JP2021000043A - Work vehicle - Google Patents

Abstract

To configure a work vehicle to accommodate to various types of situations when the work vehicle turns from a termination position of a work route to a starting position of a next work route.SOLUTION: A work vehicle comprises a turning route storage section that stores a plurality of different turning routes LL1, in a work route L01 and a next work route L02 along the work area L01, adjacently to the work route L01, across a termination position D1 of the work route L01 in the vicinity of an outer periphery part B11 of a work area and a starting position C2 of the next work route L02 in the vicinity of the outer periphery part B11 of the work area. The work vehicle further comprises a selection section that selects a turning route LL1 from the plurality of turning routes LL1 stored in the turning route storage section, on the basis of position data LB1 of the outer periphery part B11 of the work area.SELECTED DRAWING: Figure 9

Description

The present invention relates to a work vehicle equipped with a work device for performing work on a work site, such as a passenger-type rice transplanter, a passenger-type direct seeder, and a tractor.

In a passenger-type rice transplanter, which is an example of a work vehicle, planting work is performed according to a work mode as disclosed in Patent Document 1.
Multiple work paths are set to line up in parallel with each other, and when the worker boarding the aircraft finishes the work running along one work path and the aircraft reaches the vicinity of the outer periphery of the work area, , Stop the work equipment, turn the machine near the outer periphery of the work site, and put the machine into the next adjacent work path.
In Patent Document 1, in the work paths adjacent to each other and the next work path, a turning path extending over the end position of the work path and the start position in the next work path is set (stored).

JP-A-2018-117558

When the work vehicle works on the work site, the overall flat shape of the outer circumference of the work site, the positional relationship between the outer circumference of the work site and the end position of the work path, the outer circumference of the work site and the next work path There are various conditions such as the positional relationship with the start position.

An object of the present invention is to configure a work vehicle so that it can handle various states when turning from the end position of a work path to the start position of the next work path.

The work vehicle of the present invention has a work device equipped on the machine body to perform work on the work site, and the outer circumference of the work site in the work path and the next work path adjacent to the work path and along the work path. A swivel path storage unit that stores a plurality of different swivel paths extending between an end position of the work path in the vicinity of the unit and a start position of the next work path in the vicinity of the outer peripheral portion of the work site, and an outer peripheral portion of the work site. A selection unit for selecting the turning path from a plurality of the turning paths stored in the turning path storage unit is provided based on the position data of the above.

According to the present invention, in the work path adjacent to each other and the next work path, a plurality of different turning paths extending over the end position of the work path and the start position in the next work path are stored.
According to the present invention, a swivel path is selected from a plurality of different swivel paths by the selection unit based on the position data of the outer peripheral portion of the work site.

As a result, when the work vehicle turns from the end position of the work path to the start position of the next work path, it becomes possible to make an appropriate turn according to various conditions, and the work performance of the work vehicle is improved. ..

In the present invention, the selection unit includes the distance between the outer peripheral portion of the work site in the direction along the work path and the end position of the work path, and the outer peripheral portion of the work site in the direction along the work path. It is preferable to select the turning path from the plurality of turning paths stored in the turning path storage unit so that the distance from the start position of the next working path is the same.

In a passenger-type rice transplanter, which is an example of a work vehicle, after the work run on the central side of the work site is completed, the work run is performed along the outer peripheral portion of the work site, so that the outer peripheral portion of the work site and the work route Corresponds to the width of the machine (working device) (or twice the width of the machine (working device), etc.) between the end position and the outer peripheral portion of the work area and the start position of the next work path. A turn is made near the outer circumference of the work area so that the area remains.

In Patent Document 1, since the outer peripheral portion of the work site and the direction along the work path are orthogonal to each other in a plan view, the end position of the work path and the start position of the next work path are the same position. The distance between the outer peripheral part of the work area and the end position of the work path in the direction along the work path, and the outer peripheral part of the work area in the direction along the work path and the next work The distance from the starting position of the route is the same.

According to the present invention, when a swivel path is selected from a plurality of swivel paths by the selection unit, the outer peripheral portion of the work site and the end position of the work path in the direction along the work path are based on various conditions. Since the turning path is selected so that the distance is the same as the distance between the outer circumference of the work area and the start position of the next work path in the direction along the work path, the center side of the work area It is possible to obtain a work vehicle suitable for a work mode in which the work run is performed along the outer peripheral portion of the work site after the work run is completed.

In the present invention, it is preferable that a display device for displaying the turning path selected by the selection unit is provided, and the turning path selected by the selection unit is determined based on an artificial operation.

According to the present invention, the turning path selected by the selection unit is displayed on the display device.
As a result, for example, when one turning path is displayed on the display device, the operator can determine whether or not the displayed turning path is appropriate, and the displayed turning path is appropriate. If it is determined that the above is true, the selected turning path can be determined by performing an artificial operation.

For example, when a plurality of turning paths are displayed on the display device, the operator can search for an appropriate turning path from the displayed multiple turning paths, and by performing an artificial operation, the operator can search for an appropriate turning path. , An appropriate turning path can be determined from a plurality of selected turning paths.

In the present invention, a plurality of the swivel paths stored in the swivel path storage unit pass through the start position of the next work path from the end position of the work path to the start position of the next work path. The turning path includes a passing forward turning stroke in which the aircraft turns to a position, and a post-moving stroke for the start position for returning to the starting position of the next working path after the passing forward turning stroke. When the start position of the next work path is closer to the outer peripheral side of the work site than the end position of the work path, the selection unit includes the passing forward turning stroke and the rear progress for the start position. It is preferable to select the turning path having the above.

For example, if the outer peripheral portion of the work area and the direction along the work path intersect diagonally in a plan view, the machine starts turning from the end position of the work path and then ends the turn. At that time, the machine may be too far from the outer periphery of the work area.

According to the present invention, in the above-mentioned state, it is preferable to select a turning path having a passing forward turning stroke and a rear traveling stroke for the start position.
When a turning path having a passing forward turning stroke and a trailing stroke for the start position is selected, if the aircraft starts turning from the end position of the work path, the turn continues until the position passes the start position of the next work path. (Passing forward turning stroke).
In this case, since the machine body is not forcibly turned so as to end the turning at the start position of the next work path, the turning is performed without difficulty.
Since the aircraft is away from the outer periphery of the work area when the passing forward turning stroke is completed, the aircraft moves backward a little (after the start position), and the aircraft cannot reach the start position of the next work path. Reach without.

In the present invention, in the plurality of swivel paths stored in the swivel path storage unit, from the end position of the work path to the start position of the next work path, before the start position of the next work path. The turning path includes an unreached forward turning stroke in which the aircraft turns to a position, and a pre-progressing stroke for a start position for advancing to the starting position of the next working path after the unreached forward turning stroke. It is preferable to have it.

For example, if the outer peripheral portion of the work area and the direction along the work path intersect diagonally in a plan view, the machine starts turning from the end position of the work path and then ends the turn. At that time, the machine may come close to the outer periphery of the work area.

According to the present invention, in the above-mentioned state, it is preferable to select a turning path having an unachieved forward turning stroke and a starting position forward turning stroke.
When a turning path having an unreached forward turning stroke and a forward traveling stroke for the start position is selected, if the aircraft starts turning from the end position of the work path, the turn is made at a position before the start position of the next work path. End (Unreached forward turning process).
In this case, since the machine body is not forcibly turned so that the turn is performed to the start position of the next work path, the turn is performed without difficulty.
Since the aircraft is close to the outer periphery of the work site when the unreachable turning stroke is completed, the aircraft moves forward a little after this (pre-progress for the start position), and the aircraft moves to the start position of the next work path. Reach reasonably.

In the present invention, in the plurality of turning paths stored in the turning path storage unit, the front portion of the machine body advances to a position close to the outer peripheral portion of the work site and reaches the end position of the work path. It is preferable that the subsequent post-progression step and the swivel stroke after the post-progression are sequentially performed to include the swivel path that reaches the start position of the next work path.

According to the present invention, a turning having a rear traveling stroke after a straight traveling stroke in which the front portion of the airframe advances to a position close to the outer peripheral portion of the work site and reaches the end position of the work path, and a turning stroke after the rear traveling stroke. When a route is selected, the aircraft advances to a position where the front part of the machine is close to the outer periphery of the work site in the work path (straight travel), and the front part of the machine is close to the outer periphery of the work area. From the position, the aircraft moves backward (backward progress). After the post-progress is completed, the aircraft turns toward the next work path (forward turning stroke).
The turning path in the present invention is suitable for a state in which an airframe (working device) having a relatively large width turns in the vicinity of the outer peripheral portion of the work area.

