JP2018117563A - Agricultural work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce time and effort required for assistant operation such as supplying of on-vehicle articles for an agricultural work vehicle.SOLUTION: An agricultural work vehicle includes a storage part 70D for storing a travel route in a farm field and a specific assistant work point, an automatic operation control part 70E for performing automatic operation of a vehicle body on the basis of the travel route and a positioning result of a positioning unit 83 in an automatic operation route, and a work travel determination part 70K for determining whether or not continuation of work travel is possible based on a load of on-vehicle articles obtained by a load calculation part 70G. The automatic operation control part 70E executes automatic work travel control in a plurality of work travel routes in the automatic operation route while it is determined by the work travel determination part 70K that continuation of the work travel is possible, interrupts the automatic work travel control when it is determined by the work travel determination part 70K that the continuation of the work travel is not possible while the automatic work travel control is executed, and executes automatic movement control for assistant work that automatically moves the vehicle body from the automatic work travel control interruption point to the assistant work point.SELECTED DRAWING: Figure 5

Description

  The present invention is based on the storage unit in which the travel route in the field set in advance is written, the positioning unit that measures the position and orientation of the vehicle body, the travel route and the positioning result of the positioning unit, The present invention relates to a farm vehicle including an automatic driving control unit that performs automatic driving of a vehicle body in an automatic driving route included in the traveling route.

  In the agricultural work vehicle as described above, for example, autonomously travels on a target route (automatic driving route), and when an automatic turning operation tool is operated by an operator, it turns autonomously toward the next target route. Later, when the vehicle autonomously travels on the next target route and detects that the remaining amount of processed agricultural products (an example of in-vehicle items) is less than a preset threshold, the operation of the automatic turning operation tool is invalidated. In some cases, the vehicle is configured to automatically travel straight to the field end and then stop automatically at the field end (see, for example, Patent Document 1).

JP 2008-92818 A

  According to the above configuration, the stop position of the agricultural work vehicle automatically stopped at the end of the field may be far away from the place where the agricultural processing object is set at a predetermined position on the fence around the field. In this case, the operator or the auxiliary worker carries the replenished agricultural processed material from the place where the agricultural processed material is placed to the stop position of the agricultural work vehicle, and replenishes the agricultural work vehicle. As a result, it takes time and effort to assist in supplying agricultural processed vehicles with agricultural processed materials.

  In other words, it is desired to reduce time and effort required for auxiliary work such as replenishment of on-vehicle items to farm vehicles.

As means for solving the above problems,
Agricultural work vehicle according to the present invention,
A storage unit in which a travel route in a field set in advance and a specific auxiliary work point for performing auxiliary work related to supply and discharge of a vehicle-mounted object whose vehicle-mounted amount changes with traveling,
A positioning unit that measures the position and orientation of the vehicle body;
Based on the traveling route and the positioning result of the positioning unit, an automatic driving control unit that performs automatic driving of the vehicle body in the automatic driving route included in the traveling route;
An in-vehicle amount calculation unit for determining the in-vehicle amount of the in-vehicle item;
A work travel determination unit that determines whether or not continuation of work travel is possible based on the vehicle mounted amount of the vehicle mounted amount calculation unit;
The automatic driving control unit automatically runs the vehicle on the plurality of work driving routes included in the automatic driving route while the work driving determination unit determines that the work driving can be continued. Automatic work travel control is performed, and when the work travel determination unit determines that continuation of work travel is impossible during execution of the automatic work travel control, the automatic work travel control is interrupted. Then, automatic movement control for auxiliary work is executed for automatically moving the vehicle body from the interruption point of the automatic work traveling control to the auxiliary work point.

  According to this means, the agricultural vehicle is determined to be unable to continue the work travel by the work travel determination unit based on the on-vehicle amount of the in-vehicle thing obtained by the on-vehicle amount calculation unit during the work travel by the automatic work travel control. When the vehicle load changes, the work travel by the automatic work travel control is interrupted, and then the automatic travel control for auxiliary work automatically moves from the work travel interruption point to the auxiliary work point.

  In other words, when it becomes necessary to perform auxiliary work during work travel, the farm vehicle automatically moves to the auxiliary work point suitable for the auxiliary work, so the operator has to move the farm vehicle to the auxiliary work point. It becomes unnecessary. And when an operator or an auxiliary worker performs auxiliary work, the farm work vehicle is always stopped at the auxiliary work point.

  Thereby, for example, the amount of the vehicle mounted on the vehicle is determined to be an agricultural material supply work vehicle that supplies agricultural materials to the field, and the work travel determination unit cannot continue the work travel. In the case of the remaining amount of material, the operator or the auxiliary worker can supply the agricultural material supply work vehicle that has stopped the auxiliary agricultural material placed on the eaves or the like adjacent to the auxiliary work point at the auxiliary work point. Will be replenished.

  In addition, for example, the on-vehicle amount of an on-vehicle thing that is determined to be unable to continue the work traveling by the work traveling determination unit is the crop harvesting amount. In some cases, the operator or an auxiliary worker transfers the crops loaded on the harvesting work vehicle stopped at the auxiliary work point to a truck bed placed on a saddle portion adjacent to the auxiliary work point. It will be posted.

  Further, for example, when the on-vehicle amount of the vehicle-mounted object that is determined to be impossible to continue the work traveling by the work traveling determination unit is the remaining amount of fuel, the operator or the auxiliary worker is adjacent to the auxiliary work point. The spare fuel placed in the dredging area, etc. will be replenished to the farm vehicle that is stopped at the auxiliary work point.

  As a result, time and effort required for the auxiliary work can be reduced, and the auxiliary work can be performed efficiently.

  By the way, in farm work on the field using farm vehicles, the predetermined position suitable for auxiliary work on the fence surrounding the field is on-board items such as spare agricultural materials and spare fuel, and trucks for crop transfer Therefore, the auxiliary work point is a point suitable for the auxiliary work by being set at a specific point in the field adjacent to the place.

As one of the means for making the present invention more suitable,
A change amount estimation unit that estimates a change amount of the vehicle-mounted object in the next work travel route during execution of the automatic work travel control in the current work travel route;
Whether the work travel determination unit can continue the work travel to the work end point of the next work travel route based on the vehicle mounted amount of the vehicle mounted amount calculating unit and the change amount of the change amount estimating unit. Determine whether
The automatic operation control unit determines that the automatic work travel is performed on the next work travel route when the work travel determination unit determines that the work travel to the work end point on the next work travel route is possible. Control is performed, and when it is determined by the work travel determination unit that it is impossible to continue the work travel to the work end point on the next work travel route, the work end point on the current work travel route is set. As the vehicle body arrives, the automatic movement control is interrupted and the automatic movement control is executed.

  According to this means, when the agricultural vehicle is traveling by the automatic work traveling control, the amount of the vehicle mounted on the vehicle is calculated by the work traveling determination unit until the work end point of the next work traveling route is reached. When the amount of in-vehicle is determined to be impossible to continue driving, when the work end point on the current work driving route is reached, the work driving by the automatic work driving control is interrupted, and then for auxiliary work The automatic movement control automatically moves from the work end point on the current work travel route to the auxiliary work point.

  In other words, the point where the work travel is interrupted by the automatic work travel control is always the work end point on the current work travel route, so when moving the agricultural vehicle from the auxiliary work point to the work resuming point after the auxiliary work is completed. The work resuming point becomes the work start point on the next work travel route. As a result, it becomes easier to move the farm vehicle to the work resumption point as compared with the case where the work resumption point becomes a midpoint of the work travel route.

  This is particularly effective when the agricultural vehicle is an agricultural material supply working vehicle that supplies agricultural materials in a line to the field, and there is a possibility that it may occur when the work resuming point becomes an intermediate point in the work travel route. It is possible to avoid misalignment of agricultural materials that are supplied in multiple rows.

As one of the means for making the present invention more suitable,
The plurality of work travel routes include a forward work route from the saddle adjacent to the auxiliary work point to the saddle facing the saddle and a return work route adjacent to the forward work route as a one-stroke work travel route. Includes multiple reciprocal work paths,
When the next work travel route is the reciprocating work route, the work travel determination unit is configured to reciprocate the work route based on the on-vehicle amount of the on-vehicle amount calculation unit and the change amount of the change amount estimation unit. To determine whether it is possible to continue working to the end point of work,
The automatic operation control unit determines that the automatic operation traveling is performed on the next reciprocating work route when the work traveling determining unit determines that the work traveling to the work end point on the next reciprocating work route is possible. Control is performed, and when it is determined by the work travel determination unit that it is impossible to continue the work travel to the work end point of the next reciprocating work route, the work end point on the current reciprocating work route is As the vehicle body arrives, the automatic movement control is interrupted and the automatic movement control is executed.

  According to this means, when the agricultural vehicle is traveling by the automatic work traveling control, the amount of the vehicle mounted on the vehicle is calculated by the work traveling determination unit until the work end point of the next reciprocating work route is reached. When the amount of in-vehicle is determined to be impossible to continue driving, when it reaches the end point of work on the current reciprocating work route, the work driving by automatic work driving control is interrupted, and then for auxiliary work The automatic movement control automatically moves from the work end point on the current reciprocating work route to the auxiliary work point.

  In other words, since the point of interruption of work travel by automatic work travel control is always the work end point on the current reciprocating work route, when moving the agricultural work vehicle from the auxiliary work point to the work resuming point after the auxiliary work is completed The work resuming point becomes the work starting point on the next reciprocating work route. As a result, it becomes easier to move the farm vehicle to the work resumption point as compared with the case where the work resumption point is a midpoint of the forward work route or the return work route.

  This is particularly effective when the agricultural vehicle is an agricultural material supply working vehicle that supplies agricultural materials to the field in multiple rows, and occurs when the work resuming point is an intermediate point of the forward work route or the return work route. It is possible to avoid misalignment of agricultural materials that are fed in multiple lines.

  And the interruption point of work travel on the reciprocating work route by the automatic work traveling control is always the work end point on the current reciprocating work route, and the work end point of the reciprocating work route is the work start point of the reciprocating work route. In the same way, since it is a point close to the auxiliary work point on the reciprocal work route, the movement distance of the agricultural vehicle from the interruption point to the auxiliary work point and the movement distance of the agricultural vehicle from the auxiliary work point to the work resumption point are Shorter. As a result, it is possible to improve work efficiency and reduce fuel consumption.

