JP2020048460A - Agricultural work vehicle - Google Patents

Abstract

To provide an agricultural work vehicle capable of preventing a machine body from interfering with a levee without using a special sensor such as a levee distance sensor.SOLUTION: A levee edge distance D0 is stored beforehand, and an operation distance L0 based on a travel distance at a planting work time is set. When an operation travel distance after finish of turning (S93;ON) arrives at the operation distance L0 (S99;YES), a safety stop distance D3 is calculated from travel speed V1 at a present time and the levee edge distance D0 (S100). When a machine body further travels and arrives at a safety stop distance D3, an engine is stopped and the machine body is stopped.SELECTED DRAWING: Figure 9

Description

  The present invention relates to an agricultural work vehicle such as a riding type rice transplanter or the like, and more particularly to an automatic stop control at a ridge.

  2. Description of the Related Art Conventionally, there is an agricultural work vehicle provided with a ridge distance sensor for detecting a distance from a body to a ridge, and notifying by a buzzer or the like when the body approaches a position at a predetermined distance from the ridge based on a signal from the sensor.

  Also, using a front-rear inclination sensor that detects the front-rear inclination of the body or a vehicle speed sensor that detects the vehicle speed, when the front wheels are on the ridge and the aircraft leans forward, or when the vehicle speed decreases due to interference with the ridge, There has been proposed an agricultural work vehicle in which the traveling is stopped by detecting a forward / backward tilt sensor or a vehicle speed sensor (Patent Document 1).

JP 2004-116441 A

  The above-mentioned ridge distance sensor is provided only for detecting the approach of the ridge and notifying the driver of the fact that the ridge distance sensor is approaching. Only by informing the driver, it is finally to avoid riding on the ridge by the driver's operation, and if the driver can not return to the seat for some reason, the aircraft may ride on the ridge. is there.

  Those that use the front-rear inclination sensor or the vehicle speed sensor do not require a special dedicated sensor.However, the front wheel actually rides on the ridge, or part of the fuselage touches the ridge. Since the aircraft is stopped after the inclination or the decrease in the traveling speed is detected after the occurrence of the inclination or the decrease in the traveling speed, the subsequent operation and work are troublesome even if the aircraft is prevented from rolling over.

  Therefore, an object of the present invention is to provide an agricultural work vehicle that solves the above-described problem by setting a safe stopping distance for a ridge based on the traveling distance of the body.

The present invention starts the operation after traveling based on the specified ridge-side distance (D0), and leaves the specified ridge-side distance to perform the work up to the start of turning, and the work distance (L0) based on the work mileage (D1). ),
When the work traveling distance (D1) during the work after the end of the turn reaches the work distance (L0), the safety stop distance (D3) is obtained from the traveling speed (V1) at that time and the ridge-side distance (D0). , And
When the mileage after the work mileage reaches the safety stop distance, the traveling of the aircraft is automatically stopped,
An agricultural work vehicle is characterized in that:

The position information at the time when the work is started with a specified ridge distance (D0) and the position information at the time when the work is stopped and the turn is started with the specified ridge distance left are stored,
From the stored position information, set the subsequent work start planned position and turning start planned position,
When the aircraft reaches the scheduled turn start position, a safety stop distance (D3) is calculated from the traveling speed (V1) at that time and the ridge-side distance (D0),
When the traveling distance from the turning start scheduled position reaches the safety stop distance, the traveling of the aircraft is automatically stopped,
An agricultural work vehicle is characterized in that:

  An operation tool (30b) for temporarily stopping control for automatically stopping the aircraft when the safety stop distance is reached is provided.

  The suspension of the control by the operation tool is released based on the start operation of the work.

  A means (32) for restraining the control based on the running out signal of the consumable material, wherein the means is operated for restraint to temporarily stop the travel stop of the body based on the safe stop distance; Can be switched to a state where temporary stop is not performed.

  The reference numerals in the parentheses are for comparison with the drawings, but do not affect the description of the claims.

  According to the first or second aspect of the present invention, with a relatively simple device without using a dedicated sensor, etc., the traveling of the vehicle is automatically stopped without increasing the cost and without interfering with the ridge. can do.

  According to the third aspect of the present invention, since the operation tool for temporarily stopping the control for automatically stopping the airframe is provided, for example, assuming seedling and fertilizer replenishment, if the operator wants to run a little more, The automatic stop of the aircraft can be temporarily stopped by the operation tool.