In the present invention, it is preferable that the selection unit selects the rotation path from a plurality of the rotation paths stored in the rotation path storage unit based on the hardness of the soil in the work area.

When the airframe turns near the outer peripheral portion of the work site, the hardness of the soil in the work site is a factor when the turning path is selected by the selection unit.
According to the present invention, since the swivel path is selected by the selection unit based on the hardness of the soil in the work area, the selection accuracy when an appropriate swivel path is selected by the selection unit is improved.

In the present invention, a plurality of outer peripheral storage units for storing the position data are provided, and the selection unit is stored in the turning path storage unit based on the position data stored in the outer peripheral storage unit. It is preferable to select the turning path from the turning path of the above.

According to the present invention, since the turning path is selected by the selection unit based on the position data stored in the outer peripheral storage unit, the selection accuracy when an appropriate turning path is selected by the selection unit is improved.

In the present invention, an outer peripheral storage unit for storing the position data is provided, and the selection unit is based on the position data stored in the outer peripheral storage unit and the start position and end position of the work path. Therefore, it is preferable to select the turning path from the plurality of turning paths stored in the turning path storage unit.

According to the present invention, since the swivel path is selected by the selection unit based on the position data stored in the outer peripheral storage unit and the start position and end position of the work path, an appropriate swivel path is selected by the selection unit. The selection accuracy is improved.

In the present invention, a positioning unit for detecting the position of the machine is provided, and the outer peripheral storage unit is a device of the machine detected by the positioning unit when the machine travels along the outer periphery of the work site. It is preferable to store the position on the center side of the work site by a predetermined distance set in advance from the position as the position data.

When obtaining the position data of the outer peripheral portion of the work site, according to the present invention, the operator causes the machine to travel along the outer peripheral portion of the work site, and obtains the position data from the position of the machine detected by the positioning unit. be able to.
In this case, if an obstacle such as a pipe or a rock is present on the outer peripheral portion of the work site, the worker may move the machine along the outer peripheral portion of the work site while avoiding the obstacle.

According to the present invention, the position on the center side of the work area is stored as position data by a predetermined distance set in advance from the position of the machine body detected by the positioning unit.
As a result, when the turning path is selected by the selection unit based on the position data (based on the position data and the start position and the end position of the work path) as described above, the turning path selected by the selection unit is used. , Contact with the outer periphery of the work area and obstacles can be avoided reasonably.

In the present invention, a positioning unit for detecting the position of the machine is provided, and the outer peripheral storage unit is a device of the machine detected by the positioning unit when the machine travels along the outer periphery of the work area. It is preferable to store the linear position along the outer peripheral portion of the work site as the position data, passing through the position on the center side of the work site by a predetermined distance set in advance from the position.

When obtaining the position data of the outer peripheral portion of the work site, according to the present invention, the operator causes the machine to travel along the outer peripheral portion of the work site, and obtains the position data from the position of the machine detected by the positioning unit. be able to.
In this case, if an obstacle such as a pipe or a rock is present on the outer peripheral portion of the work site, the worker may move the machine along the outer peripheral portion of the work site while avoiding the obstacle.

According to the present invention, from the position of the machine detected by the positioning unit, a linear position that passes through the position on the center side of the work area by a predetermined distance set in advance and is along the outer peripheral portion of the work area is determined. It is stored as position data.
As a result, when the turning path is selected by the selection unit based on the position data (based on the position data and the start position and the end position of the work path) as described above, the turning path selected by the selection unit is used. , Contact with the outer periphery of the work area and obstacles can be avoided reasonably.

In the present invention, a work route storage unit that stores a plurality of the work routes set along the position of a specific outer peripheral portion of the outer peripheral portion of the work site, and the work route stored in the work route storage unit. It is preferable that a travel control unit that automatically steers the front wheels of the aircraft based on the position of the aircraft detected by the positioning unit is provided so that the aircraft travels along the line. is there.

According to the present invention, when the position data of the outer peripheral portion of the work site is stored as described above, a plurality of work routes set along the position of the specific outer peripheral portion of the outer peripheral portion of the work site work. It is stored in the route storage unit, and the front wheels of the aircraft are automatically operated by the travel control unit based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the stored work route. It is operated in the direction.

As a result, in a work vehicle that repeats work travel and turning in the vicinity of the outer peripheral portion of the work site, a travel control unit that automatically travels the machine along the work path is provided, so that the work performance of the work vehicle can be improved. improves.

In the present invention, based on the positioning unit that detects the position of the aircraft and the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. It is preferable that the vehicle is provided with a turning control unit that automatically steers the front wheels of the aircraft.

According to the present invention, the front wheel of the aircraft is automatically steered by the turning control unit based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. Will be done.

As a result, in a work vehicle that repeats work running and turning in the vicinity of the outer peripheral portion of the work site, the work performance of the work vehicle is improved by providing a turning control unit that automatically runs the machine along the turning path. improves.

In the present invention, based on the positioning unit that detects the position of the aircraft and the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. The turning control unit is provided with a turning control unit that automatically steers the front wheels of the airframe, and the turning control unit passes the front wheels in the passing forward turning stroke in the rear progress for the start position. It is preferable to steer the front wheels to move the aircraft backward so as to reduce the number of passages through the trajectory.

According to the present invention, the front wheel of the aircraft is automatically steered by the turning control unit based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. Will be done.

As a result, in a work vehicle that repeats work running and turning in the vicinity of the outer peripheral portion of the work site, the work performance of the work vehicle is improved by providing a turning control unit that automatically runs the machine along the turning path. improves.

As described above, when a turning path having a passing forward turning stroke and a trailing stroke for the start position is selected, the front wheels of the aircraft follow the passing trajectory at the end of the passing forward turning stroke on the front wheels of the aircraft. It may pass again at, and the front wheels of the aircraft may form deep grooves in the work area.

According to the present invention, the front wheels of the airframe are slightly steered in the rearward progress for the start position, and the front wheels of the airframe are less likely to pass through the passing locus at the end of the passing forward turning stroke in the front wheels of the airframe again. It is possible to reduce the situation where a deep groove is formed in the work area by the front wheel of.

In the present invention, the turning control unit uses the working path in a lateral direction in which the airframe is orthogonal to the direction along the working path with respect to the start position of the next working path in the passing forward turning stroke. The front wheels are steered so as to be located on the opposite side of the vehicle to turn the aircraft, and the front wheels are turned so that the aircraft heads toward the start position of the next work path in the rearward progress for the start position. It is preferable to steer the aircraft to move it backward.

When a turning path having a passing forward turning stroke and a trailing stroke for the start position is selected, the aircraft follows the working path with respect to the starting position of the next working path with the passing forward turning stroke completed. It is advisable that the passing forward turning stroke is performed so as to reach a position slightly deviated in the lateral direction orthogonal to the direction.
In the post-progress for the start position after this, the front wheels of the aircraft are steered so that the aircraft moves backward slightly diagonally toward the start position of the next work path, so that the front wheels of the aircraft pass forward and turn. It is less likely that the front wheels of the aircraft will pass again through the passage trajectory at the end of.

According to the present invention, in the passing forward turning path, the airframe is on the opposite side of the work path (the side away from the work path) in the lateral direction orthogonal to the direction along the work path with respect to the start position of the next work path. A passing forward turning stroke is performed so as to reach.
As a result, in the passing forward turning stroke, a state in which a part of the machine body (working device) passes through the portion where the work is completed in the work path and is damaged is reduced.

In the present invention, based on the positioning unit that detects the position of the aircraft and the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. A turning control unit that automatically steers the front wheels of the machine body is provided, and the turning control unit reverses the direction in which the front wheels are directed from the straight-ahead position toward the next work path in the rearward progress. It is preferable to steer the aircraft to move it backward.

According to the present invention, the front wheel of the aircraft is automatically steered by the turning control unit based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. Will be done.

As a result, in a work vehicle that repeats work running and turning in the vicinity of the outer peripheral portion of the work site, the work performance of the work vehicle is improved by providing a turning control unit that automatically runs the machine along the turning path. improves.

As described above, a turn having a post-progress after a straight-ahead stroke in which the front part of the aircraft advances to a position close to the outer peripheral portion of the work site and reaches the end position of the work path, and a turning stroke after the post-progress. When the route is selected, the front wheels of the aircraft may pass through the passage trajectory of the front wheels of the aircraft in the straight travel route again in the rear travel route, and the front wheels of the aircraft may form a deep groove in the work area.

According to the present invention, in the rearward movement, the front wheels of the airframe are steered in the opposite direction from the straight forward position toward the next work path, and the airframe moves backward. It is possible to reduce the possibility that the front wheels of the airframe pass through again, and it is possible to reduce the state in which the front wheels of the airframe form a deep groove in the work area.