As one of the means for making the present invention more suitable,
The automatic operation control unit instructs the storage unit to write the interruption point in accordance with the interruption of the automatic work travel control, and is commanded to resume the automatic work travel control after reaching the auxiliary work point. In the case where the suspension point is read from the storage unit, the automatic movement control for resuming the work for automatically moving the vehicle body from the auxiliary work point to the interruption point is executed, and the work is resumed after moving to the interruption point. The automatic movement control is terminated and the automatic work traveling control is resumed.

  According to this means, when the auxiliary work at the auxiliary work point is finished and the restart of the automatic work travel control is instructed, the agricultural vehicle is subjected to the automatic movement control for resuming the work before the automatic work travel control is resumed. It moves automatically from the auxiliary work point to the interruption point.

  That is, it is not necessary for the operator to manually drive the farm vehicle to the point of interruption after the auxiliary work at the auxiliary work point is completed, so that the burden on the operator related to the auxiliary work can be reduced.

As one of the means for making the present invention more suitable,
The automatic operation control unit instructs the storage unit to write the work end point at which the automatic work travel control is interrupted along with the interruption of the automatic work travel control, and after reaching the auxiliary work point, When the restart of the automatic work travel control is instructed, the work end point is read from the storage unit, and the work start point of the work travel route set next to the work travel route having the read work end point is The automatic movement control for resuming work is performed by setting the work resumption point and automatically moving the vehicle body from the auxiliary work point to the work resumption point, and the automatic movement for resuming work after moving to the work resumption point. The control is terminated and the automatic work travel control is resumed.

  According to this means, when the auxiliary work at the auxiliary work point is finished and the restart of the automatic work travel control is instructed, the agricultural vehicle is subjected to the automatic movement control for resuming the work before the automatic work travel control is resumed. It automatically moves from the auxiliary work point to the aforementioned work resumption point.

  That is, since it is not necessary for the operator to manually drive the farm vehicle to the aforementioned work resumption point after the auxiliary work at the auxiliary work point is completed, the burden on the operator related to the auxiliary work can be reduced.

As one of the means for making the present invention more suitable,
In the automatic movement control for auxiliary work, the automatic driving control unit performs automatic driving of the vehicle body so that the vehicle body automatically stops at the auxiliary work point in a stop posture suitable for the auxiliary work.

  According to this means, it becomes easy to perform the auxiliary work for the farm vehicle stopped at the auxiliary work point by the operator or the auxiliary worker.

  By the way, for example, if the farm vehicle is a riding rice transplanter equipped with a reserve seedling placement unit at the front end, the stop posture at the auxiliary work point of the farm vehicle is indicated, and the front end of the farm vehicle is adjacent to the auxiliary work point. It is conceivable to set a forward posture facing the part.

  Also, for example, if the farm vehicle is a riding rice transplanter equipped with a front and rear seedling placement unit that is long in the left-right direction at the front and rear intermediate parts, the stop posture at the auxiliary work point of the farm work vehicle is It is conceivable to set the sideways posture facing the saddle portion adjacent to the auxiliary work point.

  Also, for example, if the farm vehicle is a tractor equipped with a chemical spraying device at the rear end, the stop posture at the auxiliary work point of the farm vehicle is set to the saddle portion where the rear end of the farm vehicle is adjacent to the auxiliary work point. It is conceivable to set the facing posture facing.

  Also, for example, when the farm vehicle is a combine with a grain tank on the right side, the farm vehicle is stopped at the auxiliary work point, and the farm vehicle is placed sideways with the right side facing the saddle part adjacent to the auxiliary work point. It is conceivable to set the posture.

As one of the means for making the present invention more suitable,
Agricultural material supply device for supplying agricultural material to the field,
In the automatic movement control, the automatic operation control unit sets an unworked traveling route to which the agricultural material is not supplied as a traveling route, and performs automatic driving of the vehicle body so that the vehicle body travels on the traveling route.

  According to this means, when the automatic movement control is for auxiliary work, the automatic movement control is performed when the agricultural vehicle automatically moves from the interruption point where the work traveling is interrupted or the work end point to the auxiliary work point. When it is for resumption, when the farm vehicle automatically moves from the auxiliary work point to the interruption point where work travel is resumed or the work resumption point, the already-worked travel route supplied with the agricultural material is stepped on by the farm vehicle. Fear can be avoided.

As one of the means for making the present invention more suitable,
Equipped with harvesting equipment to harvest crops in the field,
In the automatic movement control, the automatic operation control unit sets an already-worked travel route on which the crop is harvested as a travel route, and performs automatic operation of the vehicle body so that the vehicle travels on the travel route.

  According to this means, when the automatic movement control is for auxiliary work, the automatic movement control is performed when the agricultural vehicle automatically moves from the interruption point where the work traveling is interrupted or the work end point to the auxiliary work point. When it is for resumption, when the farm vehicle automatically moves from the auxiliary work point to the suspension point where work travel is resumed or the work resume point, the unworked travel route where the crop is not harvested is stepped on by the farm vehicle. Fear can be avoided.

It is a left view of a riding rice transplanter. It is a schematic plan view which shows the transmission structure, steering structure, etc. of a riding rice transplanter. It is a schematic plan view which shows the transmission structure for driving | running | working. It is a schematic plan view which shows the transmission structure for work. It is a block diagram which shows a control structure. It is a top view which shows the driving | running route of the work vehicle in an agricultural field, the auxiliary | assistant work point for auxiliary | assistant work, etc. FIG. It is a top view which shows the movement path | route of the vehicle body etc. in the automatic movement control for auxiliary | assistant work. It is a top view which shows the interruption | blocking point of the work driving | running | working in another embodiment, the movement path | route of the vehicle body in automatic movement control, etc.

Hereinafter, as an example of an embodiment for carrying out the present invention, an embodiment in which the present invention is applied to a passenger rice transplanter that is an example of a work vehicle will be described with reference to the drawings.
1 is the front side of the riding rice transplanter, and the direction indicated by the arrow U is the upper side of the riding rice transplanter.
2 is the front side of the riding rice transplanter, and the direction indicated by the arrow R is the right side of the riding rice transplanter.

As shown in FIG. 1, the riding rice transplanter exemplified in the present embodiment is a riding type four-wheel drive type traveling vehicle body 1, and a parallel four-bar link connected to the rear portion of the traveling vehicle body 1 so as to be swingable up and down. Type link mechanism 2, hydraulic lifting cylinder 3 that swings and drives the link mechanism 2, and eight-row seedling planting device (agricultural material supply device A An example) 4 and a fertilizer application device for 8 strips (an example of agricultural material supply device A) 5 extending from the rear end of the traveling vehicle body 1 to the seedling planting device 4 are provided.
As a result, the riding rice transplanter is configured to have a mid-mount fertilizer specification that can plant and fertilize a maximum of eight seedlings. In the riding rice transplanter, the seedling planting device 4 and a part of the fertilizer application device 5 are driven up and down by the operation of the lifting cylinder 3.

  As shown in FIGS. 1 to 4, the traveling vehicle body 1 includes, as the traveling device 6, left and right front wheels 6 </ b> A as steerable drive wheels and left and right rear wheels 6 </ b> B as non-steerable drive wheels. The traveling vehicle body 1 is mounted with an anti-vibration engine 7 at the front thereof. The power from the engine 7 is belt-transmitted to the main transmission 8, and the power after the shift by the main transmission 8 is used for traveling and working in a transmission case (hereinafter referred to as T / M case) 9. Branch off. The driving power is transmitted to the front wheel differential 11 via the auxiliary transmission 10 inside the T / M case 9. The driving power for driving the front wheels out of the driving power is transmitted from the front wheel differential device 11 to the left and right front wheels 6A via the left and right differential shafts 12 and the like. Further, the rear wheel drive power out of the driving power is a transmission gear 13 that rotates integrally with the front wheel differential 11, a first external transmission shaft 15 that extends from the T / M case 9 to the rear axle case 14, And, it is transmitted to the left and right rear wheels 6B via the rear wheel transmission mechanism 16 incorporated in the rear axle case 14 and the like. The rear wheel transmission mechanism 16 includes left and right side clutches 17 that intermittently transmit power to the left and right rear wheels 6B, a speed reduction unit 18 that transmits power for driving rear wheels to the left and right rear wheels 6B, and left and right front wheels. A brake 19 acting on 6A and the left and right rear wheels 6B is provided. The working power includes a one-way clutch 20, a stock transmission 21, a first working clutch 22 incorporated in the T / M case 9, and a second external transmission shaft 23 extending from the T / M case 9 to the seedling planting device 4. , Etc. are transmitted to the seedling planting device 4.

  The engine 7 is a water-cooled gasoline engine. The main transmission 8 employs a hydrostatic continuously variable transmission. The sub-transmission 10 employs a gear-type transmission that can change gears in two levels, a low speed state for work travel and a high speed state for mobile travel. Each of the left and right side clutches 17 employs a multi-plate friction clutch, and includes a spring (not shown) that urges each side clutch 17 to return to the connected state. The inter-strain transmission 21 employs a gear-type transmission that enables a six-speed shift.

As shown in FIGS. 1, 4, and 5, the seedling planting device 4 has an operating state in which the power from the traveling vehicle body 1 is operated by the intermittent operation of the first work clutch 22, and the power from the traveling vehicle body 1 is It switches to a non-operating state where it is cut off and stops operating. The seedling planting device 4 includes five leveling floats 24, an 8-row seedling mount 25, a lateral feed mechanism (not shown), a belt-type vertical feed mechanism 26, eight planting mechanisms 27, and the like. It has. Each leveling float 24 slides on the muddy surface of the paddy field as the traveling vehicle body 1 travels in a state where they are in contact with the ground, thereby leveling the muddy surface such as the planting planting location. The seedling placing table 25 is formed so that eight mat-like seedlings can be placed thereon. The lateral feed mechanism reciprocates in the left-right direction with a constant stroke corresponding to the left-right width of the mat-like seedlings by the power from the traveling vehicle body 1. The vertical feed mechanism 26 feeds the mat-like seedlings on the seedling table vertically to the lower end of the seedling table 25 at a predetermined pitch every time the seedling table 25 reaches the left and right stroke ends. Each planting mechanism 27 is a rotary type, and is arranged in the left-right direction at a constant interval corresponding to the planting strip. And each planting mechanism 27 cuts off a predetermined amount of seedlings from the lower end of each mat-like seedling placed on the seedling placing stand 25 by the power from the traveling vehicle body 1 and plantes it in the mud after the leveling.
Thereby, in the operation state of the seedling planting device 4, a predetermined amount of seedlings can be taken out from the mat-like seedlings placed on the seedling placing stand 25 and planted in the mud portion of the paddy field. The working width W (see FIG. 6) of the seedling planting device 4 is a length obtained by multiplying the number of planting strips of the seedling planting device 4 and the distance between strips.

