of traveling machine body 50. Easy to replenish.
Therefore, in such a riding type rice transplanter or a riding type direct sowing machine, as shown in FIG. 21, it is convenient for the seedling planting device 5 to stop the traveling machine body 50 at a position K19 located on the heel line B11. It will be a thing.

[Eleventh Embodiment of the Invention]
In the above-mentioned [8th embodiment of the invention] [9th embodiment of the invention] [10th embodiment of the invention], the material remaining amount calculation unit 68, the material notification unit 69, and the automatic stop unit 70. The function of the forced automatic stop unit 71 may be configured to be applied to materials such as seeds, fertilizers, drugs, and traveling fuel.

[Twelfth Embodiment of the Invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Alternative Embodiment of the Invention] to [Eleventh Alternative Embodiment of the Invention], the configurations described in the following (12-1) and (12-2) May be provided.

(12-1)
When there is an obstacle such as a tree on the center side of the field (inside of the border line B11 to B41), obstacle data indicating the position of the obstacle present in the field is obtained from the outer periphery of the field (border line B11). (Position data of B41) (added).
In this case, at the position where the obstacle exists, the work travel lines L01 to L09 are set to be bent so as to bypass the obstacle.
In the work travel lines L01 to L09, when the traveling machine body 50 reaches an obstacle, the planting clutch 26 is operated to be disconnected (stop of seedling planting), the seedling planting device 5 is lifted from the rice field, and the right The (left) marker 19 is operated to the retracted posture. When the traveling machine body 50 finishes the detouring of the obstacle, the seedling planting device 5 is lowered to the surface (the operation state of the automatic lifting control (see [4] in the previous section)), and the right (left) marker 19 is in the acting posture. It is operated, the planting clutch 26 is operated to the transmission state, and seedling planting is resumed.

(12-2)
On the central side of the field (inside of the border lines B11 to B41), the slope data indicating the slope with respect to the horizontal plane at each position of the field is included in the outer periphery of the field (position data of the border lines B11 to B41) ( to add).
There is a possibility that the traveling machine body 50 skids along the slope in a portion having a slope in the field. Thereby, at the position where the traveling machine body 50 may skid, the work traveling lines L01 to L09 are slightly deviated to the side opposite to the skidding direction, taking into account the skid of the traveling machine body 50, or the automatic travel control unit 62 In addition, the steering motor 51 (the steering handle 20) by the automatic turning control unit 64 is configured to be sensitive.

[Thirteenth embodiment of the invention]
In the above-mentioned [Mode for Carrying Out the Invention] [First Different Form of the Invention] to [Twelfth Different Form of the Invention], the work start / end position setting unit 60, the work travel line setting unit 61, and the turning The line setting unit 63 may be configured not to be provided in the control device 23.
When configured in this way, it may be configured as described in the following (13-1) to (13-8).

(13-1)
The work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit are used as software on a computer or the like (eg, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50. Prepare.
Accordingly, the work setting system for setting the work travel lines L01 to L09 and the turn lines LL1 to LL6 by the work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the obtaining unit, which are software. Configure.

(13-2)
In the configuration described in the preceding paragraph (13-1), the work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit are provided in separate computers, not the same computer.
In this case, the work start / end position setting unit 60, the work travel line setting unit 61, and the acquisition unit constitute a work setting system for setting the work travel lines L01 to L09. The work setting system for setting the turning lines LL1 to LL6 may be configured by the turning line setting unit 63 and the acquisition unit.

(13-3)
The work start / end position setting unit 60, the work travel line setting unit 61, and the turning line setting unit 63 are provided as software on a computer or the like (eg, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50. 4 separately includes an acquisition unit corresponding to the smartphone 46 (portable information terminal) and the Wi-Fi unit 47 shown in FIG.
Thus, the work start lines L01 to L09 and the turn lines LL1 to LL6 are set by the work start / end position setting unit 60, which is software, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit which is hardware. Configure the work setting system to be set.