According to the present invention, in the rearward progress, the front wheels of the airframe are steered in the opposite direction from the straight forward position toward the next work path, and the airframe moves backward, so that the airframe is slightly oriented toward the next work path. Therefore, the turning stroke after this will be performed reasonably.

In the present invention, based on the positioning unit that detects the position of the aircraft and the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. A turning control unit that automatically steers the front wheels of the machine body is provided, and the turning control unit steers the front wheels from a straight-ahead position toward the next work path in the rearward progress. It is preferable to operate the aircraft to move it backward.

According to the present invention, the front wheel of the aircraft is automatically steered by the turning control unit based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. Will be done.

As a result, in a work vehicle that repeats work running and turning in the vicinity of the outer peripheral portion of the work site, the work performance of the work vehicle is improved by providing a turning control unit that automatically runs the machine along the turning path. improves.

As described above, a turn having a post-progress after a straight-ahead stroke in which the front part of the airframe advances to a position close to the outer peripheral portion of the work site and reaches the end position of the work stroke, and a turning stroke after the post-progress. When a route is selected, the front wheels of the aircraft may pass through the trajectory of the straight path on the front wheels of the aircraft again in the rearward traveling stage, and the front wheels of the aircraft may form a deep groove in the work area.

According to the present invention, in the rearward traveling stage, the front wheels of the airframe are steered from the straight-ahead position toward the next work path to move the airframe backward, so that the front wheels of the airframe follow the passage trajectory of the straight-ahead path in the front wheels of the airframe. It is less likely to pass again, and it is possible to reduce the situation where the front wheels of the aircraft form deep grooves in the work area.

According to the present invention, in the rearward progress, the front wheels of the machine body are steered from the straight-ahead position toward the next work path, and the machine body moves backward. Therefore, the rear part of the machine body (working device) is adjacent to the previous work. It will be a little away from the completed part of the work on the route.
As a result, in the turning stroke, it is less likely that a part of the machine body (working device) passes through the portion where the work has been completed in the adjacent previous work path and is damaged.

In the present invention, based on the positioning unit that detects the position of the machine and the position of the machine detected by the positioning unit, the machine follows the work path from the start position of the next work path. It is preferable that a notification unit for notifying that the displacement is in the lateral direction orthogonal to the direction is provided.

According to the present invention, when the airframe enters the latter half of the turning path and approaches the start position of the next work path, if the notification unit is activated, the operator can determine the relationship between the airframe and the start position of the next work path. Is easier to recognize, and less likely to cause misunderstandings by the operator.

It is a left side view of a passenger-type rice transplanter. It is a top view of a passenger-type rice transplanter. It is a figure which shows the linkage state of a control device and each part. It is a top view which shows the state which the traveling line was acquired in the field. It is a top view which shows the state which the ridge line was acquired in the field. It is a top view which shows the state which the work route was set in the field. It is a top view which shows the state which the work path and the turning path are set in the field. It is a top view which shows the work running of the rotating planting in a field. It is a top view which shows the 1st turning path. It is a top view which shows the 2nd turning path. It is a top view which shows the 3rd turning path. It is a top view which shows the 4th turning path. It is a top view which shows the 5th turning path. It is a top view which shows the 6th turning path. It is a top view which shows the rhombus field in plan view. It is a top view which shows the 5th turning path in the 1st alternative embodiment of the invention. It is a top view which shows the 4th turning path in the 2nd alternative embodiment of the invention. It is a top view which shows the 4th turning path in the 3rd alternative embodiment of the invention.

1 to 18 show a passenger-type rice transplanter which is an example of a work vehicle traveling in a field (corresponding to a work site). In FIGS. 1 to 18, F indicates a forward direction and B indicates a rear direction. Indicates a direction, U indicates an upward direction, D indicates a downward direction, R indicates a right direction, and L indicates a left direction.

(Overall configuration of passenger rice transplanter)
As shown in FIGS. 1 and 2, the passenger-type rice transplanter raises and lowers the link mechanism 3 and the link mechanism 3 on the rear part of the machine body 11 provided with the right and left front wheels 1 and the right and left rear wheels 2. A hydraulic cylinder 4 is provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3.

A planting transmission case 6 arranged at predetermined intervals in the left-right direction on the seedling planting device 5, a rotating case 7 rotatably attached to the right and left rear parts of the planting transmission case 6, and a rotating case. A planting arm 8, a float 9, a seedling stand 10 and the like attached to both ends of the seedling 7 are provided, and the seedling planting device 5 is configured in a 6-row planting type.

A fertilizer application device 18 (corresponding to a work device) is provided over the machine body 11 and the seedling planting device 5. The fertilizer application device 18 is provided with a hopper 13, a feeding portion 14, a blower 15, a groove making device 16, a hose 17, and the like.

A seat 12 is provided at the rear of the machine body 11, a hopper 13 for storing fertilizer and a feeding part 14 are provided on the rear side of the seat 12 in the machine body 11, and a blower 15 is provided on the left lateral outer side of the feeding part 14. Has been done. The grooving device 16 is connected to the float 9, and six grooving devices 16 are provided, and six hoses 17 are connected to the feeding portion 14 and the grooving device 16.

(Transmission system to front and rear wheels)
As shown in FIGS. 1, 2 and 3, the power of the engine 31 provided at the front portion of the machine body 11 is transmitted to the hydrostatic continuously variable transmission 23 via the transmission belt 32, and the continuously variable transmission It is transmitted from 23 to a gear shifting type auxiliary transmission (not shown) inside the transmission case 33.

The right and left front axle cases 34 are connected to the right and left parts of the mission case 33, and the right and left front wheels 1 are steerably supported by the right and left parts of the front axle case 34. There is. The power of the auxiliary transmission is transmitted to the right and left front wheels 1 via the front wheel differential device (not shown) and the transmission shaft (not shown) inside the front axle case 34. The steering wheel 20 is provided on the front side of the seat 12, and the steering wheel 20 steers the front wheels 1.

The rear axle case 35 is supported by the lower portion of the rear portion of the airframe 11 along the left-right direction, and the right and left rear wheels 2 are supported by the right portion and the left portion of the rear axle case 35. The power of the auxiliary transmission is transmitted to the right and left rear wheels 2 via the transmission shaft 36, the transmission shaft (not shown) inside the rear axle case 35, and the side clutch (not shown).

The continuously variable transmission 23 is configured to be steplessly operable from the neutral position N to the forward side and the reverse side. A shift lever 37 is provided on the left lateral side of the steering handle 20, and a linkage mechanism 44 is connected to the shift lever 37 and the continuously variable transmission 23.

The shift lever 37 can be operated from the neutral position N to the forward region F and the reverse region R, and the continuously variable transmission 23 is steplessly operated from the neutral position N to the forward side and the reverse side by the shift lever 37.

(Transmission system to seedling planting device and fertilizer application device)
As shown in FIGS. 1, 2 and 3, in the mission case 33, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 via the planting clutch 26 and the transmission shaft 38. An electric motor 28 for operating the planting clutch 26 in a transmission state and a cutoff state is provided.

When the planting clutch 26 is operated in the transmission state, the rotary case 7 is rotationally driven as the seedling stand 10 is laterally driven in the left-right direction, and the planting arm 8 is driven from the lower part of the seedling stand 10. Alternately take out seedlings and plant them in the field. When the planting clutch 26 is operated in the disconnected state, the seedling stand 10 and the rotating case 7 are stopped.

In the transmission case 33, the power of the auxiliary transmission is transmitted to the feeding portion 14 of the fertilizing device 18 via the fertilizing clutch 27, and the fertilizing clutch 27 is operated in the transmission state and the cutoff state by the electric motor 28.

When the fertilizer application clutch 27 is operated in the transmission state, the fertilizer of the hopper 13 is fed out by the feeding portion 14, and is supplied to the groove making device 16 through the hose 17 by the transport wind of the blower 15. Fertilizer is supplied from the groove making device 16 to the groove of the field while the groove is formed in the field by 16. When the fertilizer application clutch 27 is operated in the disengaged state, the feeding portion 14 is stopped.

(Automatic elevating control of seedling planting device)
As shown in FIG. 3, the rear portion of the central float 9 is supported so as to swing up and down around the axis P1 in the left-right direction of the seedling planting device 5. A potentiometer-type height sensor 22 for detecting the height of the central float 9 with respect to the seedling planting device 5 is provided, and the detection value of the height sensor 22 is input to the control device 50 provided on the machine body 11. ing.

As the machine 11 advances, the central float 9 follows the field on the ground, and the height from the field (central float 9) to the seedling planting device 5 is detected by the detection value of the height sensor 22. ..