  As shown in FIG. 1, the seedling planting device 4 includes a float fulcrum shaft 28 that extends to the left and right ends of the seedling planting device 4 so as to be relatively rotatable. Each of the leveling floats 24 is supported on the free ends of five sets of support arms 29 extending rearward and downward from the float fulcrum shaft 28 so that the rear side thereof can swing up and down.

  As shown in FIGS. 1 and 5, the fertilizer application device 5 includes a horizontally long hopper 31, four feeding mechanisms 32, an electric blower 33, eight fertilizer hoses 34, and eight groovers 35, Etc. The hopper 31 stores granular or powdered fertilizer. Each feeding mechanism 32 is operated by the power transmitted through the fertilization transmission mechanism 36. And each feeding mechanism 32 feeds out the fertilizer for two strips from the hopper 31 by predetermined amount by the action | operation. The blower 33 is operated by electric power from a battery (not shown) mounted on the traveling vehicle body 1. And the blower 33 produces | generates the conveyance wind which conveys the fertilizer delivered by each delivery mechanism 32 toward the mud surface of a paddy field by the action | operation. Each fertilizer hose 34 guides the fertilizer transported by the transport air to each groover 35. Each grooving device 35 is provided in each leveling float 24. And each grooving device 35 goes up and down with each leveling float 24, and forms the fertilizer groove | channel in the mud part of a paddy field, and guides a fertilizer in the fertilization groove | channel at the time of the work traveling which each leveling float 24 touches.

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

  As shown in FIGS. 1 to 3 and FIG. 5, the traveling vehicle body 1 includes a driving unit 40 on the rear side thereof. The driving unit 40 includes a steering wheel 41 for steering the front wheels, a main transmission lever 42 that enables a setting change of the engine speed and a transmission operation of the main transmission 8, and a sub-transmission that enables a transmission operation of the auxiliary transmission 10. The lever 43, the brake pedal 44 that enables the braking operation of the brake 19, the first operation lever 45 and the second operation lever 46 that enable the raising / lowering operation and switching of the operation state of the seedling planting device 4, the engine speed, etc. Are provided with a display unit 47 for displaying the various types of information and notifying the operator, a driver's seat 48 for the operator, and the like.

  The main transmission lever 42 is disposed adjacent to the left side of the steering wheel 41. The main transmission lever 42 is a swing operation type that can swing in the front-rear direction and the left-right direction, and an operation shaft (not shown) of the main transmission 8 via a main gear mechanical linkage mechanism (not shown). ). The main speed change lever 42 is provided with a detent unit (not shown) holding action, and is provided with a neutral position, each of the five forward shift positions on the front side of the vehicle with respect to the neutral position, and with three reverse speeds on the rear side of the vehicle with respect to the neutral position. Each shift position and a work interruption position adjacent to the lateral side of the neutral position can be held.

  The auxiliary transmission lever 43 is disposed adjacent to the left side of the driver seat 48. The sub-transmission lever 43 is a swing operation type that can be switched to two positions, and is linked to an operation shaft (not shown) of the sub-transmission device 10 via a sub-transmission mechanical linkage mechanism (not shown). Yes. The auxiliary transmission 10 is switched between a high speed state for traveling and a low speed state for work traveling in conjunction with the operation of the auxiliary transmission lever 43.

  The brake pedal 44 is disposed in the lower right front portion of the driving unit 40. The brake pedal 44 is a stepping operation type that automatically returns to the stepping release position, and is linked to an operation shaft (not shown) of the brake 19 via a brake mechanical linkage mechanism 58.

  The first work lever 45 is a swing type that can be switched to planting, descending, neutral, ascending, and automatic operation positions, and is disposed adjacent to the right side of the driver seat 48. The second work lever 46 is a neutral return type that swings up and down, and is disposed adjacent to the lower right of the steering wheel 41.

  The display unit 47 is provided at a location in front of the steering wheel 41 in the driving unit 40. The display unit 47 includes a liquid crystal display unit 47A, various alarm lamps 47B composed of LEDs, a notification buzzer 47C, and the like.

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

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

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

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

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

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

  The left and right second setting angle θb is basically set to an angle at which half the working width W of the seedling planting device 4 is obtained as the turning radius of the traveling vehicle body 1 in the left and right small turning state. .

  As shown in FIG. 1, the traveling vehicle body 1 includes a preliminary seedling placement unit 59 that stores a spare mat-like seedling. The spare seedling placement unit 59 is supported on the front U-shaped spare seedling frame 59A extending upward from the left and right ends of the front portion of the traveling vehicle body 1, and the left and right sides of the preliminary seedling frame 59A. 4 left and right spare seedling stands 59B are provided. As a result, eight mat-like seedlings can be placed on the spare seedling placement unit 59 separately as four spare left and right mats as spare mat-like seedlings.

  As shown in FIGS. 1, 2, and 5, the traveling vehicle body 1 includes a rotation sensor 60 that detects the output rotation speed of the engine 7, a first lever sensor 61 that detects the operation position of the first work lever 45, and a second sensor. A second lever sensor 62 that detects the operation of the work lever 46 in the vertical direction and the front-rear direction, a height sensor 63 that detects the vertical swing angle of the link mechanism 2 as the height position of the seedling planting device 4, A float sensor 64 that detects the vertical swing angle of the float (hereinafter referred to as a center float) 24, an interrupt switch 65 that detects the movement of the main transmission lever 42 with respect to the work interrupt position, and the swing of the steering member 52 from the straight travel position θo A steering angle sensor 66 that detects the operation angle as the steering angle of the front wheel 6A, a vehicle speed sensor 67 that detects the output rotational speed of the auxiliary transmission 10 as a vehicle speed, and an in-vehicle fuel tank (not shown) Liquid level sensor 68 for detecting the liquid level of the stored fuel in), and a like.

  As shown in FIG. 5, the traveling vehicle body 1 includes an electronic control unit for main control (hereinafter referred to as main ECU) 70, an electronic control unit for engine (hereinafter referred to as engine ECU) 71, and the like. It is installed. The main ECU 70 and the engine ECU 71 include a microprocessor having a CPU, an EEPROM, and the like.

  Various electrical components including the ECUs 70 and 71 and the sensors 60 to 68 are connected to be communicable and energized via an in-vehicle LAN such as a CAN (Controller Area Network) or a power line.

  The main ECU 70 includes an elevation control unit 70 </ b> A that controls elevation of the seedling planting device 4. The elevating control unit 70 </ b> A has various control programs that enable the elevating control of the seedling planting device 4. The elevating control unit 70 </ b> A controls the raising / lowering of the seedling planting device 4 by controlling the operation of the elevating valve unit 74 that controls the flow of oil to the elevating cylinder 3.

  As shown in FIGS. 1 and 5, the lifting control unit 70 </ b> A is a seedling planting device based on the outputs of the first lever sensor 61 and the height sensor 63 when the first operation lever 45 is manually operated. 1st raising / lowering control which raises / lowers 4 is performed.

Hereinafter, a control operation in the first lifting control of the lifting control unit 70A will be described.
When the elevation control unit 70 </ b> A detects an operation to raise the first work lever 45 based on the output of the first lever sensor 61, the raising / lowering control unit 70 </ b> A performs a raising process for raising the seedling planting device 4. In the ascending process, the elevating control unit 70A switches the valve unit 74 to a supply state in which oil is supplied to the elevating cylinder 3, thereby causing the elevating cylinder 3 to contract and raise the seedling planting device 4.
When the elevation control unit 70 </ b> A detects an operation of the first work lever 45 to the lowered position based on the output of the first lever sensor 61, the elevation control unit 70 </ b> A performs a lowering process for lowering the seedling planting device 4. In the lowering process, the lifting control unit 70A switches the valve unit 74 to a discharge state in which oil is discharged from the lifting cylinder 3, thereby extending the lifting cylinder 3 and lowering the seedling planting device 4.
When the lifting control unit 70A detects an operation to the neutral position of the first work lever 45 based on the output of the first lever sensor 61, the lifting control process of stopping the seedling planting device 4 at the height position at that time. I do. In the lifting / lowering stopping process, the lifting / lowering control unit 70A stops the expansion / contraction operation of the lifting / lowering cylinder 3 by switching the valve unit 74 to a supply / discharge stop state in which the supply / discharge of oil to / from the lifting / lowering cylinder 3 is stopped. 4 is stopped.
When the lifting control unit 70A detects that the seedling planting device 4 has reached the upper limit position based on the output of the height sensor 63 during the above-described lifting process, the lifting control unit 70A performs the lifting stop process described above, thereby The planting device 4 is stopped at the upper limit position.
When the lifting control unit 70A detects the arrival of the seedling planting device 4 at the lower limit position based on the output of the height sensor 63 during the above-described lowering process, the lifting control unit 70A performs the lifting stop process described above, thereby The planting device 4 is stopped at the lower limit position.
In other words, the operator operates the first work lever 45 by the control operation in the first lifting control of the lifting control unit 70A, so that the seedling planting device 4 can be moved to any height between the upper limit position and the lower limit position. It can be moved up and down.

  When the elevation control unit 70 </ b> A detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 61, the lift control unit 70 </ b> A detects the second lever sensor 62, the height sensor 63, and the float sensor 64. The 2nd raising / lowering control which raises / lowers the seedling planting apparatus 4 based on an output is performed.