  According to the fourth aspect of the present invention, the temporary stop of the automatic stop of the body by the operation tool is automatically released when the work such as planting is started, so that the temporary stop can be released by a simple operation. In addition, it is possible to prevent the aircraft from climbing into the ridges, thereby enhancing safety.

  According to the fifth aspect of the present invention, there is provided a means for checking the control to notify the operator that the consumables such as fertilizers and seedlings are running out, and the operation of the means temporarily stops the control for stopping the running of the aircraft. As a result, the supply of consumables can be efficiently performed, and the convenience is improved.

The side view which shows the riding rice transplanter which can apply this invention. The top view of a riding rice transplanter. FIGS. 4A and 4B are views showing the operation portion, wherein FIG. 4A is a perspective view of the operation section viewed from an operator, FIG. 4B is a plan view of a display section, and FIG. 4C is a plan view of a switching operation section. FIG. 2 is a plan view showing a drive control device for raising and lowering a planting work machine and a planting clutch. FIG. 3 is a block diagram of a control unit. FIG. 4 is a flowchart of work machine operation control. The flowchart of a distance measurement control. FIG. 4 is a flowchart of automatic control during turning. Flow chart of suspension control at the end of a ridge. The top view which shows a planting path.

  Hereinafter, an embodiment of the present invention applied to a riding rice transplanter as an agricultural work vehicle will be described with reference to the drawings. As shown in FIGS. 1 and 2, the riding rice transplanter P has a traveling body 1 supported by a front wheel 9 and a rear wheel 10, and a rear portion of the traveling body 1 is connected via a lifting link mechanism 2. And a planting work machine 3 which is a working machine. A lift cylinder 4 is interposed between the traveling machine body 1 and the planting work machine 3, and the planting work machine 3 is moved up and down in accordance with the hydraulic expansion and contraction operation of the lift cylinder 4. The planting machine 3 includes a seedling table 5 on which mat seedlings are placed, a planting mechanism 6 for scraping the seedlings from the seedling table 5 and planting them in a field, a float 7 sliding on the rice field, and the like. The planting operation is performed with the planting power transmitted from the traveling machine 1.

  An engine (not shown) and a transmission 8 are mounted on a front portion of the traveling body 1. The power output by the engine is shifted by the transmission 8 and transmitted to the planting machine 3, the front wheels 9 and the rear wheels 10. The transmission 8 is provided with a planting clutch (not shown), and the transmission of the planting power to the planting work machine 3 is turned on / off based on the on / off of the planting clutch.

  A spare seedling stand 15 is arranged on the side of the bonnet 13 of the traveling machine body 1, and a seedling replenishing device 16 is arranged on the left side of the machine body. Further, a driving unit 17 that is operated by an operator while riding is disposed in a central portion of the traveling machine body 1, and a driving seat 19, a steering wheel 20, and the like are disposed in the driving unit 17. On the left and right sides of the planting machine 3, line drawing markers 21 and 21 are disposed so as to be movable to a use position and a storage position, and a ground leveling device 22 is provided between the traveling body 1 and the planting machine 3. I have.

  As shown in FIG. 3A, a display panel 25 is disposed in front of the driving unit 17, a switching operation unit 26 is disposed on the left rear side, and a main transmission operation lever 27 is further disposed on the left side thereof. A work implement operation lever 29 is disposed on the right rear side of the display panel. As shown in FIG. 3B, the display panel 25 includes a planting display unit 25a that shows a planting preparation state, a planting automatic display unit 25b that shows a planting automatic control state, a ridge-side stop display unit 25c, and the above. There are various display units such as a hydraulic position display unit 25d for displaying each state of the planting operation by the work machine operation cam.

  As shown in FIG. 3 (c), the switching operation unit 26 has a ridge stop operation unit 30 at the upper left and an automatic planting operation unit 31 at the upper right. The ridge-side stop operation unit 30 is composed of a push-button / dial-type switch, and by turning the dial 30a, the ridge-side stop distance can be set, and the ridge-side stop entry position A, cut-off position B, and consumables running-out check. The position is switched to the entry position C, and the ridge stop is suppressed (temporarily stopped) by pressing the center push button 30b. The planting automatic operation section 31 is similarly constituted by a push button / dial type switch, and sets the headland width, that is, the distance from the ridge to the planting start (planting start position) by turning the dial 31a. The right (slow) end D is an automatic up switch, and when the central push button 31b is pressed, the automatic planting switch is switched.