(13-4)
In the configuration described in the preceding paragraph (13-3), the work start / end position setting unit 60, the work travel line setting unit 61, and the turning line setting unit 63 are provided in separate computers, not the same computer.
In this case, the work setting system for setting the work travel lines L01 to L09 is performed by the work start / end position setting unit 60, which is software, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit which is hardware. Separately, a work setting system for setting the turning lines LL1 to LL6 is configured by the work start / end position setting unit 60, which is software, the turning line setting unit 63, and the acquisition unit which is hardware. Also good.

(13-5)
Work for setting work travel lines L01 to L09 and turn lines LL1 to LL6, including a dedicated control device including a work start / end position setting unit 60, a work travel line setting unit 61, a turning line setting unit 63, and an acquisition unit. A setting device.

(13-6)
Work for setting work travel lines L01 to L09 in the configuration described in the preceding paragraph (13-5), including a dedicated control device including a work start / end position setting unit 60, a work travel line setting unit 61, and an acquisition unit. Separately from this, a dedicated control device including a work start / end position setting unit 60, a turn line setting unit 63, and an acquisition unit may be provided, and a work setting device for setting the turn lines LL1 to LL6. .

(13-7)
A dedicated control device including a work start / end position setting unit 60, a work travel line setting unit 61, and a turning line setting unit 63 is provided, and corresponds to the smartphone 46 (portable information terminal) and the Wi-Fi unit 47 shown in FIG. The acquisition unit is provided separately from the control device, and is a work setting device that sets the work travel lines L01 to L09 and the turning lines LL1 to LL6 by the control device and the acquisition unit.

(13-8)
In the configuration described in the preceding item (13-7), a work setting device that sets work travel lines L01 to L09 by a dedicated control device and an acquisition unit including a work start / end position setting unit 60 and a work travel line setting unit 61. Separately from this, a work setting device for setting the turning lines LL1 to LL6 may be provided by a dedicated control device and acquisition unit including the work start / end position setting unit 60 and the turning line setting unit 63.

  In the configuration described in the above (13-1) to (13-8), the method (9-1) to (9-4) described in [9] of [Mode for Carrying Out the Invention] described above. The position data of the border lines B11 to B41 is acquired by the acquisition unit of the work setting system (work setting device), and the work travel lines L01 to L09 (turn lines LL1 to LL6) are acquired by the work setting system (work setting device). Set.

  Next, the work travel lines L01 to L09 (turn lines LL1 to LL6) are transmitted from the work setting system (work setting device) to the control device 23 of the traveling machine body 50 through various communication means and storage media. In this case, the smartphone 46 (portable information terminal) and the Wi-Fi unit 47 illustrated in FIG. 4 are not the acquisition unit of the present invention.

  The present invention provides not only a riding type rice transplanter equipped with a seedling planting device 5 (corresponding to a working device) at the rear part of the traveling machine body 50, but also a seeding device (corresponding to a working device) at the rear part of the traveling machine body 50. Riding type direct sowing machine that can be moved up and down, a tractor equipped with a rotary tiller (equivalent to a working device) at the rear of the traveling machine body 50, and a cutting unit (equivalent to a working apparatus) at the front of the traveling machine body 50 The present invention can be applied to a working vehicle that travels while performing work on a farm field, such as a freely-equipped combine.

27 Display device 30 Positioning unit 46, 47 Acquisition unit 50 Traveling machine body 60 Work setting unit, work start / end position setting unit 61 Work setting unit, work travel line setting unit 62 Automatic travel control unit 63 Turning line setting unit 64 Automatic turning control unit 65 Turning direction notifying unit 66 Turning operation timing notifying unit 67 Material remaining amount detecting unit 69 Material notifying unit 70 Automatic stopping unit 71 Forced automatic stopping unit B1, B2 B11-B41 Field outer periphery C1-C9 Work start position D1-D9 Work end position L01 to L09 Work travel line LL1 to LL6 Turning line W1 Predetermined interval