Hereinafter, a control operation in the second lifting control of the lifting control unit 70A will be described.
When the lifting control unit 70 </ b> A detects a downward operation of the second work lever 46 based on the output of the second lever sensor 62, the lifting control unit 70 </ b> A moves the seedling planting device 4 to a work height corresponding to the control target angle of the center float 24. When the automatic lowering process of lowering to the position is performed and the arrival of the seedling planting device 4 to the working height position is detected based on the output of the float sensor 64, the automatic raising and lowering that maintains the seedling planting device 4 at the working height position is performed. Start processing. In the automatic lowering process, the vertical movement control unit 70A matches the vertical swing angle of the center float 24 with the control target angle based on the output of the float sensor 64 (the output of the float sensor 64 falls within the dead zone width of the control target angle). The descent process described above is performed until it is detected. In the automatic lifting process, the lifting control unit 70A controls the operation of the valve unit 74 so as to extend and retract the lifting cylinder 3 so that the output of the float sensor 64 matches the control target angle. The seedling planting device 4 is maintained at the working height position.
When the lifting control unit 70A detects an upward operation of the second work lever 46 based on the output of the second lever sensor 62, the lifting control unit 70A ends the automatic lifting process and raises the seedling planting device 4 to the upper limit position. Process. In the automatic ascent process, the elevating control unit 70A performs the above-described ascending process until it detects reaching the upper limit position of the seedling planting apparatus 4 based on the output of the height sensor 63, and the upper limit of the seedling planting apparatus 4 When arrival at the position is detected, the raising / lowering stop process described above is performed to stop the seedling planting device 4 at the upper limit position.
That is, the operator automatically raises and lowers the seedling planting device 4 to the upper limit position or the work height position by operating the second work lever 46 by the control operation of the second lift control of the lift control unit 70A. It can be moved, and the seedling planting device 4 can be maintained at the upper limit position or the working height position.
As a result, at the time of work traveling with the seedling planting device 4 positioned at the work height position, the seedling planting device 4 is moved to the center float 24 regardless of the pitching of the traveling vehicle body 1 due to the undulation of the paddy field cultivator. It is possible to maintain the work height position corresponding to the control target angle.

  The work height position of the seedling planting device 4 (control target angle of the center float 24) is changed to an arbitrary height position by manual operation of the work height setting device 75 provided in the operation unit 40. can do.

  As shown in FIG. 5, the main ECU 70 includes a first operation control unit 70 </ b> B that controls operations of the seedling planting device 4 and the fertilizer application device 5. The first operation control unit 70 </ b> B has various control programs that enable operation control of the seedling planting device 4 and the fertilizer application device 5. The first operation control unit 70 </ b> B operates the electric first clutch motor 76 that intermittently operates the first work clutch 22, the electric second clutch motor 77 that intermittently operates the second work clutch 38, and the blower relay 39. Is controlled to control the operation of the seedling planting device 4 and the fertilizer application device 5.

  As shown in FIGS. 1 and 5, the first operation control unit 70 </ b> B is configured to plant seedlings based on outputs of the first lever sensor 61 and the float sensor 64 when the first operation lever 45 is manually operated. 1st operation control which controls the operation | movement of the apparatus 4 and the fertilizer application apparatus 5 is performed.

Hereinafter, the control operation in the first operation control of the first operation control unit 70B will be described.
The first operation control unit 70B detects the operation from the neutral position to the lowered position of the first work lever 45 based on the output of the first lever sensor 61, and then grounds the center float 24 based on the output of the float sensor 64. Is detected, blower start processing for starting the blower 33 is performed. In the blower starting process, the first operation control unit 70 </ b> B energizes the blower relay 39 and switches the blower relay 39 to a closed state that allows energization of the blower 33, thereby starting the blower 33.
Thereafter, when the first operation control unit 70B detects an operation of the first work lever 45 to the planting position based on the output of the first lever sensor 61, the seedling planting device 4 and the fertilizer application device 5 are operated from the stopped state. An operation start process for switching to the state is performed. In the operation start process, the first operation control unit 70B controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 22 and the second work clutch 38 from the disengaged state to the engaged state. Thus, the seedling planting device 4 and the fertilizer application device 5 are switched from the stopped state to the operating state.
Thereafter, the first operation control unit 70B operates the first work lever 45 from the planting position to the lowered position based on the output of the first lever sensor 61 in the operation state of the seedling planting device 4 and the fertilizer application device 5. When detected, a blower stop process for stopping the blower 33 and an operation stop process for switching the seedling planting device 4 and the fertilizer application device 5 from the operating state to the stopped state are performed. In the blower stop process, the first operation control unit 70 </ b> B stops the blower 33 by stopping energization of the blower relay 39 and switching the blower relay 39 to the open state in which the energization of the blower 33 is blocked. In the operation stop process, the first operation control unit 70B controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 22 and the second work clutch 38 from the on state to the off state. Thus, the seedling planting device 4 and the fertilizer application device 5 are switched from the operating state to the stopped state.
That is, the operator operates the first work lever 45 by the control operation in the first operation control of the first operation control unit 70B, so that the seedling planting device 4 and the fertilizer application device 5 are in the activated state and the stopped state. Can be switched to.

  When the first operation control unit 70B detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 61, the seedling planting device based on the output of the second lever sensor 62 or the like. 4 and the 2nd operation control which controls operation of fertilizer application 5 are performed.

Hereinafter, the control operation in the second operation control of the first operation control unit 70B will be described.
The first operation control unit 70 </ b> B detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 61 or the second work lever based on the output of the second lever sensor 62. When the first operation of the second work lever 46 is detected based on the output of the second lever sensor 62 after detecting the operation of the upper 46, the blower starting process described above is performed. Thereafter, when the second operation of the second work lever 46 is detected downward based on the output of the second lever sensor 62, the seedling planting device 4 reaches the work height position based on the output of the float sensor 64. As described above, the operation start process described above is performed.
When the first operation control unit 70B detects an upward operation of the second work lever 46 based on the output of the second lever sensor 62 in the operation state of the seedling planting device 4 and the fertilizer application device 5, the blower stop described above is performed. Processing and operation stop processing are performed.
That is, the operator operates the second work lever 46 by the control operation in the second operation control of the first operation control unit 70B, so that the seedling planting device 4 and the fertilizer application device 5 are activated and stopped. Can be switched to.

  As shown in FIGS. 2 and 5, the main ECU 70 includes a second operation control unit 70 </ b> C that controls the operations of the seedling planting device 4 and the fertilizer application device 5 based on detection by the interruption switch 65 or the rudder angle sensor 66. Yes. The second operation control unit 70 </ b> C has various control programs that enable operation control of the seedling planting device 4 and the fertilizer application device 5. The second operation control unit 70C controls the operations of the seedling planting device 4 and the fertilizer application device 5 by outputting control commands to the elevation control unit 70A and the first operation control unit 70B.

  The second operation control unit 70C executes the first switching control for switching the seedling planting device 4 and the fertilizer application device 5 to the non-working state when the interruption switch 65 detects the movement of the main transmission lever 42 to the work interruption position. In addition, when the interruption switch 65 detects the movement of the main transmission lever 42 from the work interruption position, the second switching control for switching the seedling planting device 4 and the fertilizer application device 5 to the working state is executed.

First, the control operation in the first switching control of the second operation control unit 70C will be described.
When the second operation control unit 70 </ b> C detects the movement of the main transmission lever 42 to the work interruption position based on the detection of the interruption switch 65 in the working state of the seedling planting device 4 and the fertilizer application device 5, the first lever sensor 61. Based on the output, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position.
If the operation position of the first work lever 45 is the planting position, the control unit 70A instructs the elevating control unit 70A to execute the above-described automatic ascent process, and the first operation control unit 70B executes the above-described blower stop process and operation stop process. To
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position, the end of the automatic lifting process described above is commanded to the lifting control unit 70A.
Thus, the seedling planting device 4 and the fertilizer application device 5 are positioned in the upper limit position in conjunction with the swinging operation of the main transmission lever 42 to the work interruption position. It is possible to automatically switch to the non-working state where the fertilizer application device 5 is stopped.

Next, a control operation in the second switching control of the second operation control unit 70C will be described.
When the second operation control unit 70C detects the movement of the main transmission lever 42 from the work interruption position based on the detection of the interruption switch 65 in the non-working state of the seedling planting device 4 and the fertilizer application device 5, the first lever sensor Based on the output of 61, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position.
If the operation position of the first work lever 45 is the planting position, the execution of the above-described automatic lowering process is instructed to the elevating control unit 70A, and then the grounding of the center float 24 is detected based on the output of the float sensor 64. The first operation control unit 70B is instructed to execute the blower start-up process described above. Thereafter, when the arrival of the seedling planting device 4 to the working height position is detected based on the output of the float sensor 64, the first operation control unit 70B is instructed to execute the operation start process described above.
If the operation position of the first work lever 45 is an automatic position, in addition to the control operation at the planting position described above, the automatic raising / lowering described above when the arrival of the seedling planting device 4 to the work height position is detected. The execution of the process is commanded to the lift control unit 70A.
Thereby, in conjunction with the swing operation from the work interruption position of the main transmission lever 42, the seedling planting device 4 and the fertilizer application device 5 are placed so that the seedling planting device 4 is positioned at the work height position. 4 and the fertilizer application device 5 can be automatically switched to a working state in which they are in an operating state.

In other words, during the seedling planting operation, when it is necessary to perform a supplementary operation such as seedling replenishment from the reserve seedling placement unit 59 to the seedling planting device 4 or fertilizer replenishment from the in-vehicle fertilizer bag to the fertilizer application device 5 In this case, the operator operates the main transmission lever 42 to the work interruption position by operating the main transmission lever 42 to the work interruption position while performing the operation to stop the operation by the operation of the main transmission lever 42 to the neutral position or the depression of the brake pedal 44. The traveling can be stopped and the seedling planting device 4 and the fertilizer application device 5 can be switched from the working state to the non-working state.
Thereby, the operator can perform the replenishment work promptly. In the non-working state of the seedling planting device 4, the seedling planting device 4 rises to the upper limit position and the seedling mounting table 25 approaches the driving unit 40, so that the operator can transfer the seedling mounting table 25 from the driving unit 40. It becomes easier to replenish seedlings.
And, after finishing the replenishment work, the operator can switch the seedling planting device 4 and the fertilizer application device 5 from the non-working state to the working state by operating the main transmission lever 42 from the work interruption position to the neutral position. By swinging the main transmission lever 42 in the forward direction from the neutral position, the traveling vehicle body 1 can be moved forward and the seedling planting device 4 and the fertilizer application device 5 can be driven.
As a result, the operator can quickly restart the seedling planting operation after the operation interruption for performing the replenishment operation with a simple operation.