  Further, four push button switches and their indicators are arranged below the switching operation unit 26. That is, it is a consumable shortage (pause) switch 32, a work implement preparation switch 33, a notification buzzer and a lamp stop switch 35, and a headlight switch 36. Note that these four switches may be used as other switches.

  The main shift operation lever 27 is shifted forward by operating forward from the neutral position, and shifted backward by operating backward from the neutral position, and the state is detected by a back switch. The grip portion of the main transmission operation lever 27 is provided with a work implement operation push button in which a work implement upper operation switch and a work implement lower operation switch are arranged vertically (inside of the right side). I have. These switches are operated by the operator pressing the main shift operation lever 27 with the thumb while performing the main shift operation. The work machine can be vertically moved by the work machine operation lever 29.

  As shown in FIG. 4, the traveling machine body 1 is provided with a working machine operation cam 14 connected to a planting clutch and a hydraulic control valve of the lift cylinder 4. The work machine operation cam 14 is operated to the “up”, “fixed”, “automatic (down)”, and “planting” positions based on the drive of the work machine operation cam motor 11. Then, in the "up" position, the planting machine 3 is raised (the planting clutch is disengaged), and in the "fixed" position, the planting machine 3 is fixed at an arbitrary height (the planting clutch is disengaged). In the "automatic (down)" position, the planting work machine 3 is lowered until the float 7 touches the ground (the planting clutch is disengaged), and in the "planting" position, the planting clutch is engaged via the cam follower 18. Let In the “automatic (down)” and “planting” positions, a mechanical automatic up / down control based on the detection of the ground height by the sensing float 7 is executed. Each position of the work machine operation cam 14 is detected by a potentiometer 39.

  As shown in FIG. 5, the traveling body 1 is provided with a control unit U for controlling each operation of the planting operation. The control unit U includes switches and sensors operated by the operation units. And outputs the signals to the display units and the actuators. As the input means, the work machine preparation switch 33, the work machine operation lever 29 or the upper switch 29a and the lower switch 29b operated by the push button switch of the main shift lever, and the respective positions (positions) of the work machine operation cam 14 are used. The work machine operation cam potentiometer 39 to be detected, the lift angle potentiometer 40 to detect the elevating position of the planting work machine 3 based on the angle of the elevating link mechanism 2, and the rotational speed of the drive shaft of the transmission or the rear wheel 10 are detected. There are a traveling distance sensor 41, the above-described planting automatic setting dial 30a, a ridge-side stop setting dial 31a, a running out of consumption check switch 32, a steering angle sensor 42 for detecting a turning angle of the front wheel 9 by operating the steering handle 20, and the like. . The running distance sensor 41 detects the rotation speed of the running shaft or the rotation speed of the drive shaft between the left and right side clutches and the left and right rear wheels, and detects the headland distance during running, the turning distance, It is possible to determine the planting travel distance during the planting operation and whether the traveling body 1 is traveling. The above-mentioned consumables are consumed by the work, for example, mat seedlings, fertilizers, multi-sheets in the case of multi-work, and the like. , A switch for temporarily stopping the work.

  As the output means, there are a work implement operation cam motor 11 for operating the work implement operation cam 14, an engine relay 43 for stopping an engine (not shown), and a buzzer 45a and a lamp 45b as notification means.

  Next, the work implement operation control S3 will be described with reference to FIG. First, a short-time (not long-press) signal from the lower switch 29b of the work implement operation lever 29 or the work implement lower operation switch of the main transmission operation lever 27 (hereinafter, operation of the work equipment switch of the main transmission operation lever is omitted). It is determined whether or not there is (S11), and if so, ON / OFF of the work implement preparation switch 33 is determined (S12). If the work preparation switch is ON, it is determined whether or not the planting work machine 3 is raised by the lift angle potentiometer 40 or the work machine operation cam potentiometer 39 (S13). Further, when the working machine is not in the up position, the operating cam potentiometer 39 similarly determines whether the working machine 3 is automatic or other than automatic (S14). It is determined whether the valve (valve) 14 is fixed or not (S15). When the operation position is other than the fixed state, that is, in the (planting) working position, the planting state is continued (return). In the fixed state, the work machine operation cam motor 11 is set to automatic (down), and the planting work machine 3 is lowered. Then, the float is brought to the automatic position where it touches the ground (S16).