The automatic elevating control unit 51 is provided in the control device 50 as software, the hydraulic cylinder 4 is provided with a control valve 24 for supplying and discharging hydraulic oil, and the automatic elevating control unit 51 operates the control valve 24.

When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 contracts, and the seedling planting device 5 is raised. When the control valve 24 is operated to the lowering position, the hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

In the operating state of the automatic elevating control unit 51, the seedling planting device 5 is maintained at the set height from the field based on the detected value (height from the field to the seedling planting device 5) of the height sensor 22. In addition, the control valve 24 is operated by the automatic elevating control unit 51, the hydraulic cylinder 4 is operated, and the seedling planting device 5 is automatically elevated. As a result, the planting depth of the seedlings by the planting arm 8 is maintained at the set depth.

(Up and down operation of seedling planting device by operating lever)
As shown in FIGS. 2 and 3, the operating lever 39 is provided on the lower right lateral side of the steering handle 20, and the operating lever 39 extends to the right outside. The operating lever 39 is operably supported from the neutral position N to the upper ascending position UU and the lower descending position DD and is urged to the neutral position N, and the operating position of the operating lever 39 is set to the control device 50. It has been entered.

Based on the operation of the operating lever 39 to the ascending position UU and the descending position DD, the control device 50 operates the control valve 24, the electric motor 28, and the automatic elevating control unit 51 as described below.

When the operating lever 39 is operated to the ascending position UU, the electric motor 28 operates the planting clutch 26 and the fertilizer application clutch 27 in the shutoff state, the automatic elevating control unit 51 is stopped, and the control valve 24 is operated to the ascending position. Then, the seedling planting device 5 is lifted. When the seedling planting device 5 reaches the upper limit position, the control valve 24 is operated to the neutral position and the hydraulic cylinder 4 is stopped.

When the operating lever 39 is operated to the lowering position DD, the planting clutch 26 and the fertilizer application clutch 27 are operated in the shutoff state by the electric motor 28, the automatic raising / lowering control unit 51 is stopped, and the control valve 24 is operated to the lowering position. Then, the seedling planting device 5 is lowered. When the float 9 in the center touches the field, the automatic elevating control unit 51 is activated and the seedling planting device 5 is maintained at a set height from the field.

When the operating lever 39 is operated to the descending position DD, operated to the neutral position N, and then operated to the descending position DD again, the planting clutch 26 and the fertilizer application clutch 27 are operated by the electric motor 28 in the operating state of the automatic elevating control unit 51. Is operated to the transmission state.

(Configuration of aircraft position and orientation detection)
As shown in FIGS. 1 and 2, right and left support frames 19 are provided on the right and left portions of the front portion of the machine body 11, and a spare seedling stand 21 is supported by the support frame 19. .. The support frame 25 is connected over the upper part of the right and left support frames 19.

A measuring device 29 (corresponding to a positioning unit) is attached to a portion of the support frame 25 located at the center of the left and right sides of the body 11 in a plan view. The measuring device 29 is provided with a receiving device (not shown) for acquiring position information by a satellite positioning system and an inertial measurement device (not shown) for detecting the inclination (pitch angle, roll angle) of the airframe 11. The measuring device 29 outputs positioning data indicating the position of the machine body 11.

An inertial measurement unit 30 for measuring inertial information is attached to a portion of the rear axle case 35 located at the center of the left and right sides of the machine body 11 in a plan view. The inertial measurement of the measuring device 29 and the inertial measuring unit 30 is configured by an IMU (Inertial Measurement Unit).

As a typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System), there is GPS (Global Positioning System). GPS is a receiving device of the measuring device 29 by using a plurality of GPS satellites orbiting the earth, a control station that tracks and controls GPS satellites, and a receiving device provided in a positioning target (airframe 11). It measures the position of.

The inertial measurement unit 30 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the machine 11 (turning angle of the machine 11), and an acceleration sensor (not shown) that detects acceleration in three axial directions orthogonal to each other. ) Is provided. The inertial information measured by the inertial measurement unit 30 includes directional change information detected by the gyro sensor and position change information detected by the acceleration sensor.
As a result, the position and orientation of the airframe 11 are detected by the measuring device 29 and the inertial measurement unit 30.

(Structure related to automatic running of the aircraft and acquisition of the position of the ridge)
As shown in FIG. 3, a steering motor 40 capable of operating the steering wheel 20 is provided, and a display device 42 (corresponding to a notification unit) composed of a liquid crystal display or the like and a buzzer are provided on the front side of the steering wheel 20. 45 (corresponding to the notification unit) is provided.

The operating position of the shifting lever 37 is input to the control device 50, and a shifting motor 41 capable of operating the shifting lever 37 is provided. A push-button type automatic operation unit 43 for starting and stopping automatic traveling is provided in the grip portion of the speed change lever 37, and a signal of the automatic operation unit 43 is input to the control device 50.

As shown in FIGS. 1 and 2, right and left guard members 46 formed by bending a round pipe are provided on the right and left portions of the seedling planting device 5. The right guard member 46 is the rightmost part of the seedling planting device 5 (airframe 11), and the left guard member 46 is the leftmost part of the seedling planting device 5 (airframe 11). Rod-shaped right and left markers 47 along the vertical direction are attached to the right and left support frames 19.

As shown in FIG. 3, the control device 50 includes a work route setting unit 52, a work route storage unit 53, a turning route storage unit 54, a selection unit 55, a traveling control unit 56, a turning control unit 57, a notification control unit 58, and an outer circumference. The unit setting unit 59 and the outer peripheral portion storage unit 60 are provided as software.

(Running of the aircraft to obtain the position of the ridge)
As shown in FIG. 4, for example, in a field that is rectangular in a plan view and has ridges B1, B2, B3, and B4, the operator performs the operations described below to perform the operations described below to perform the ridges B11 of the ridges B1 to B4. Travel lines S1, S2, S3, and S4 along B21, B31, and B41 (corresponding to the outer peripheral portion) are acquired by the measuring device 29, the inertial measurement unit 30, and the outer peripheral portion setting unit 59.

The operator boarding the machine body 11 operates the steering handle 20 and the speed change lever 37 to drive the machine body 11 and position it at the entrance / exit A1 of the field. In this case, as shown in FIG. 2, the operator can perform the right (left) marker 47 so that the right (left) marker 47 is located at the same position as the right (left) guard member 46 in the left-right direction. Adjust the position of.

As shown in FIG. 4, when the operator pushes the setting switch 48 (see FIG. 3) provided in the vicinity of the control handle 20 in the state where the aircraft 11 is located at the entrance / exit A1, the setting switch 48 is pushed. The position of the aircraft 11 at the time of this is acquired by the outer peripheral portion setting unit 59 as the position of the entrance / exit A1, and the acquisition of the traveling line S1 along the ridge B11 is started.

The operator operates the control handle 20 and the speed change lever 37 to start the aircraft 11 from the entrance / exit A1 so that the marker 47 on the right (see FIG. 2) touches the ridge B11. Run along.

When an obstacle E1 such as a pipe or a rock exists on the ridge B11, the operator runs the aircraft 11 while avoiding the obstacle E1 so that the marker 47 on the right touches the obstacle E1. When the machine body 11 reaches the next ridge B31, the operator pushes and operates the setting switch 48 to finish the acquisition of the traveling line S1.

As a result, the position of the machine body 11 is detected by the measuring device 29 and the inertial measuring device 30, and the traveling line S1 is acquired with respect to the ridge B11. At the position where the obstacle E1 exists, the traveling line S1 is slightly displaced toward the center of the field (see the partial S1a of the traveling line S1).

When the machine 11 reaches the next ridge B31, the operator turns the machine 11 and presses the setting switch 48 to move the machine 11 to the ridge B31 so that the marker 47 on the right touches the ridge B31. Run along.

When an obstacle E1 such as a pipe or a rock exists on the ridge B31, the operator runs the aircraft 11 while avoiding the obstacle E1 so that the marker 47 on the right touches the obstacle E1. When the machine body 11 reaches the next ridge B21, the operator presses the setting switch 48 to complete the acquisition of the traveling line S3 along the ridge B31.

After that, the operator causes the machine body 11 to travel along the ridges B21 and B41 in the same manner as described above, and acquires the traveling line S2 along the ridge B21 and the traveling line S4 along the ridge B41. ..

(Acquisition of the position of the ridge)
When the traveling lines S1 to S4 are acquired as described in the above (traveling of the aircraft for acquiring the position of the ridge), the outer circumference is based on the traveling lines S1 to S4 as described below. The ridge lines LB1, LB2, LB3, LB4 (corresponding to the position data of the outer peripheral portion of the work area) are set by the unit setting unit 59, and the ridgeline lines LB1 to LB4 are stored as the positions of the ridges B11 to B41. It is stored in the part 60.