  The second operation control unit 70 </ b> C switches between a turning interlocking state and a non-turning interlocking state based on an operation of a manual changeover switch 78 provided in the operation unit 40. In the turning interlocking state, the second operation control unit 70C executes the first switching control or the second switching control based on the detection of the steering angle sensor 66 instead of the detection of the interruption switch 65.

  The steering angle sensor 66 detects the swing of the steering member 52 from the first set angle θa on the right side to the second set angle θb as a transition from the left turn state to the left small turn state. The steering angle sensor 66 detects the swing of the steering member 52 from the second set angle θb on the right side to the first set angle θa as a transition from the small left turn state to the left turn state of the traveling vehicle body 1. The rudder angle sensor 66 detects the swing of the steering member 52 from the first set angle θa on the left side to the second set angle θb as a transition from the right turning state to the right small turning state of the traveling vehicle body 1. The steering angle sensor 66 detects the swing of the steering member 52 from the second set angle θb on the left side to the first set angle θa as a transition from the small right turn state to the right turn state of the traveling vehicle body 1.

  In the turning interlocking state, the second operation control unit 70C detects that the rudder angle sensor 66 detects the transition from the left turning state to the left small turning state or the right turning state to the right small turning state of the traveling vehicle body 1. In conjunction with this detection, the first switching control is executed to switch the seedling planting device 4 and the fertilizer application device 5 to the non-working state. Further, the second operation control unit 70C detects this when the rudder angle sensor 66 detects a shift from the left small turn state to the left turn state or the right small turn state to the right turn state. In conjunction with this, the second switching control is executed to switch the seedling planting device 4 and the fertilizer application device 5 to the working state.

  That is, when performing the seedling planting work by reciprocating planting, the operator operates the changeover switch 78 to switch the second operation control unit 70C to the turning-linked state. At the start of the turning, the steering wheel 41 is rotated to change the running state of the traveling vehicle body 1 from the straight traveling state to the left small turning state or the right small turning state. The planting device 4 and the fertilizer application device 5 can be switched from the working state to the non-working state. Further, at the end of the saddle turning, the traveling state of the traveling vehicle body 1 is simply switched from the small left turn state or the small right turn state to the straight traveling state by the turning operation of the steering wheel 41. Thus, the seedling planting device 4 and the fertilizer application device 5 can be switched from the non-working state to the working state.

  The engine ECU 71 includes an engine control unit 71A that controls the fuel injection amount based on outputs of the rotation sensor 60 and the main transmission lever sensor 61, a fuel injection amount calculation unit 71B that calculates the fuel injection amount, and the like. Yes. The engine control unit 71A has various control programs that enable control of the fuel injection amount and the like. The fuel injection amount calculation unit 71B has various control programs that enable calculation of the fuel injection amount.

  As shown in FIGS. 1, 2, and 5, the traveling vehicle body 1 performs automatic steering of the manual selection switch 80 and the left and right front wheels 6 </ b> A that enable selection between a manual operation mode and an automatic operation mode. An automatic steering unit 81 that can be operated, an electric transmission motor 82 that enables automatic operation of the main transmission lever 42, and a positioning unit 83 that measures the position and orientation of the traveling vehicle body 1 are provided.

  The automatic steering unit 81 includes an electric steering motor 84 and a gear mechanism 85 that transmits power from the steering motor 84 to the steering shaft 49.

  The positioning unit 83 includes a satellite navigation device 86 that measures the position and orientation of the traveling vehicle body 1 using a well-known GPS (Global Positioning System), which is an example of a Global Navigation Satellite System (GNSS). ing. Positioning methods using GPS include DGPS (Differential GPS) and RTK-GPS (Real Time Kinematic GPS). In this embodiment, RTK-GPS suitable for positioning of a moving body is employed. .

  The satellite navigation device 86 includes an antenna unit 87 for satellite navigation that receives radio waves transmitted from GPS satellites (not shown) and positioning data transmitted from reference stations (not shown) installed at known positions. I have. The reference station transmits positioning data obtained by receiving radio waves from GPS satellites to the satellite navigation device 86. The satellite navigation device 86 obtains the position and orientation of the traveling vehicle body 1 based on the positioning data obtained by receiving the radio wave from the GPS satellite and the positioning data from the reference station.

  The antenna unit 87 is arranged at the left and right center of the upper end of the preliminary seedling frame 59A so that the reception sensitivity of radio waves from GPS satellites is increased. Therefore, the position and orientation of the traveling vehicle body 1 measured using GPS include a positioning error due to the positional deviation of the antenna unit 87 due to yawing, pitching, or rolling of the traveling vehicle body 1.

  Therefore, the antenna unit 87 has a three-axis gyroscope (not shown) and a three-direction acceleration sensor (not shown) in order to enable correction for removing the positioning error. An inertial measurement unit (IMU) 88 that measures the yaw angle, pitch angle, roll angle, etc. of the traveling vehicle body 1 is provided.

  As shown in FIGS. 5 and 6, the main ECU 70 includes a storage unit 70 </ b> D in which map data indicating the travel route R and auxiliary work points P <b> 0 in the field set in advance is written, and the travel route R And an automatic driving control unit 70E for automatically driving the vehicle body on the automatic driving route Ra included in the driving route R based on the positioning result of the positioning unit 83. The automatic operation control unit 70E has various control programs for appropriately controlling the operations of the transmission motor 82, the steering motor 84, and the like.

  The field travel route R includes a first work travel route Rb1 to a seventh work travel route Rb7 as a plurality of work travel routes Rb, and a first travel travel route Rc1 to a tenth travel travel as a plurality of travel travel routes Rc. A route Rc10, a plurality of work start points P1, a plurality of work end points P2, and the like are included. Among the plurality of work travel routes Rb, the first work travel route Rb1 to the third work travel route Rb3 are the forward work route Rba from the saddle adjacent to the auxiliary work point P0 to the saddle facing the saddle, and the forward work. This is a reciprocating work route in which the return route work route Rbb adjacent to the route Rba is used as a work travel route Rb in one stroke. Among the plurality of travel travel routes Rc, the second travel travel route Rc2 to the sixth travel travel route Rc6 are coasting turning routes that connect the forward work route Rba and the return work route Rbb, and the seventh travel travel route Rc7 to Rc7. The tenth travel travel route Rc10 is a switch turn route that connects the third work travel route Rb3 to the seventh work travel route Rb7.

  The auxiliary work point P0 is a specific point suitable for performing an auxiliary work related to the supply and discharge of the vehicle-mounted goods whose vehicle-mounted amount changes as the riding rice transplanter travels. The above-mentioned in-vehicle items in this riding rice transplanter are fuel, seedling (an example of agricultural material) and fertilizer (an example of agricultural material), and the auxiliary work is the supply of either fuel, seedling or fertilizer to the riding rice transplanter Work. The auxiliary work point P0 of this field is specified as a point adjacent to the entry / exit route Rz with respect to the field, and spare fuel, seedlings and fertilizer are placed at this auxiliary work point P0. Auxiliary workers for auxiliary work for rice transplanters are waiting.

  When the automatic operation mode is selected by manual operation of the selection switch 80, the automatic operation control unit 70E reciprocates each of the travel routes R described above (first work travel route to third work travel route). Rb1 to Rb3 are set as an automatic driving route Ra, and automatic work traveling control is performed for automatically operating the riding rice transplanter along the automatic driving route Ra. When the manual operation mode is selected by manual operation of the selection switch 80, the automatic operation control unit 70E stops the execution of the automatic work travel control.

Hereinafter, the control operation in the automatic operation traveling control of the automatic operation control unit 70E will be described.
In the automatic operation traveling control, the automatic operation control unit 70E first performs the first operation in which the traveling vehicle body 1 is the first automatic operation route Ra by manual operation based on the traveling route R and the positioning result of the positioning unit 83. It is determined whether or not the vehicle has moved to the work start point P1 on the forward work route Rba of the travel route Rb1.
Until the traveling vehicle body 1 moves to the work start point P1, it enters a standby state in which automatic driving is not performed. When the traveling vehicle body 1 moves to the work start point P1, automatic driving is started.
In the automatic operation, based on the travel route R and the positioning result of the positioning unit 83, it is determined whether or not the current position and current direction of the travel vehicle body 1 are within the allowable range of the outbound route work route Rba. Then, it is determined whether or not the first work travel route Rb1 has moved to the work end point P2 on the forward work route Rba.
If either one or both of the current position and the current direction of the traveling vehicle body 1 are outside the allowable range of the forward work route Rba until the traveling vehicle body 1 moves to the work end point P2, the traveling vehicle body 1 A trajectory correction process for returning the current position and current azimuth to within the allowable range of the forward work route Rba is performed.
In the trajectory correction process, the amount of deviation from one or both of the current position and the current azimuth out of the allowable range from the forward work route Rba is obtained. Further, based on the output of the vehicle speed sensor 67, the operation of the transmission motor 82 is controlled so that the vehicle speed decreases from the normal traveling speed to the track correcting speed. Based on the obtained deviation amount and the correction data for the trajectory correction written in the storage unit 70D, the control target rudder angle for the trajectory correction of the left and right front wheels 6A is determined, and this rudder angle is obtained. Further, the operation of the steering motor 84 is controlled based on the output of the steering angle sensor 66. Thereafter, based on the traveling route R and the positioning result of the positioning unit 83, when it is detected that the current position and the current direction of the traveling vehicle body 1 have returned to the allowable range of the outbound route work route Rba, the detection is based on the output of the vehicle speed sensor 67. Thus, the operation of the transmission motor 82 is controlled so that the vehicle speed increases from the speed for correcting the track to the speed for normal travel.
When the traveling vehicle body 1 moves to the work end point P2, the automatic operation on the forward work route Rba of the first work travel route Rb1 is finished.
After the end of the automatic driving, based on the driving route R and the positioning result of the positioning unit 83, the traveling vehicle body 1 in the return work route Rbb of the first work driving route Rb1 which is the next automatic driving route Ra by manual operation. It is determined whether or not it has moved to the work start point P1.
Until the traveling vehicle body 1 moves to the work start point P1, it enters a standby state in which automatic driving is not performed. When the traveling vehicle body 1 moves to the work start point P1, automatic driving is started.
In the automatic operation on the inward route work route Rbb, the control operation similar to the control operation in the automatic operation of the outward route work route Rba described above is performed, and when the traveling vehicle body 1 moves to the work end point P2, the first work travel route. The automatic operation on the return work route Rbb of Rb1 is terminated.
After completion of the automatic operation on the return route work route Rbb, based on the travel route R and the positioning result of the positioning unit 83, the traveling vehicle body 1 is manually operated and the second work travel route Rb2 is the next automatic operation route Ra. It is determined whether or not it has moved to the work start point P1 on the forward work route Rba.
Until the traveling vehicle body 1 moves to the work start point P1, it enters a standby state in which automatic driving is not performed. When the traveling vehicle body 1 moves to the work start point P1, automatic driving is started.
In the automatic operation on the second work travel route Rb2, the control operation similar to the control operation in the automatic operation of the first work travel route Rb1 described above is performed, and the traveling vehicle body 1 returns the work route on the second work travel route Rb2. When moving to the work end point P2 of Rbb, the automatic operation on the second work travel route Rb2 is finished.
After the automatic operation on the second work travel route Rb2, the travel vehicle body 1 is in the third automatic travel route that is the next automatic operation route Ra by manual operation based on the travel route R and the positioning result of the positioning unit 83. It is determined whether or not it has moved to the work start point P1 on the forward work route Rba of the route Rb3.
Until the traveling vehicle body 1 moves to the work start point P1, it enters a standby state in which automatic driving is not performed. When the traveling vehicle body 1 moves to the work start point P1, automatic driving is started.
In the automatic operation on the third work travel route Rb3, the control operation similar to the control operation in the automatic operation of the first work travel route Rb1 and the second work travel route Rb2 described above is performed, and the traveling vehicle body 1 performs the third work. When moving to the work end point P2 of the return route work route Rbb in the travel route Rb3, the automatic operation on the third work travel route Rb3 is finished and the automatic work travel control is finished.
That is, when the automatic operation mode is selected, the traveling vehicle body 1 automatically performs work traveling on each of the work traveling routes Rb1 to Rb3 by the control operation of the automatic operation control unit 70E. There is no need to steer so as not to deviate from the travel routes Rb1 to Rb3. As a result, it is possible to reduce the labor of the operator required at the time of farm work using the riding rice transplanter in the field.