  In step S12, if the work preparation switch is OFF, it is determined whether or not the work implement is raised by the operation cam potentiometer (S17). If not, the work equipment operation cam position is determined to be fixed (S18). If it is in the fixed position, it is set to automatic (down), and the planting machine enters the automatic (down) state in which the float is in contact with the ground (S19). Also, in step S14, when the work machine is in the automatic (down) position, the push button switch 30b of the ridge stop operation unit 30 in the switching operation unit 26 is pressed, and whether the ridge stop is in a check state is determined. Alternatively, it is detected whether or not the consumed material check switch 32 for checking (temporarily stopping) the control for automatically stopping when the consumed material such as fertilizer runs out is pressed. These check switches 30b and 32 are turned ON only while they are being pressed, the operation of the planting clutch is restricted, and the planting clutch restriction flag is turned ON. If the restricting clutch is OFF (S37, YES), it is determined by the lift angle potentiometer 40 whether or not the working machine is moving down (S20). (S21), if it is in the descending operation state (NO), the work machine operation cam is set to planting and planting work is started (S22).

  If the working machine is in the ascending state in steps S13 and S17, the working machine operation cam is set to the fixed state and the working machine is in the fixed state (S23), and the process is returned together with the steps other than the fixing in step S18.

  Therefore, when the operator operates the lower side (29b) of the work implement operation lever 29 for a short time (one shot) with the work implement operation lever 29, the work implement operation cam is lowered by one step, that is, raised → fixed, fixed → automatic (down), automatic (down). ) → Changed to planting (planting is maintained as it is).

  If there is no lower operation in step S11, it is determined whether there is a short-time operation of the upper switch 29a of the work implement operation lever 29 (S24). If there is no operation, it is determined whether or not the above-described planting clutch restriction flag is OFF (S38). If it is OFF (YES), it is determined whether or not the planting clutch is in the waiting state at step S21 (S25). If it is in the waiting state (YES), it is determined by the lift angle potentiometer 40 whether or not the work implement lowering operation is stopped (S26). If it is stopped (YES), as in step S22, the work machine operation cam is set to the planting position, and the planting operation is started (S27).

  When there is a short-time operation of the upper operation in step S24, it is determined whether or not the work implement is being lifted (S29). If it is rising, it is continued (return). Otherwise, it is determined whether the work machine is automatic (down) or planted (S32). If it is automatic (down), the work machine lowering operation is performed by the lift angle potentiometer 40. It is determined whether the apparatus is in the stop state (S33). If the operation is stopped (YES), the operation is set to ascend (S34). If the lowering operation is being performed (NO), the work machine operation cam is set to be fixed, and the work machine is in a fixed state (S35). In the case other than automatic in step S32, further, in step S39, it is determined by the operation cam potentiometer 39 whether the operation cam 14 is at the planting position, and if it is in the planting position, the automatic (planting) state is secured. (S40) In the case of fixing, the work machine operation cam is set to the raised position together with the stop of the work machine lowering operation (YES) in step S33 (S34). That is, in general, the working machine is in the automatic planting (down) state (S32; automatic or S40), the working machine is in the down (automatic) operation (S33; NO), and the operation cam 14 is in the fixed position. (S35). Further, returning, the operation cam is at the fixed position (S39; fixed), so that the operation cam 14 is at the raised position and the work machine is raised (S29; raised). Then, the lift of the work machine is detected by the lift angle potentiometer, and the lift of the work machine is maintained.

  In step S38, if the planting clutch restriction flag is ON (NO) by the ridge stop check button 30b or the like, it is determined whether the work machine operation cam is at the planting position (S41). The work machine is continued as it is, and in the case of the planting position, the work machine continues the planting operation (S42).