As shown in FIGS. 4 and 5, it is assumed that the portion S1a of the traveling line S1 is on the leftmost side (most central side of the field) with respect to the traveling direction of the aircraft 11 in the traveling line S1.
Passing the position on the right side (ridge B11 side) with respect to the traveling direction of the aircraft 11 by the distance (width W2-predetermined distance W3) from the portion S1a of the traveling line S1, the other portion of the portion S1a in the traveling line S1. The ridge line LB1, which is a straight line along (ridge B11), is set and stored.

In this case, as shown in FIG. 2, the width W2 is 1/2 of the width of the seedling planting device 5 over the right and left guard members 46, from the measuring device 29 to the right (left) guard member 46. Is the distance in the left-right direction. The predetermined distance W3 is a preset value (for example, about 100 mm), and is a value that can be arbitrarily changed.

Also in the traveling lines S2 and S3, it is assumed that the portions S2a and S3a of the traveling lines S2 and S3 are on the leftmost side (most central side of the field) with respect to the traveling direction of the aircraft 11 among the traveling lines S2 and S3.

Similar to the above, the vehicle passes through the position on the right side (ridges B21, B31 side) with respect to the traveling direction of the aircraft 11 by the distance (width W2-predetermined distance W3) from the portions S2a, S3a of the traveling lines S2 and S3. The ridge lines LB2 and LB3, which are straight lines along the other parts (ridges B21 and B31) of the parts S2a and S3a in the traveling lines S2 and S3, are set and stored.

If there is no obstacle E1 at the ridge B41 and the traveling line S4 is straight, the right side (ridge) with respect to the traveling direction of the aircraft 11 by the distance (width W2-predetermined distance W3) from the traveling line S4. The ridge line LB4, which is a straight line along the traveling line S4 (ridge B41), passes through the position of the edge B41), and is set and stored.

As described above, the ridge lines LB1, LB2, LB3, LB4 are located on the center side of the field by a predetermined distance W3 set in advance from the position of the machine body 11 detected by the measuring device 29 and the inertial measurement unit 30. It is a linear position along the ridges B11, B21, B31, and B41.

(Acquisition of work route)
When the ridge lines LB1 to LB4 are stored in the outer peripheral storage unit 60 as described in the above (acquisition of the ridge position), the ridge lines LB1 to LB4 and the entrance / exit A1 are as described below. The work route L01, L02, L03, L04, L05, L06, L07 is set by the work route setting unit 52 based on the position of, and the work routes L01 to L07 are stored in the work route storage unit 53.

As shown in FIG. 6, headland lines LA1 and LA2 are set at a position on the center side of the field by a set distance W6 from the ridge lines LB1 and LB2, parallel to the ridge lines LB1 and LB2. Headland lines LA3 and LA4 are set at a position on the center side of the field by a set distance W6 from the ridge lines LB3 and LB4, parallel to the ridge lines LB3 and LB4.

In the field shown in FIG. 6, the set distance W6 is set to a value twice the width W2 (see FIG. 2), and is set to the width extending over the right and left guard members 46 of the seedling planting device 5.
The set distance W6 is a value that can be arbitrarily changed, and the set distance W6 is set to a value four times the width W2, which is twice the width over the right and left guard members 46 of the seedling planting device 5. It may be set to a value.

As shown in FIG. 2, the strip spacing W4, which is the spacing between adjacent planting arms 8 in the left-right direction, and the setting spacing W5, which is 1/2 of the strip spacing W4, are recognized. In the case of the 6-row planting type seedling planting device 5, the 5 row spacing W4 and the 2 set spacing W5 are totaled (the 6 row spacing W4 are totaled), and the seedling planting device 5 The working width W1 is recognized.
In this way, in the seedling planting device 5, the row spacing W4 is totaled by the number of rows by the planting arm 8, and the working width W1 of the seedling planting device 5 is recognized.

As shown in FIG. 6, the work path L01 extends over the headland lines LA1 and LA2 in parallel with the headland line LA3 at a position on the center side of the field by a distance of 1/2 of the work width W1 from the headland line LA3. Is set. The work paths L02 to L07 are set over the headland lines LA1 and LA2 in parallel with the work path L01 while separating the work widths W1 from each other.

When the distance between the last work path L07 and the headland line LA4 is not half the distance of the work width W1, the set distance W5 shown in FIG. 2 is finely adjusted to make the work width W1 larger or smaller. The work paths L02 to L07 are set so that the distance between the last work path L07 and the headland line LA4 is 1/2 of the work width W1.

The intersection of the work path L07 and the headland line LA1 is set as the end position D7 of the work path L07 so that the end position D7 of the last work path L07 is in the vicinity of the entrance / exit A1, and the work path L07 The direction (see the arrow of the work path L07 shown in FIG. 6) is set.

At the intersection of the work paths L01 to L07 and the headland lines LA1 and LA2, the start positions C7 of the work path L07 and the work paths L01 to L06 are set based on the end positions D7 and the orientation of the last work path L07. The start positions C1 to C6 and the end positions D1 to D6 of the above are set, and the directions of the work paths L01 to L06 (see the arrows of the work paths L01 to L06 shown in FIG. 6) are set.

As shown in FIG. 2, the start positions C1 to C7 and the end positions D1 to D7 of the work paths L01 to L07 correspond to the reference positions G1 of the seedling planting device 5. The reference position G1 of the seedling planting device 5 is the position of the left and right central portion of the working width W1 of the seedling planting device 5 at the position (line) in the left-right direction in which the planting arm 8 plants the seedlings in the field.

In a state where the seedling planting device 5 is lowered into the field, the position (line) at which the planting arm 8 plants the seedlings in the field and the length W9 in a plan view between the measuring device 29 are recognized in advance. Therefore, the reference position G1 of the seedling planting device 5 is detected based on the position of the machine body 11 (measuring device 29) detected by the measuring device 29 and the length W9.

When the work paths L01 to L07, the start positions C1 to C7 and the end positions D1 to D7 are set as described above, the set work paths L01 to L07, the start positions C1 to C7 and the end positions D1 to D7 are set. It is displayed on the display device 42.

The operator can determine whether or not the displayed work paths L01 to L07, the start positions C1 to C7, and the end positions D1 to D7 are appropriate, and the displayed work paths L01 to L07, start. When it is determined that the positions C1 to C7 and the end positions D1 to D7 are appropriate, the determination switch (not shown) is operated. As a result, the work paths L01 to L07, the start positions C1 to C7, and the end positions D1 to D7 are approved and determined.

(Swivel path stored in the swivel path storage unit)
As shown in FIGS. 9 to 14, a plurality of different first to sixth turning paths LL1, LL2, L3, LL4, LL5, and LL6 are stored in the turning path storage unit 54.

As described later (selection of the turning path by the selection section), the selection section 55 selects an appropriate turning path from the plurality of first to sixth turning paths LL1 to LL6 stored in the turning path storage section 63. LL1 to LL6 are selected.

Each of the first to sixth turning paths LL1 to LL6 will be described as follows, taking the end positions D1 and D2 of the work paths L01 and L02, the start positions C2 and C3 of the work paths L02 and L03, and the like as examples. ..

(First turning path)
As shown in FIG. 9, the turning path LL1 has a form in which the machine body 11 (reference position G1 of the seedling planting device 5) turns with a constant turning radius from the end position D1 of the work path L01 toward the work path L02. is there.

The swivel path LL1 is suitable when the seedling planting device 5 is of the 4, 5, 6-row planting type, and in the field, the ridges B11 and B21 and the work paths L01 to L07 are substantially orthogonal to each other in a plan view. In this state, it is suitable when the set distance W6 is the width (twice the width W2) of the right and left guard members 46 of the seedling planting device 5.

(Second turning path)
As shown in FIG. 10, the turning path LL2 has a pre-progressing radius LL2a and the machine body 11 in which the machine body 11 (reference position G1 of the seedling planting device 5) advances from the end position D1 of the work path L01 toward the work path L02. It has a turning stroke LL2b in which (reference position G1 of the seedling planting device 5) turns with a constant turning radius, and a pre-advancement LL2c in which the machine body 11 (reference position G1 of the seedling planting device 5) advances.

The swivel path LL2 is suitable when the seedling planting device 5 is of the 4, 5, 6-row planting type, and in the field, the ridges B11 and B21 and the work paths L01 to L07 are substantially orthogonal to each other in a plan view. In this state, it is suitable when the set distance W6 is twice the width (four times the width W2) of the right and left guard members 46 of the seedling planting device 5.