Claims (20)

An acquisition unit for acquiring position data of the outer periphery of the field is provided,
A work vehicle provided with a work setting unit for setting a work travel line on which the traveling machine travels in an agricultural field based on the position data.   The work vehicle according to claim 1, further comprising an automatic traveling control unit that automatically performs a steering operation of the traveling machine body so that the traveling machine body travels along the work traveling line. In the work setting unit,
Based on the position data, a work start / end position setting unit that sets a work start position and a work end position in the field;
The work according to claim 1, further comprising: a work travel line setting unit configured to set the work travel line in an agricultural field across the work start position and the work end position based on the position data. car. Based on the position data, the work start / end position setting unit sets a plurality of the work start positions and a plurality of the work end positions along the ridge,
Based on the position data, the work travel line setting unit sets the work travel line in the field across the work start position on one side and the work end position on the other side. The work vehicle according to claim 3, wherein the work vehicle is set on the farm field at a predetermined interval so that the plurality of work travel lines are parallel to each other. A positioning unit that outputs positioning data indicating the position of the traveling aircraft is provided,
The work vehicle according to claim 3 or 4, further comprising a display device that displays the work start position, the work end position, the work travel line, and the position of the traveling machine body.   The turning line setting part which sets a turning line to an agricultural field over the work end position and the work start position based on the position data is provided. The work vehicle described.   The work vehicle according to claim 6, further comprising an automatic turning control unit that automatically performs a steering operation of the traveling machine body so that the traveling machine body travels along the turning line.   The work vehicle according to claim 6 or 7, further comprising a turning direction notifying unit that notifies the turning direction of the traveling machine body in the turning line before the traveling machine body enters the turning line.   The turning operation timing notification unit for notifying the timing and the turning direction of the turning operation of the traveling machine body in a turning state from the work end position to the work start position is provided. Work vehicle as described in the paragraph. A positioning unit for detecting positioning data indicating the position of the traveling aircraft is provided,
The work vehicle according to any one of claims 6 to 8, further comprising a display device that displays the work start position, the work end position, the work travel line, the turning line, and the position of the traveling machine body. . A material remaining amount detection unit that detects the remaining amount of the mounted material is provided,
The material notification part which notifies a driver | operator that a material should be replenished after a driving | running | working machine body complete | finishes driving | running | working along the said work driving | running line when the remaining amount of material decreases is provided. The work vehicle according to any one of 10.   The work vehicle according to claim 11, wherein the notification by the material notification unit is also performed by an auxiliary worker of a bag.   13. The automatic stop unit according to claim 11 or 12, further comprising: an automatic stop unit that automatically stops the traveling machine body immediately after the traveling machine body finishes traveling along the work travel line based on an operation command. Work vehicle.   The work vehicle according to claim 13, wherein the automatic stop unit advances the traveling machine body to the eaves and stops after the traveling machine body finishes traveling along the work traveling line.   The work vehicle according to claim 13, wherein the automatic stop unit turns the traveling machine body after the traveling machine body finishes traveling along the work traveling line, and then reverses the traveling machine body to the saddle to stop the working vehicle.   When the remaining amount of the material is less than a preset amount, a forced automatic stop unit that automatically stops the traveling body on the heel after the traveling body finishes traveling along the work traveling line. The work vehicle as described in any one of Claims 11-15 provided.   17. The dredging that automatically stops after the traveling machine body has finished traveling along the work travel line is a dredging of a specific dredging to which materials are replenished. Work vehicle as described in the paragraph.   The work vehicle according to any one of claims 1 to 17, wherein the work travel line is based on positioning data indicating a position of a work vehicle that has traveled in the past in the field.   The work vehicle according to any one of claims 1 to 18, wherein the position data includes obstacle data indicating a position of an obstacle present in a field.   The work vehicle according to any one of claims 1 to 19, wherein the position data includes inclination data indicating an inclination with respect to a horizontal plane at each position of the field.

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