  Next, the distance measurement control S50 will be described with reference to FIGS. In general, as shown in FIG. 10, the rice transplanting operation is performed by reciprocating planting while leaving the headland M on the ridge and making a U-turn of the riding rice transplanter P on the headland. Is planted around two times to complete the planting operation. In addition, the headland M is usually twice the planting width of the rice transplanter P, but when the body length is shorter than the number of planting strips, one round is sufficient. Instead, it is set appropriately according to the field shape and the like. The riding rice transplanter P that has entered the field moves backward toward the ridge, and moves down the planting machine 3 so that the rear end of the planting machine 3 is aligned with the ridge. The riding rice transplanter P stores the distance (D0) for two strokes from the edge of the ridge, and after automatically traveling for two strokes, turns on the planting clutch and automatically performs the planting operation. Automatic control (automatic planting control) to start is provided, and the dial 31a of the automatic planting operation section 31 in the switching operation section 26 is set to a predetermined position, and the automatic planting display section 25b of the display section is turned on. . In this state, the work implement preparation switch 33 is ON (S51; ON).

  When the operator determines that the rear end of the machine body coincides with the edge of the ridge, the operator long-presses the work machine operation lever 29 downward. Since the work implement operation lever 29 is being operated on the lower side, step S52 is present, and it is determined whether the operation lever is longer than a predetermined time (whether long press operation) (S53), and the operation is performed for a predetermined time T0. If the above operation is performed (S53; YES), it is determined whether the working machine is at the lowered position (S54) or whether the machine is in a stopped state (S55). Since the riding rice transplanter P is moving backward at the edge of the ridge, and descends and stops at the work machine with the rear end coinciding with the edge of the ridge, the above steps S54 and S55 are both YES, and the ridge measurement flag is set. It turns ON, and the subtraction of the headland traveling distance D0 is started (S56).

  In this state, the operator operates the main transmission operation lever 27, and the rice transplanter P travels forward on the headland M, and travels from the headland travel distance D0 determined by the preset headland distance. The travel distance measured by the sensor 41 is subtracted. Then, in the forward state of the rice transplanter, the long press operation of the work implement operation lever 29 has been completed, step S52 is not present, and the ridge measurement flag is ON (57; YES). If the headland traveling distance D0 becomes 0 due to the traveling of the rice transplanter P (S58; YES), the traveling of the headland M set for two strokes ends, and the flow goes to step S59. In step 59, the operation cam 14 is at the planting (automatic) position, the ridge measurement flag is turned off, the count of the headland traveling distance D0 is cleared, the planting distance measurement flag is turned on, and the traveling is performed. The counting of the planting travel distance L0 is started by the distance sensor 41.

  Then, since the return is made and the ridge measurement flag is OFF (S57; NO), the planting operation is continued until the steering angle β becomes equal to or larger than a predetermined value (S60; NO), and the traveling distance sensor is operated. The planting travel distance L0 based on 41 is continuously measured. A mark O is provided at a distance of two strokes on the headland portion of the field opposite to the planting start side. When the rear end of the rice transplanter P coincides with the mark O, the operator operates the steering at a predetermined turning angle β or more, and detects it by the steering angle sensor 42 (S60; YES). In this state, if the planting distance measurement flag is ON (S61; YES), it is determined that one planting process has been completed, and the planting travel distance L0 at this time is stored, and the planting distance measurement is performed. The flag is turned off (S62). Thereby, the planting work travel distance L0 of the rice transplanter P with the headland M opened is stored as the planting distance.

  Next, the turning work machine automatic control S70 will be described with reference to FIG. The automatic control of the work machine at the time of turning, when reciprocating planting in the field, when the riding rice transplanter turns on the headland by steering operation, raises the planting work machine 3, and planting according to the next planting process This is control to lower the work machine and start planting automatically. The work implement preparation switch 33 is ON (S71; ON), and it is determined whether or not there is an operation that is equal to or greater than the steering angle β described in step S60 (S72). The cutting angle β is a turning angle for turning the rice transplanter on the headland M, in contrast to a cutting angle α described later for returning the rice transplanter to the planting state. When the operator turns the steering wheel beyond the predetermined turning angle β to turn the body on the headland M (S72; YES), it is determined whether or not the work implement is in the automatic (down) state (S73). In this state, the rice transplanter is in a state where the planting operation has been performed, the work machine is automatically moved up and down (S73; ON), the work machine operation cam is operated to the raised position by the motor 11, and the work machine is raised ( S74). The push button 31b of the automatic planting operation section 31 is in the ON state (S75; YES), the buzzer 45a sounds upon the start of the turning control notification (S76), and the count of the travel distance Dt based on the travel distance sensor 41 is counted. It is started (S77).