(Third turning path)
As shown in FIG. 11, the turning path LL3 is a turning stroke in which the machine body 11 (reference position G1 of the seedling planting device 5) turns from the end position D1 of the work path L01 toward the work path L02 with a constant turning radius. The LL3a and the machine body 11 (reference position G1 of the seedling planting device 5) move forward along the ridge B11, and the body 11 (reference position G1 of the seedling planting device 5) turns with a constant turning radius. It is a form having a turning stroke LL3c.

The swivel path LL3 is suitable when the seedling planting device 5 is of the 8- or 10-row planting type, and the ridges B11 and B21 and the work paths L01 to L07 are substantially orthogonal to each other in a plan view in the field. It is suitable when the set distance W6 is the width (twice the width W2) over the right and left guard members 46 of the seedling planting device 5.

(Fourth turning path)
As shown in FIG. 12, in the turning path LL4, when the reference position G1 of the seedling planting device 5 reaches the end position D1 of the working path L01 (straight progress), the front part of the machine body 11 approaches the ridge B11 (contact). ).

The turning path LL4 is the reference of the machine 11 (reference of the seedling planting device 5) after the straight progress in which the machine 11 advances to a position where the front part of the machine 11 approaches the ridge B11 and reaches the end position D1 of the work path L01. The machine body 11 (reference position G1 of the seedling planting device 5) turns at a constant turning radius toward the start position C2 of the next work path L02 after the backward progress LL4a and the backward progress LL4a in which the position G1) moves backward. It is a form having a turning stroke LL4b.

In this case, in the straight-ahead process in which the front part of the machine body 11 advances from a position slightly before the ridge B11 to a position close to the ridge B11 and reaches the end position D1 of the work path L01, this straight-ahead process is performed. , May be part of the turning path LL4.

The swivel path LL4 is suitable when the seedling planting device 5 is of the 8- or 10-row planting type, and the ridges B11 and B21 and the work paths L01 to L07 are substantially orthogonal to each other in a plan view in the field. It is suitable when the set distance W6 is the width (twice the width W2) over the right and left guard members 46 of the seedling planting device 5.

(Fifth turning path)
When the field is not rectangular in plan view but rhombic in plan view, as shown in FIG. 15, the width (twice the width W2) of the right and left guard members 46 of the seedling planting device 5 It is assumed that the work paths L01 to L07 are set by a certain set distance W6. In this case, the ridge lines LB1 and LB2 and the directions along the work paths L01 to L07 diagonally intersect in a plan view.

In the field shown in FIG. 15, when the machine body 11 in which the seedling planting device 5 is a 4, 5, 6-row planting type turns with respect to the headland line LA1 and the ridge line LB1, it turns as described below. Route LL5 is suitable.

As shown in FIG. 13, when the reference position G1 of the seedling planting device 5 is located at the end position D1 of the work path L01, the left portion of the seedling planting device 5 (the planting position of the left planting arm 8) is moved. It crosses the headland line LA1 and enters the ridge line LB1 side.

As a result, in the turning path LL5, the end position D1 of the work path L01 is the headland so that the left part of the seedling planting device 5 (the planting position of the left planting arm 8) is located on the headland line LA1. It is corrected from the line LA1 to the opposite side of the ridge line LB1 (see the end position D1a of the work path L01). The same modifications as described above are also made at the end positions D3, D5, and D7 of the work paths L03, L05, and L07.

When the reference position G1 of the seedling planting device 5 is located at the start position C2 of the work path L02, the right part of the seedling planting device 5 (the planting position of the right planting arm 8) exceeds the headland line LA1. Enter the ridge line LB1 side.

As a result, in the turning path LL5, the start position C2 of the work path L02 is set to the headland so that the right part of the seedling planting device 5 (the planting position of the right planting arm 8) is located on the headland line LA1. It is corrected from the line LA1 to the opposite side of the ridge line LB1 (see the start position C2a of the work path L02). The same modifications as described above are also made at the start positions C4 and C6 of the work paths L04 and L06.

The turning path LL5 is set so that the reference position G1 of the seedling planting device 5 passes through the start position C2a of the next work path L02 from the end position D1a of the work path L01 toward the start position C2a of the next work path L02. In order to return to the starting position C2a of the next work path L02 after the passing forward turning stroke LL5a in which the aircraft 11 (reference position G1 of the seedling planting device 5) turns until reaching the passage forward turning stroke LL5a, the aircraft 11 ( It is a form in which the reference position G1) of the seedling planting device 5 has a rearward progress LL5b for the starting position to move backward.

(Sixth turning path)
In the field shown in FIG. 15 (see the above-mentioned (fifth turning path)), the seedling planting device 5 is a 4, 5, 6-row planting type for the headland line LA2 and the ridge line LB2. When turning, the turning path LL6 is suitable as described below.

As shown in FIG. 14, when the reference position G1 of the seedling planting device 5 is located at the end position D2 of the work path L02, the left portion of the seedling planting device 5 (the planting position of the left planting arm 8) is moved. It crosses the headland line LA2 and enters the ridge line LB2 side.

As a result, in the turning path LL6, the end position D2 of the work path L02 is the headland so that the left part of the seedling planting device 5 (the planting position of the left planting arm 8) is located on the headland line LA2. It is corrected from the line LA2 to the opposite side of the ridge line LB2 (see the end position D2a of the work path L02). The same modifications as described above are also made at the end positions D4 and D6 of the work paths L04 and L06.

When the reference position G1 of the seedling planting device 5 is located at the start position C3 of the work path L03, the right part of the seedling planting device 5 (the planting position of the right planting arm 8) exceeds the headland line LA2. Enter the ridge line LB2 side.

As a result, in the turning path LL6, the start position C3 of the work path L03 is set to the headland so that the right part of the seedling planting device 5 (the planting position of the right planting arm 8) is located on the headland line LA2. It is corrected from the line LA2 to the opposite side of the ridge line LB2 (see the start position C3a of the work path L03). The same modifications as described above are also made at the start positions C1, C5, and C7 of the work paths L01, L05, and L07.

In the turning path LL6, the reference position G1 of the seedling planting device 5 is located before the start position C3a of the next work path L03 from the end position D2a of the work path L02 toward the start position C3a of the next work path L03. Until it reaches, the machine 11 (reference position G1 of the seedling planting device 5) turns toward the unreached forward turning stroke LL6a and the unreached forward turning stroke LL6a and then toward the start position C3a of the next work path L03. (Reference position G1 of the seedling planting device 5) has a forward progress LL6b for the start position to advance.

(Selection of turning path by selection part)
As described above (acquisition of work route) and FIG. 6, when the work routes L01 to L07 are stored in the work route storage unit 53, they are used as the positions of the ridges B11 and B21 stored in the outer peripheral storage unit 60. Based on the ridge lines LB1 and LB2 of the above, and the start positions C1 to C7 and the end positions D1 to D7 of the work paths L01 to L07, the selection unit 55 stores a plurality of first to first units stored in the turning path storage unit 54. From the sixth swivel paths LL1 to LL6, one or more swivel paths LL1 to LL6 are selected.

In the field shown in FIG. 6, the selection unit 55 determines that the turning path LL1 is appropriate, and selects the turning path LL1 (see the above-mentioned (first turning path)).
In the field shown in FIG. 15, the selection unit 55 determines that the turning paths LL5 and LL6 are appropriate, and the turning paths LL5 and LL6 are selected (the above-mentioned (fifth turning path) (sixth turning). Route) See).

In fields other than the fields shown in FIGS. 6 and 15, and work paths L01 to L07, one or a plurality of turning paths LL2, LL3, and LL4 may be selected by the selection unit 55 (the above-mentioned (first). 2 turning path) (3rd turning path) (4th turning path)).

In a plurality of fields, if the arrangement of the work paths L01 to L07 and the set distance W6 and the like are the same, based on the ridge lines LB1 and LB2 as the positions of the ridges B11 and B21 stored in the outer peripheral storage unit 60. It is also possible for the selection unit 55 to select one or a plurality of turning paths LL1 to LL6 from the plurality of first to sixth turning paths LL1 to LL6 stored in the turning path storage unit 54.

In this case, as shown in FIGS. 9 to 13, the distance W7 between the ridge B11 and the end positions D1 and D1a of the work path L01 in the direction along the work paths L01 and L02 and the work paths L01 and L02 At the distance W8 between the ridge B11 and the start positions C2 and C2a of the next work path L02 in the direction along the line, the turning paths LL1 to LL5 are set by the selection unit 55 so that the distances W7 and W8 have the same value. Be selected.

Similar to the above, as shown in FIG. 14, the distance W7 between the ridge B21 and the end position D2a of the work path L02 in the direction along the work paths L02 and L03 and the direction along the work paths L02 and L03. The turning path LL6 is selected by the selection unit 55 so that the distances W7 and W8 have the same value at the distance W8 between the ridge B21 and the start position C3a of the next work path L03.