  As shown in FIG. 5, the traveling vehicle body 1 includes eight seedling replenishment sensors 90 that detect whether or not the upper ends of the mat-like seedlings placed in 8 rows on the seedling placing stand 25 have reached the seedling replenishment position. And a fertilizer supply sensor 91 for detecting whether or not the remaining amount of fertilizer stored in the hopper 31 has reached the fertilizer supply amount.

  The main ECU 70 includes a notification control unit 70 </ b> F that prompts the operator to replenish seedlings or fertilizers based on the output of each seedling replenishment sensor 90 or the output of the fertilizer replenishment sensor 91. When the notification control unit 70F detects that one of the upper ends of the mat-like seedlings placed in the eight rows on the seedling placing stand 25 has reached the seedling replenishing position based on the output of each seedling replenishment sensor 90, the notification control unit 70F displays The alarm lamp 47B and the notification buzzer 47C for seedling replenishment in the unit 47 are operated to urge the operator to replenish the mat seedling to the seedling mount 25. Thereafter, based on the output of each seedling replenishment sensor 90, when it is detected that the upper ends of all mat-shaped seedlings placed on the seedling placing stand 25 have exceeded the seedling replenishment position, a seedling replenishing alarm lamp 47B and a notification buzzer The operation of 47C is stopped. When detecting that the remaining amount of the fertilizer has reached the fertilizer supply amount based on the output of the fertilizer supply sensor 91, the notification control unit 70F operates the alarm lamp 47B for supplying fertilizer and the notification buzzer 47C in the display unit 47. The operator is urged to supply fertilizer to the hopper 31. Thereafter, when it is detected that the remaining amount of fertilizer exceeds the amount of fertilizer supply based on the output of each fertilizer supply sensor 91, the operation of the alarm lamp 47B for fertilizer supply and the notification buzzer 47C is stopped.

  The traveling vehicle body 1 is provided with a stock sensor 92 that detects the gear position of the stock transmission 21. The operating unit 40 is input with a first input unit 93A for inputting the number of mat-like seedlings placed on the seedling placing stand 25 and the spare seedling placing unit 59, and the amount of fertilizer put into the hopper 31. An input device 93 having a second input unit 93B is provided. In the seedling planting device 4, the height position of the seedling mounting table 25 with respect to each planting mechanism 27 is changed in conjunction with the operation of the seedling collection amount setting tool 94, so For the operation of a seedling amount adjustment mechanism (not shown) for adjusting the amount of seedling taken from each mat-like seedling, the seedling amount sensor 95 for detecting the operation position of the seedling amount setting tool 94, and the lateral feed amount setting tool 96 The amount of seedling taken from each mat-like seedling of the seedling stage 25 by each planting mechanism 27 is changed by changing the lateral feed amount of the seedling stage 25 by the lateral feeding mechanism in response to the planting stroke of each planting mechanism 27. A lateral feed adjusting mechanism (not shown) for adjusting, and a lateral feed amount sensor 97 for detecting an operation position of the lateral feed amount setting tool 96 are provided. The fertilizer application device 5 detects a feed amount adjusting mechanism (not shown) that adjusts the fertilizer feed amount of each feed mechanism 32 in conjunction with the operation of the feed amount setting tool 98, and the operation position of the feed amount setting tool 98. A feed amount sensor 99 is provided.

  As shown in FIGS. 1 and 5 to 7, the main ECU 70 includes an in-vehicle amount calculation unit 70 </ b> G having a control program for in-vehicle amount calculation, a change amount estimation unit 70 </ b> H having a control program for in-vehicle amount estimation, and the like. A work travel determination unit 70K having a control program for determining whether work travel is continued is provided.

  The in-vehicle amount calculation unit 70G calculates the remaining amount of fuel (an example of the in-vehicle amount) in the traveling vehicle body 1 based on the output of the liquid level sensor 68 described above. The in-vehicle amount calculation unit 70G includes an input value by the first input unit 93A, a moving distance of the traveling vehicle body 1 based on an output of the positioning unit 83, an output of the inter-stock sensor 92, an output of the seedling amount sensor 95, and a lateral feed amount sensor. Based on the output of 97, the remaining amount of seedlings in the traveling vehicle body 1 (an example of an on-vehicle amount) is calculated. The in-vehicle amount calculation unit 70G determines the remaining fertilizer in the traveling vehicle body 1 based on the input value from the second input unit 93B, the travel distance of the traveling vehicle body 1 based on the output of the positioning unit 83, and the output of the feed amount sensor 99. The amount (an example of the on-vehicle amount) is calculated.

  When the current work travel route Rb is the first work travel route Rb1 or the second work travel route Rb2, the change amount estimation unit 70H is the second work travel route Rb2 or the third work that becomes the next work travel route Rb. Since the travel route Rb3 is an automatic operation route Ra for reciprocal work, the output of the fuel injection amount calculation unit 71B and the output of the positioning unit 83 are performed during execution of automatic work travel control on the current work travel route Rb. Based on the fuel consumption per unit travel distance and the travel distance of the traveling vehicle body 1 on the next work travel route (reciprocation work route) Rb, the fuel on the next work travel route (reciprocation work route) Rb Estimate the amount of change. Further, the seedling consumption per unit travel distance based on the output of the inter-plant sensor 92, the output of the seedling amount sensor 95, and the output of the lateral feed amount sensor 97, and the next work travel route (reciprocating work route) Rb Based on the travel distance of the traveling vehicle body 1, the amount of seedling change in the next work travel route (reciprocating work route) Rb is estimated. Further, the next work travel route is based on the fertilizer consumption per unit travel distance based on the output of the feed amount sensor 99 and the travel distance of the travel vehicle body 1 on the next work travel route (reciprocating work route) Rb. (Reciprocal work route) The amount of change of fertilizer in Rb is estimated.

  When the current work travel route Rb is the third work travel route Rb3, the change amount estimation unit 70H uses the current work travel route Rb because the next work travel route Rb is the fourth work travel route Rb4. During the execution of the automatic work travel control, the fuel consumption per unit travel distance based on the output of the fuel injection amount calculation unit 71B and the output of the positioning unit 83, and the next work travel route Rb (fourth work travel route) Based on the travel distance of the traveling vehicle body 1 in Rb4), the amount of change in fuel in the next work travel route Rb (fourth work travel route Rb4) is estimated. Further, the seedling consumption per unit travel distance based on the output of the inter-strain sensor 92, the output of the seedling amount sensor 95, and the output of the lateral feed amount sensor 97, and the next work travel route Rb (fourth work travel route Rb4). ) To estimate the amount of seedling change in the next work travel route Rb (fourth work travel route Rb4). Further, based on the fertilizer consumption per unit travel distance based on the output of the feed amount sensor 99 and the travel distance of the travel vehicle body 1 on the next work travel route Rb (fourth work travel route Rb4), The amount of change in fertilizer on the work travel route Rb (fourth work travel route Rb4) is estimated.

  When the current work travel route Rb is the first work travel route Rb1 to the third work travel route Rb3, the work travel determination unit 70K determines the remaining amount of fuel and the change amount estimation unit obtained by the in-vehicle amount computation unit 70G. Based on the fuel change amount estimated by 70H, a first work travel determination process is performed to determine whether or not the work travel to the work end point P2 of the next work travel route Rb can be continued. Further, based on the remaining amount of the seedling obtained by the in-vehicle amount calculation unit 70G and the change amount of the seedling estimated by the change amount estimation unit 70H, the continuation of the work travel to the work end point P2 of the next work travel route Rb is continued. A second work travel determination process is performed to determine whether or not it is possible. Further, based on the remaining amount of fertilizer obtained by the in-vehicle amount calculation unit 70G and the change amount of the fertilizer estimated by the change amount estimation unit 70H, the continuation of the work travel to the work end point P2 of the next work travel route Rb is continued. A third work travel determination process is performed to determine whether or not this is possible.