  In addition, when the lifting / lowering of the working machine is not automatic (S73; OFF) or when the automatic planting mode is OFF (S75; NO), the setting dial 30a of the ridge-side stop operation unit 30 is set to the entry position A. (S78; YES), counting of the traveling distance Dt is started (S77).

  If the turning angle β has not been operated in step S72 (NO), it is determined whether or not the work implement operating tool (lever) 29 has been operated (S79). If the operation has not been performed (S79; NO), it is determined whether or not the traveling distance Dt has exceeded a preset turning completion distance D2 on the headland (S80). If it does not exceed (S80; NO), it is further determined whether or not the travel distance Dt exceeds the above-described planting travel distance D1 (S81). If it does not exceed (S81; NO), whether or not the planting is in the automatic planting mode. If it is determined (S82) and the result is YES, the working machine is descending (automatic) and the planting operation is continued (S83).

  When the traveling distance Dt exceeds the turning completion distance D2 in the above step S80 (S80; YES), the operator turns the steering wheel back so as to go straight in order to bring the aircraft into the planted state (S84; YES). In this state, since the planting is in the automatic planting mode (S85; YES), the work machine is in the planting (automatic) state (S86), the counter of the traveling distance Dt is cleared, and the turning control notification (buzzer or the like) is made. Is completed, and the turning end flag is turned ON (S87). In addition, when the work machine operation lever 29 is raised or lowered in step S79, the turning control is terminated, and the process proceeds to step 87.

  Next, ridge stop control will be described with reference to FIG. The ridge stop control S90 is activated when the work (planting) preparation switch 33 is ON (S91; ON) and the ridge stop dial 30a is at the entry position A (S92; ON). If the turning end flag is ON in step S87 (S93; ON) and the planting travel distance L0 is set in step S62 (S94; YES), that is, the machine is in a straight-ahead state from the start of the planting operation. The traveling distance D1 based on the traveling distance sensor 41 during the planting operation is measured, the planting traveling distance D1 is subtracted from the planting distance L0 set in the distance measurement control (S50), and the turning end flag is set. Turn off (S95). The subtraction of the planting travel distance D1 from the set planting distance L0 continues during the planting travel.

  Since the turning end flag is OFF in the next return, it is turned OFF in step S93, and it is determined whether or not consumables such as fertilizers are running out (S96). If the consumables are not running out, that is, if the cutout signal for detecting that the consumables such as fertilizer is running out is not transmitted (S96; NO), the control temporary stop operation tool, that is, the ridge stop operation unit 30 It is determined whether or not the push button 30b is pressed. If it is not in the consumed material state (S96; NO) and there is no operation of the control temporary stop operating tool (S97; none), it is determined whether or not the working machine state has been operated from the lowering (automatic) to the planting state (S98). . Generally, since the planting operation is not completed and the planting operation is not performed (S98; NO), the planting travel distance L0 subtracted is 0, that is, the planting measured by the distance measurement control S50. When the planting travel distance D1 matches the attachment distance L0, the count of the planting distance L0 is reset. The running speed V1 at this time is measured and stored, and a safe stopping distance D3 is calculated from the prescribed ridge (headland) distance D0 and the running speed V1, and the running distance is subtracted from the safe stopping distance D3 (S100). ).

  Returning, in step S99, since the running distance L0 is not reset to 0 (S99; NO), it is determined whether the subtraction of the safe stop distance D3 becomes 0 (S101). The travel distance after the planting travel distance D1 exceeds the planting distance L0 measured in advance (L0 = 0) is subtracted from the safety stop distance D3, and when the safety stop distance becomes 0 (S101; YES). Then, the count of the planting travel distance D1 is reset (S102), and the control suspension flag is determined (S103). Since the control temporary stop flag is OFF (S103; OFF), a stop signal is transmitted to the engine relay, the engine stops, and the running of the aircraft stops. The stopping of the running of the body is not limited to the stopping of the engine, but may be performed by other means such as turning off the running clutch.

  In step S96, when the consumables such as fertilizers are in the cut-off state, that is, when the cut-out signal is transmitted (YES), it is determined whether the consumables-out check switch 32 is ON, that is, whether the consumables-out check is valid or invalid. (S105). When the check for running out of consumables is valid (S105; valid), the control temporary stop flag is turned on (S106). If the operation of the control temporary stop operating tool has been performed in step S97 (YES), it is determined whether the control temporary stop flag is ON or OFF (S107). If OFF, the control temporary stop flag is turned ON (S106). When the control temporary stop flag is ON (S103; ON), the engine stop by the safe stop distance D3 does not function, and the work continues.