As described above, when the swivel paths LL1 to LL6 recommended by the selection unit 55 are selected, the selected swivel paths LL1 to LL6 are displayed by the display device 42 by a simple pattern as shown in FIGS. 9 to 14. Is displayed on.

When one turning path LL1 to LL6 is displayed on the display device 42, the operator determines whether or not the displayed turning path LL1 to LL6 is appropriate, and the displayed turning path LL1 to LL6 is displayed. If it is determined to be appropriate, the decision switch (not shown) is operated. As a result, the displayed turning paths LL1 to LL6 are approved and determined.

When a plurality of swivel paths LL1 to LL6 are displayed on the display device 42, the operator searches for an appropriate swivel path LL1 to LL6 from the displayed plurality of swivel paths LL1 to LL6, and determines (FIG. (Not shown) is operated. As a result, an appropriate turning path LL1 to LL6 is approved and determined from among the plurality of selected turning paths LL1 to LL6.
In this case, the determination switch includes a push button type switch, a touch panel type switch provided in the screen of the display device 42, and the like.

(Automatic driving of the aircraft on the work route)
It is assumed that the work paths L01 to L07 and the turn path LL1 are set as described above (acquisition of work path) (selection of turn path by selection unit) and FIG. 7.

Since the position of the machine body 11, the work path L01, and the start position C1 of the work path L01 are displayed on the display device 42 by the notification control unit 58, the operator boarding the machine body 11 operates while visually observing the display device 42. The handle 20 and the speed change lever 37 are operated to drive the machine body 11, and the operation lever 39 is operated to the descending position DD to position the reference position G1 of the seedling planting device 5 at the start position C1 of the work path L01.

Next, the operator operates the automatic operation unit 43 to put the travel control unit 56 into the operating state, operates the operation lever 39 to the lowering position DD again, and operates the planting clutch 26 and the fertilizer application clutch 27 to the transmission state. Then, plant seedlings and start supplying fertilizer.

As shown in FIGS. 3 and 7, in the operating state of the traveling control unit 56, the machine body 11 (reference position G1 of the seedling planting device 5) moves to the work path L01 based on the detection of the measuring device 29 and the inertial measurement unit 30. The steering motor 40 is operated so as to travel along the above, and the front wheel 1 is automatically steered. The speed change motor 41 is operated, and the speed change lever 37 is automatically operated to the forward high speed position F1 which is slightly slower than the forward maximum speed position FM, and the machine body 11 (reference position of the seedling planting device 5) is operated. G1) automatically travels along the work path L01 at a constant speed.

The notification control unit 58 displays the position of the machine body 11, the current work path L01 on which the machine body 11 travels, and the work path L02 on which the machine body 11 travels next on the display device 42. When the machine body 11 approaches the end position D1 of the work path L01, in addition to the machine body 11 and the work paths L01 and L02, the end position D1 of the work path L01, the start position C2 of the work path L02, and the turning path LL1 are displayed on the display device 42. Is displayed in.

(Automatic driving of the aircraft on the turning path)
As shown in FIGS. 3 and 7, when the reference position G1 of the seedling planting device 5 reaches the end position D1 of the work path L01, the traveling control unit 56 operates the speed change motor 41, and the speed change lever 37 is in the neutral position. Operated by N, the machine body 11, the seedling planting device 5, and the fertilizer application device 18 are stopped, and the traveling control unit 56 is stopped.

The operator operates the operating lever 39 to the ascending position UU to ascend the seedling planting device 5, and then operates the automatic operating unit 43 to put the turning control unit 57 into the operating state.

In the operating state of the turning control unit 57, the aircraft 11 (reference position G1 of the seedling planting device 5) is steered so as to travel along the turning path LL1 based on the detection of the measuring device 29 and the inertial measurement unit 30. The motor 40 is operated to automatically steer the front wheels 1. The speed change motor 41 is operated, and the speed change lever 37 is automatically operated to the low speed position F2, which is lower than the high speed position F1, and the machine body 11 (reference position G1 of the seedling planting device 5) is turned. It automatically turns at a constant speed along LL1.

When the reference position G1 of the seedling planting device 5 reaches immediately before the start position C2 of the work path L02, the operator operates the operation lever 39 to the lowering position DD to lower the seedling planting device 5 to the field. ..

The operation of turning the machine body 11 along the turning path LL1 by the turning control unit 57 is not properly performed, and the machine body 11 (reference position G1 of the seedling planting device 5) starts working from the start position C2 of the next work path L02. When the displacement is in the lateral direction orthogonal to the direction along the path L02, this is displayed as a comment on the display device 42, and the buzzer 45 is activated.

In this case, the operator operates the automatic operation unit 43 to stop the turning control unit 57, and operates the steering handle 20 and the speed change lever 37 to turn the machine body 11 to correct the position of the machine body 11.

When the reference position G1 of the seedling planting device 5 reaches the start position C2 of the work path L02, the speed change motor 41 is operated by the turning control unit 57, the speed change lever 37 is operated to the neutral position N, and the machine body 11 is stopped. Then, the turning control unit 57 is stopped.

The operator operates the operation lever 39 to the lowering position DD again, operates the planting clutch 26 and the fertilizer application clutch 27 in the transmission state, and starts planting seedlings and supplying fertilizer, and the automatic operation unit 43 is operated. Operate to put the travel control unit 56 into the operating state. As a result, the machine body 11 (reference position G1 of the seedling planting device 5) automatically travels along the work path L02 at a constant speed.
By repeating the above operation, the worker runs and turns the machine body 11 (reference position G1 of the seedling planting device 5) along the work paths L03 to L07 and the turning path LL1.

As described in the above (selection of the turning path by the selection unit), even if the turning paths LL2 to LL6 are selected, in the operating state of the turning control unit 57, the above-mentioned (second turning path) to (second turning path) to (second turning path) 6), based on the detection of the measuring device 29 and the inertial measurement unit 30, so that the machine body 11 (reference position G1 of the seedling planting device 5) travels along the turning paths LL2 to LL6 described in 6. The front wheel 1 is steered by the direction motor 40, and the shift lever 37 is operated by the shift motor 41.

(Working along the ridge)
As shown in FIG. 8, when the reference position G1 of the seedling planting device 5 reaches the end position D7 of the work path L07, the work run along the work paths L01 to L07 ends.

The operator operates the steering handle 20 and the speed change lever 37 to turn the machine body 11 and position the machine body 11 at the position K1. The operator operates the operation lever 39 to the lowering position DD, lowers the seedling planting device 5 to the field, and operates the planting clutch 26 and the fertilizer application clutch 27 in the transmission state, and operates the control handle 20 and the speed change. By operating the lever 37, the work running L11 of the rotation planting in which the machine body 11 runs along the ridge line LB4 is performed.

When the machine body 11 reaches the ridge B21 from the rotating planting work run L11, the operator starts the rotating planting work running L12 from the position K2 to run the machine 11 along the ridge line LB2 in the same manner as described above. Do.

In the same manner as described above, the operator performs the work run L13 for the round planting from the position K3 and the work run L14 for the round planting from the position K4. When the machine body 11 reaches the doorway A1 after finishing the work running L14 for the round planting, the operator operates the control handle 20 and the speed change lever 37 to move the machine body 11 out of the field from the doorway A1.

(First alternative form of carrying out the invention)
In the above-mentioned (fifth turning path) turning path LL5 passing forward turning step LL5a, as shown in FIG. 16, the machine body 11 (reference position G1 of the seedling planting device 5) starts the next working path L02. The front wheel 1 is steered so as to be located on the opposite side of the work path L01 in the lateral direction orthogonal to the direction along the work path L02 with respect to the position C2a, and the machine body 11 (seedling planting device 5) The reference position G1) may be configured to rotate.

Passing forward of the turning path LL5 For the starting position after the turning stroke LL5a In the rear traveling step LL5b, the machine body 11 (reference position G1 of the seedling planting device 5) moves backward diagonally toward the starting position C2a of the next working path L02. The front wheel 1 is steered so as to do so.

When the distance between the work path L01 and the work path L02 is set to be slightly larger than the work width W1 shown in FIG. 2, the machine body 11 (seedling) is set in the passing forward turning stroke LL5a of the turning path LL5 shown in FIG. The front wheel 1 so that the reference position G1) of the planting device 5 is located on the work path L01 side in the lateral direction orthogonal to the direction along the work path L02 with respect to the start position C2a of the next work path L02. May be steered so that the machine body 11 (reference position G1 of the seedling planting device 5) turns while advancing.