  When the current work travel route Rb is the fourth work travel route Rb4 to the sixth work travel route Rb6, the work travel determination unit 70K performs the work travel based on the remaining amount of fuel obtained by the in-vehicle amount calculation unit 70G. Fourth work travel determination process for determining whether or not continuation is possible, and fifth work travel determination process for determining whether or not work travel can be continued based on the remaining amount of seedling obtained by the in-vehicle amount calculation unit 70G And a sixth work travel determination process for determining whether or not the work travel can be continued based on the remaining amount of fertilizer obtained by the in-vehicle amount calculation unit 70G.

  The notification control unit 70F determines that the work travel to the work end point P2 of the next work travel route Rb is impossible in the first work travel determination process, or the fourth work travel determination process. When it is determined that it is impossible to continue the work travel, the indicator light 100A of the center mascot 100 provided at the center of the front end of the traveling vehicle body 1 blinks as the fuel request indicator 101. Operate. The notification control unit 70F determines that the work travel to the work end point P2 on the next work travel route Rb is impossible in the second work travel determination process, or the fifth work travel determination process. If it is determined that it is impossible to continue the work travel, the left and right turn signals (an example of indicator lights) 102 provided at the left and right ends of the seedling mount 25 are used as the seedling request notification device 101. Activate blinking. The notification control unit 70F determines that the work travel to the work end point P2 on the next work travel route Rb is impossible in the third work travel determination process, or the sixth work travel determination process. When it is determined that it is impossible to continue the work travel, the left and right headlights 103 arranged at the front end of the traveling vehicle body 1 are blinked as the fertilizer request alarm 101.

  With this configuration, when it is impossible to continue working due to lack of at least one of the remaining amount of fuel, the remaining amount of seedlings, and the remaining amount of fertilizer, the above-described notification corresponding to the shortage By operating the vessel 101, the operator and the auxiliary worker can easily identify the shortage, and the shortage can be easily replenished. In particular, the auxiliary worker can prepare for the auxiliary work for supplying the shortage to the passenger rice transplanter from the stage before the passenger rice transplanter moves to the auxiliary work point P0. It can be carried out.

When the current work travel route Rb is a reciprocating work route, the notification control unit 70F cannot continue the work travel to the work end point P2 of the next work travel route Rb in the work travel determination unit 70K. Is determined, the alarm device 101 is operated during work traveling on the return route work route Rbb of the traveling vehicle body 1.
Thereby, due to the operation of the alarm device 101 during the work travel on the forward work route Rba, the operator interrupts the work travel at the work end point P2 of the forward work route Rba, and the forward work route Rba The possibility of moving the traveling vehicle body 1 from the work end point P2 to the auxiliary work point P0 can be avoided.

  The automatic operation control unit 70E performs the first work travel determination process, the second work travel determination process, and the third work travel when the current work travel route Rb is the first work travel route Rb1 or the second work travel route Rb2. When it is determined that the work travel to the work end point P2 of the next work travel route Rb can be continued in each of the determination processes, the second work travel route Rb2 that becomes the next work travel route Rb or Automatic work travel control is executed on the third work travel route Rb3.

  The automatic operation control unit 70E performs the first work travel determination process, the second work travel determination process, and the third work travel when the current work travel route Rb is the first work travel route Rb1 to the third work travel route Rb3. When it is determined that it is impossible to continue the work travel from the second work travel route Rb2 to the work end point P2 of the fourth work travel route Rb4, which is the next work travel route Rb, in any of the determination processes. Indicates that the traveling vehicle body 1 reaches the work end point P2 of the first work travel route Rb1 to the third work travel route Rb3, which is the current work travel route Rb, and interrupts the automatic work travel control to terminate the suspended work. After instructing the storage unit 70D to write the point P2, the automatic movement for the auxiliary work for automatically moving the traveling vehicle body 1 from the work end point P2 at which the automatic work travel control is interrupted to the auxiliary work point P0 described above. To run the control.

  With this configuration, when it becomes necessary to perform auxiliary work during work travel on the first work travel route Rb1 to the third work travel route Rb3, the riding rice transplanter automatically moves to the auxiliary work point P0. The operator does not need to move the traveling vehicle body 1 to the auxiliary work point P0. And when an operator and an auxiliary worker perform auxiliary work, since the riding rice transplanter is always stopped at the auxiliary work point P0 suitable for the auxiliary work, it is placed on the saddle portion adjacent to the auxiliary work point P0. The spare fuel, mat-like seedlings and fertilizer are transferred to the riding rice transplanter stopped at the auxiliary work point P0, so that the spare fuel, mat-like seedlings and fertilizer can be supplied to the riding rice transplanter. it can. As a result, time and effort required for the auxiliary work can be reduced, and the auxiliary work can be performed efficiently.

Further, since the work travel interruption point P5 by the automatic work travel control is always the work end point P2 on the current work travel route Rb, the travel vehicle body 1 is moved from the auxiliary work point P0 to the work resuming point P4 after the auxiliary work is finished. In the case of moving to the work route P4, the work restart point P4 becomes the work start point P1 on the next work travel route Rb. As a result, it becomes easier to move the traveling vehicle body 1 to the work resuming point P4 as compared with the case where the work resuming point P4 becomes a halfway point on the work travel route Rb.
This is effective in the riding rice transplanter, and can avoid misalignment of seedlings to be planted in a plurality of rows, which may occur when the work resuming point P4 becomes an intermediate point on the work travel route Rb. .

  The work travel route Rb on which the automatic work travel control is performed is a reciprocal work route, and the work travel interruption point P5 on the work travel route Rb by the automatic work travel control is the return work route Rbb close to the auxiliary work point P0. Since the work end point P2 is reached, the travel distance of the traveling vehicle body 1 from the interruption point P5 to the auxiliary work point P0 and the travel distance of the travel vehicle body 1 from the auxiliary work point P0 to the work resuming point P4 are shortened. As a result, it is possible to improve work efficiency and reduce fuel consumption.

In the automatic movement control for auxiliary work, the automatic driving control unit 70E performs automatic driving of the traveling vehicle body 1 so that the traveling vehicle body 1 automatically stops at the auxiliary work point P0 in a stop posture suitable for the auxiliary work.
For example, when the auxiliary work is to supply fuel to the fuel tank of the traveling vehicle body 1, the traveling vehicle body facing the saddle portion adjacent to the auxiliary work point P0 so that the fuel supply to the fuel tank is facilitated. 1, the traveling vehicle body 1 is stopped at the auxiliary work point P0.
For example, when the auxiliary work is the supply of mat-like seedlings to the seedling placing stand 25 and the spare seedling placement unit 59, the spare seedlings are provided so that the mat seedlings can be easily supplied to the spare seedling placement unit 59. The mounting body 59 stops the traveling vehicle body 1 at the auxiliary work point P0 with the forward posture of the traveling vehicle body 1 facing the saddle portion adjacent to the auxiliary work point P0.
For example, when the auxiliary work is a fertilizer supply to the hopper 31, the traveling vehicle body whose left and right end portions of the hopper 31 face the flange portion adjacent to the auxiliary work point P <b> 0 so that the fertilizer supply to the hopper 31 can be easily performed. 1, the traveling vehicle body 1 is stopped at the auxiliary work point P0.
Thereby, it is possible to facilitate the auxiliary work for the riding rice transplanter stopped at the auxiliary work point P0.

  When the automatic operation control unit 70E is instructed to resume the automatic operation traveling control by human operation of the automatic operation switch 93C provided in the input device 93 after reaching the auxiliary operation point P0 by the automatic movement control for auxiliary operation. Then, the work end point P2 where the automatic work travel control is interrupted is read from the storage unit 70D. Then, the work start point P1 of the second work travel route Rb2 to the fourth work travel route Rb4 set next to any one of the first work travel route Rb1 to the third work travel route Rb3 having the read work end point P2. Automatic movement control for resuming work is performed in which the traveling vehicle body 1 is automatically moved from the auxiliary work point P0 to the work resuming point P4 by setting the work resuming point P4. Then, when the traveling vehicle body 1 moves to the work resumption point P4 by the automatic movement control for resuming work, the automatic movement control for resuming work is finished, and the work traveling route Rb having the work resuming point P4 is the automatic driving route Ra. If there is, the automatic work traveling control is resumed.

Thus, when the automatic operation switch 93C is manually operated after the auxiliary work at the auxiliary work point P0 is completed, the traveling vehicle body 1 is automatically moved from the auxiliary work point P0 to the work resuming point P4 by automatic movement control for resuming the work. Move with.
That is, it is not necessary for the operator to manually drive the traveling vehicle body 1 to the work resuming point P4 after the auxiliary work at the auxiliary work point P0 is completed, so that the burden on the operator related to the auxiliary work can be reduced.

As shown in FIG. 7, in the automatic movement control for auxiliary work and the automatic movement control for resuming work, the automatic operation control unit 70E uses, as a movement path, an unworked travel route Rd in which seedlings are not planted. The vehicle body is automatically driven so that the traveling vehicle body 1 travels along this movement route.
Thereby, when the automatic movement control is for auxiliary work, when the riding rice transplanter automatically moves from the work end point P2 where the work travel is interrupted to the auxiliary work point P0, the automatic movement control is also used for work resumption. In this case, when the riding rice transplanter automatically moves from the auxiliary work point P0 to the work resuming point P4 where the work travel is resumed, the already-worked travel route on which seedlings are planted is stepped on by the traveling vehicle body 1. It is possible to avoid the risk of being caught.

In the automatic movement control for auxiliary work, the automatic operation control unit 70E automatically moves the traveling vehicle body 1 to the auxiliary work point P0 by the backward movement of the traveling vehicle body 1, and in the automatic movement control for resuming work, As the vehicle body 1 moves forward, the traveling vehicle body 1 is automatically moved to the work resuming point P4.
Thereby, the movement of the traveling vehicle body 1 to the auxiliary work point P0 by the automatic movement control for auxiliary work and the movement of the traveling vehicle body 1 to the work resumption point P4 by the automatic movement control of work resumption are respectively performed. Compared to the case of performing the forward movement of 1, the troublesome direction change operation of the traveling vehicle body 1 can be eliminated.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and typical other embodiments relating to the present invention will be exemplified below.