  If the control suspension flag is ON in step S107, and if the work implement state is planted in step S98 (YES), the control suspension flag is turned off (S108).

  Therefore, for example, when the operator wants to bring the body to the ridge to replenish the seedlings, the operator keeps pressing the push button 30b for stopping and checking the ridge (S97; Yes). During this time, the control suspension flag is OFF (S107), and the control suspension flag is turned ON in step S106, whereby step S103 is turned ON and the engine does not stop.

  When the planting work is started by releasing the push button 30b for stopping and checking the stop on the ridge side (S98; YES), the control suspension flag is ON (S107; ON), and the control suspension flag is OFF (S108). ), The check is released and the engine can be stopped.

  When the consumables such as fertilizers and seedlings are running out (S96; YES), and the operator wants to continue running to the ridge, the consumables running check switch 32 is turned ON (S105; valid). As a result, the warning control based on the check switch 32 is temporarily stopped, the control temporary stop flag is turned on (S106), and the engine stop due to the safe stop distance is also temporarily stopped.

  As described above, the distance measurement control S50 sets the distance D0 from the edge of the ridge to the headland (at the edge of the ridge) for two strokes of planting, and the planting distance L0 based on the planting travel distance D1. In the ridge-side stop mode by the ridge-side stop operation unit 30, the traveling distance D1 in the planting state exceeds the measured planting distance L0. The safety stop distance D3 is calculated from the running speed V1 and the ridge (headland) distance D0 at that time, and when the vehicle further travels over the safe stop distance, the engine is stopped by stopping the engine or the like. Thus, even if the operator is distracted by the seedling state or the like, the rice transplanter stops without climbing the ridge.

  The headland travel distance D0 of the distance measurement control S50 is position information at which the first planting clutch is engaged and planting travel is started in the field. Is the turning start position information in the turning control S70 in the field, and the planting start position information and the turning start position information indicate that the planting of the subsequent planting process is to be started in the field. When the vehicle reaches the expected turning start position and the expected turning start position, the safety stop distance D3 is calculated from the running speed and the ridge (headland) distance D0 at that time. Stop the fuselage by such as.

  Although the above-described embodiment has been described with reference to the planting operation using the riding rice transplanter, the present invention is not limited to this, and can be applied to the operation using other agricultural work vehicles such as a tractor and a combine.

P Farm work vehicle (Riding rice transplanter)
Reference Signs List 1 body 3 (planting) work machine D0 ridge (headland) distance L0 (planting) work distance D3 safety stop distance D1 work mileage 30 ridge stop operation unit 30b operating tool (push button)
32 Checking means (switch) for running out of consumables

Claims (5)

After running based on the specified ridge distance, start the work, set the work distance based on the work mileage at the time of work until the start of turning, leaving the specified ridge distance,
When the work traveling distance at the time of the work after the end of the turn reaches the work distance, the safety stop distance is calculated from the traveling speed at the time and the ridgeline distance,
When the mileage after the work mileage reaches the safety stop distance, the traveling of the aircraft is automatically stopped,
An agricultural work vehicle characterized by the above-mentioned. Store the position information at the time of starting the work with a specified ridge distance, and the position information at the time of stopping the work and starting the turn leaving the specified ridge distance,
From the stored position information, set the subsequent work start planned position and turning start planned position,
When the aircraft reaches the turn start scheduled position, calculate the safety stop distance from the running speed at the time and the ridgeline distance,
When the traveling distance from the turning start scheduled position reaches the safety stop distance, the traveling of the aircraft is automatically stopped,
An agricultural work vehicle characterized by the above-mentioned. An operation tool for temporarily stopping control for automatically stopping the aircraft when the safety stop distance is reached,
The agricultural work vehicle according to claim 1. Pause of control by the operating tool is released based on a start operation of the work.
The agricultural work vehicle according to claim 3. A means for controlling the control based on the running-out signal of the consumable material; a state in which the traveling stop of the aircraft based on the safety stop distance is temporarily stopped by operating the means to the restraint; Switch to a state that does not stop suddenly,
An agricultural work vehicle according to any one of claims 1 to 4.

Images