[1] A work vehicle is a direct seeding machine or tractor equipped with a seeding device (an example of an agricultural material supply device A) that seeds seeds (an example of a vehicle-mounted item) on a farm field as it travels. Rice tractor or tractor equipped with a chemical spraying device (an example of agricultural material supply device A) for spraying a field on a farm, a combine harvester or a corn harvester that harvests a crop as it travels and stores it in a storage section, etc. Harvester, etc.

[2] In the automatic driving mode, the entire driving route R is set as the automatic driving route Ra, and the automatic driving control unit 70E is configured to perform the automatic driving of the vehicle body in the entire driving route R. Good.
In this configuration, the work travel determination unit 70K completes the work on the next work travel route Rb in each work travel route Rb other than the final work travel route Rb among all the work travel routes Rb included in the travel route R. It is determined whether or not it is possible to continue the work travel to the point P2.
In this configuration, the automatic operation control unit 70E switches the seedling planting device 4 and the fertilizer application device 5 to the non-working state in conjunction with the arrival of the work travel route Rb of the vehicle body at the work end point P2, for example. 1 switching control is executed, and second switching control for switching the seedling planting device 4 and the fertilizer application device 5 to the working state is executed in conjunction with the arrival of the work travel route Rb of the vehicle body at the work start point P1. It may be configured as follows.

[3] In the automatic operation mode, all work travel routes Rb except for all travel travel routes Rc in the travel route R are set as the automatic operation routes Ra, and the automatic operation control unit 70E makes all work travel routes The vehicle body may be automatically operated in Rb.
In this configuration, the work travel determination unit 70K completes the work on the next work travel route Rb in each work travel route Rb other than the final work travel route Rb among all the work travel routes Rb included in the travel route R. It is determined whether or not it is possible to continue the work travel to the point P2.

[4] The automatic driving control unit 70E sets the entire driving route R to the automatic driving route Ra, the automatic driving mode in which the vehicle body is automatically driven in the entire driving route R, and all work travels on the driving route R. A part of the route Rb or all the work travel routes Rb is set as the automatic operation route Ra, and can be switched to a semi-automatic operation mode in which the vehicle body is automatically operated on all or part of the work travel routes Rb. It may be.

[5] When the automatic travel control unit 70E determines that the work travel determination unit 70K cannot continue the work travel during the automatic work travel control, the current vehicle body position is determined to be the work travel route Rb. Regardless of whether or not the vehicle is in the middle position, the automatic work travel control is immediately interrupted, and the automatic movement control for auxiliary work is executed to automatically move the vehicle body from the automatic work travel control interruption point P5 to the auxiliary work point P0. It may be configured as follows.
In this configuration, the automatic operation control unit 70E instructs the storage unit 70D to write the interruption point P5 with the interruption of the automatic work travel control, and performs automatic work travel control after reaching the auxiliary work point P0. When resumption is instructed, the interruption point P5 is read from the storage unit 70D, and automatic movement control for resuming work is performed to automatically move the vehicle body from the auxiliary work point P0 to the interruption point P5. You may be comprised so that automatic movement control for work resumption may be complete | finished after a movement.

[6] As shown in FIG. 8, the automatic operation control unit 70E cannot continue the work travel by the work travel determination unit 70K during execution of the automatic work travel control on the forward work route Rba of the reciprocating work route. When it is determined that there is a vehicle body, the vehicle body may reach the work end point P2 of the forward work route Rba, and the automatic work travel control may be interrupted to execute the automatic movement control for the auxiliary work. .
In this configuration, the automatic operation control unit 70E instructs the storage unit 70D to write the work end point P2 (interruption point P5) at which the automatic work travel control is interrupted with the interruption of the automatic work travel control, and When the resumption of the automatic work travel control is instructed after reaching the auxiliary work point P0, the work end point P2 is read from the storage unit 70D and is set next to the forward work route Rba having the read work end point P2. The work start point P1 of the return path work route Rbb is set as the work resumption point P4, and the automatic movement control for resuming work for automatically moving the vehicle body from the auxiliary work point P0 to the work resumption point P4 is executed. You may be comprised so that the automatic movement control for work resumption may be complete | finished after the movement to P4.

[7] When the work vehicle is a harvester such as a combine that includes a harvesting device that harvests crops in the field and harvests the crops as it travels and stores them in the storage unit, the automatic operation control unit 70E In the automatic movement control for auxiliary work and the automatic movement control for resuming work, the existing work travel route Re on which crops have been harvested is set as the travel route, and the vehicle body is moved so that the vehicle travels on this travel route. You may be comprised so that automatic operation may be performed.
Thereby, when the automatic movement control is for auxiliary work, when the harvester automatically moves from the work end point P2 where the work travel is interrupted to the auxiliary work point P0, the automatic movement control is for resuming work. In some cases, when the harvester automatically moves from the auxiliary work point P0 to the work resuming point P4 where the work travel is resumed, the unworked travel route Rd where no crop is harvested is stepped on by the traveling vehicle body 1. Fear can be avoided.

  The present invention is a riding rice transplanter, a riding sowing machine, a sowing specification tractor, a fertilizing specification tractor in which the on-board quantity of the vehicle, such as fuel, seedling, seed, fertilizer, medicine, and harvest, changes with traveling, It can be applied to work vehicles such as combines and corn harvesters.

70D Storage unit 70E Automatic operation control unit 70G On-board amount calculation unit 70H Change amount estimation unit 70K Work travel determination unit 83 Positioning unit A Agricultural material supply device P0 Auxiliary work point P1 Work start point P2 Work end point P4 Work resume point P5 Stop point R traveling route Ra automatic driving route Rb working traveling route Rba outbound traveling route Rbb returning traveling route Rd unworked traveling route

Claims (8)

A storage unit in which a travel route in a field set in advance and a specific auxiliary work point for performing auxiliary work related to supply and discharge of a vehicle-mounted object whose vehicle-mounted amount changes with traveling,
A positioning unit that measures the position and orientation of the vehicle body;
Based on the traveling route and the positioning result of the positioning unit, an automatic driving control unit that performs automatic driving of the vehicle body in the automatic driving route included in the traveling route;
An in-vehicle amount calculation unit for determining the in-vehicle amount of the in-vehicle item;
A work travel determination unit that determines whether or not continuation of work travel is possible based on the vehicle mounted amount of the vehicle mounted amount calculation unit;
The automatic driving control unit automatically runs the vehicle on the plurality of work driving routes included in the automatic driving route while the work driving determination unit determines that the work driving can be continued. Automatic work travel control is performed, and when the work travel determination unit determines that continuation of work travel is impossible during execution of the automatic work travel control, the automatic work travel control is interrupted. A farm work vehicle that executes automatic movement control for auxiliary work for automatically moving a vehicle body from the interruption point of the automatic work traveling control to the auxiliary work point. A change amount estimation unit that estimates a change amount of the vehicle-mounted object in the next work travel route during execution of the automatic work travel control in the current work travel route;
Whether the work travel determination unit can continue the work travel to the work end point of the next work travel route based on the vehicle mounted amount of the vehicle mounted amount calculating unit and the change amount of the change amount estimating unit. Determine whether
The automatic operation control unit determines that the automatic work travel is performed on the next work travel route when the work travel determination unit determines that the work travel to the work end point on the next work travel route is possible. Control is performed, and when it is determined by the work travel determination unit that it is impossible to continue the work travel to the work end point on the next work travel route, the work end point on the current work travel route is set. The agricultural work vehicle according to claim 1, wherein when the vehicle body arrives, the automatic work travel control is interrupted to execute the automatic movement control. The plurality of work travel routes include a forward work route from the saddle adjacent to the auxiliary work point to the saddle facing the saddle and a return work route adjacent to the forward work route as a one-stroke work travel route. Includes multiple reciprocal work paths,
When the next work travel route is the reciprocating work route, the work travel determination unit is configured to reciprocate the work route based on the on-vehicle amount of the on-vehicle amount calculation unit and the change amount of the change amount estimation unit. To determine whether it is possible to continue working to the end point of work,
The automatic operation control unit determines that the automatic operation traveling is performed on the next reciprocating work route when the work traveling determining unit determines that the work traveling to the work end point on the next reciprocating work route is possible. Control is performed, and when it is determined by the work travel determination unit that it is impossible to continue the work travel to the work end point of the next reciprocating work route, the work end point on the current reciprocating work route is The agricultural vehicle according to claim 2, wherein the automatic movement control is executed by interrupting the automatic work traveling control as a vehicle body arrives.   The automatic operation control unit instructs the storage unit to write the interruption point in accordance with the interruption of the automatic work travel control, and is commanded to resume the automatic work travel control after reaching the auxiliary work point. In the case where the suspension point is read from the storage unit, the automatic movement control for resuming the work for automatically moving the vehicle body from the auxiliary work point to the interruption point is executed, and the work is resumed after moving to the interruption point. The agricultural work vehicle according to claim 1, wherein the automatic movement control is terminated and the automatic work traveling control is resumed.   The automatic operation control unit instructs the storage unit to write the work end point at which the automatic work travel control is interrupted along with the interruption of the automatic work travel control, and after reaching the auxiliary work point, When the restart of the automatic work travel control is instructed, the work end point is read from the storage unit, and the work start point of the work travel route set next to the work travel route having the read work end point is The automatic movement control for resuming work is performed by setting the work resumption point and automatically moving the vehicle body from the auxiliary work point to the work resumption point, and the automatic movement for resuming work after moving to the work resumption point. The agricultural work vehicle according to claim 2 or 3, wherein control is terminated and the automatic work travel control is resumed.   In the automatic movement control for auxiliary work, the automatic operation control unit performs automatic driving of the vehicle body so that the vehicle body automatically stops at the auxiliary work point in a stop posture suitable for the auxiliary work. An agricultural work vehicle according to any one of the above. Agricultural material supply device for supplying agricultural material to the field,
In the automatic movement control, the automatic operation control unit sets an unworked traveling route to which the agricultural material is not supplied as a traveling route, and performs automatic driving of the vehicle body so that the vehicle body travels on the traveling route. Item 7. The agricultural work vehicle according to any one of Items 1 to 6. Equipped with harvesting equipment to harvest crops in the field,
In the automatic movement control, the automatic operation control unit sets an already-worked travel route on which the crop is harvested as a travel route, and performs automatic operation of the vehicle body so that the vehicle travels on the travel route. Item 7. The agricultural work vehicle according to any one of Items 1 to 6.

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