(Second alternative form of carrying out the invention)
As shown in FIG. 17, the front wheel 1 is steered in the opposite direction from the straight-ahead position toward the next work path L02 in the rearward progress LL4a of the above-mentioned (fourth turn path) turn path LL4. The machine body 11 (reference position G1 of the seedling planting device 5) may be configured to move backward. As a result, the airframe 11 is slightly oriented toward the next work path L02 in the rearward progress LL4a of the turning path LL4.

(Third alternative form of carrying out the invention)
As shown in FIG. 18, the front wheel 1 is steered from the straight-ahead position toward the next work path L04 in the rearward progress LL4a of the above-mentioned (fourth turn path) turn path LL4, and the aircraft 11 ( The reference position G1) of the seedling planting device 5 may be configured to move backward. As a result, in the rearward progress LL4a of the turning path LL4, the rear part of the machine body 11 (seedling planting device 5) is slightly separated from the portion where the work is completed on the adjacent previous work path L02.

(Fourth alternative form of carrying out the invention)
In the rearward progress LL4a of the turning path LL4 shown in FIG. 12, the front wheel 1 may be repeatedly steered left and right by the turning control unit 57 so that the aircraft 11 moves backward while meandering a little. As a result, the front wheel 1 is less likely to pass the passing locus of the front wheel 1 before the end position D1 of the work path L01 in the rearward traveling path LL4a of the turning path LL4.

In the rearward progress LL5b for the start position of the turning path LL5 shown in FIG. 13, the front wheel 1 may be repeatedly steered left and right by the turning control unit 57 so that the aircraft 11 moves backward while meandering a little. .. As a result, the front wheel 1 is less likely to pass through the passing locus of the front wheel 1 of the forward turning stroke LL5a of the turning path LL5 in the rearward traveling step LL5b for the starting position of the turning path LL5.

(Fifth alternative form of carrying out the invention)
The operating sensitivity of the automatic elevating control unit 51 described in the above-mentioned (automatic elevating control of the seedling planting device) can be set to the sensitive side and the insensitive side by the operator operating a manual dial (not shown). It may be configured in.

Generally, when the mud (soil) in the field is hard, the operating sensitivity of the automatic elevating control unit 51 is preferably set to the insensitive side, and when the mud (soil) in the field is soft, the operating sensitivity of the automatic elevating control unit 51 is set. It is preferably set on the sensitive side.

When the operator sets the operating sensitivity of the automatic elevating control unit 51 to the insensitive side, the selection unit 55 determines that the mud (soil) in the field is hard and the front wheels 1 and the rear wheels 2 are less slippery. The turning paths LL1 and LL3 shown in FIG. 11 may be configured to be selected.

When the operator sets the operating sensitivity of the automatic elevating control unit 51 to the sensitive side, the selection unit 55 determines that the mud (soil) in the field is soft and the front wheels 1 and the rear wheels 2 slip a lot. The turning paths LL2 and LL4 shown in FIG. 12 may be configured to be selected.

This is because, as shown in FIGS. 10 and 12, in the turning paths LL2 and LL4, due to the slip of the front wheels 1 and the rear wheels 2, the machine body 11 (reference position G of the seedling planting device 5) starts the working path L02. Even if it is about to deviate from the position C2, there is a relatively long distance until the machine 11 (reference position G of the seedling planting device 5) reaches the start position C2 of the work path L02, and the direction of the machine 11 This is because it is easy to correct.

When the operating sensitivity of the automatic elevating control unit 51 is set to the sensitive side and the swivel path LL4 is selected by the selection unit 55, the above-mentioned (second alternative mode of carrying out the invention) and the state shown in FIG. (Third alternative form of carrying out the invention) and the state shown in FIG. 18 may be automatically set.

(Sixth Alternative Form of Implementation of the Invention)
In the above-mentioned (fifth alternative form of carrying out the invention), the hardness of the mud (soil) in the field may be automatically detected as described below.

In fields such as paddy fields, a relatively hard tiller is present on the lower side of the surface (field scene), and the front wheels 1 and rear wheels 2 are in contact with the lower tiller to plant seedlings. The float 9 of 5 touches the upper rice field surface (field scene).

The height from the field surface (field scene) to the machine body 11 is detected by an ultrasonic sensor (not shown), and the height of the seedling planting device 5 (angle of the link mechanism 3) with respect to the machine body 11 is a potentiometer (not shown). The depth of the field from the field surface (field scene) to the cultivated board is detected by the detection by.

From this, it can be judged that when the depth of the field is shallow, there is little water in the field and the mud (soil) in the field is relatively hard. When the depth of the field is deep, there is a lot of water in the field and the mud in the field. (Sat) can be judged to be relatively soft.

(7th alternative form of carrying out the invention)
As described above (acquisition of the position of the ridge) and as shown in FIG. 5, when the ridge lines LB1 to LB4 are set, the ridge lines LB1 to LB4 are ridges B11 to B41 in the portion other than the obstacle E1. Even if the ridge lines LB1 to LB4 are bent so as to project toward the center of the field in a plan view, the ridge lines LB1 to LB4 are formed in a straight line (gentle curve) along the obstacle E1. Good.

In the above-mentioned state, the portion of the obstacle E1 in the ridge lines LB1 to LB4 is formed so as to protrude toward the center of the field by a gentle curve in a plan view or two gently curved straight polygonal lines. May be done.

(Eighth alternative form of carrying out the invention)
As described in (Acquisition of ridge position) above, instead of acquiring ridge lines LB1 to LB4 (position data) by running the aircraft 11, the ridge line is not acquired from an external transmitter or the like. LB1 to LB4 (position data) may be configured to be transmitted to and acquired by the control device 50.

The operator brings a storage medium (not shown) in which the ridge lines LB1 to LB4 (position data) are stored and moves the storage medium to the control device 50 and the ridge lines LB1 to LB4 (position data). It may be configured as follows.

(9th alternative embodiment of the invention)
The turning paths LL1 to LL6 are not automatically selected by the selection unit 55, but the turning paths LL1 to LL6 are artificially selected by the operator operating the selection switch (not shown) (corresponding to the selection part). It may be configured to be selected for.
In this case, the selection switch includes a push button type switch, a touch panel type switch provided in the screen of the display device 42, and the like.

(10th alternative form of carrying out the invention)
It is not necessary to provide the traveling control unit 56 and the turning control unit 57, the steering motor 40, the speed change motor 41, the automatic operation unit 43, and the like related to the automatic traveling of the machine body 11.
According to this configuration, the working paths L01 to L07 and the selected turning paths LL1 to LL6 are displayed on the display device 42. The operator operates the control handle 20 and the speed change lever 37 while visually observing the machine body 11, the work paths L01 to L07, and the selected turning paths LL1 to LL6 displayed on the display device 42 to work on the machine body 11. It runs and turns along the routes L01 to L07 and the selected turning paths LL1 to LL6.

(11th alternative form of carrying out the invention)
In the passenger-type rice transplanter, when the number of seedlings on the spare seedling stand 21 decreases in the work paths L01 to L07, the work is temporarily suspended, the machine 11 is run to the ridges B11 to B41, and the ridges B1 to B4 to the machine 11 Seedlings may be replenished to (spare seedling stand 21).

In the above-mentioned state, the engine 31 may be configured to be automatically stopped when the operator causes the machine body 11 to travel to the ridges B11 to B41 and stops.
If the seedling planting device 5 is not raised to the upper limit position before the engine 31 is stopped, the seedling planting device 5 is automatically raised to the upper limit position, and then the engine 31 is raised. It may be configured to be automatically stopped.

In the present invention, not only a riding type rice transplanter in which the seedling planting device 5 is provided in the machine body 11, but also a riding type direct sowing machine and a rotary in which a sowing device (not shown) (corresponding to a working device) is provided in the machine body 11. It can also be applied to a work vehicle such as a tractor in which a tilling device (not shown) (corresponding to a working device) and a chemical spraying device (not shown) (corresponding to a working device) are provided on the machine body 11.

1 Front wheel 5 Seedling planting device (working device)
11 Aircraft 18 Fertilizer application device (working device)
29 Measuring device (positioning unit)
42 Display device (notification unit)
45 buzzer (notification unit)
53 Work route storage unit 54 Swivel path storage unit 55 Selection unit 56 Travel control unit 57 Swivel control unit 60 Outer circumference storage unit B11 Ridge (outer circumference)
B21 ridge (outer circumference)
B31 Ridge (outer circumference)
B41 Ridge (outer circumference)
C1 Start position C2 Start position C3 Start position C4 Start position C5 Start position C6 Start position C7 Start position D1 End position D2 End position D3 End position D4 End position D5 End position D6 End position D7 End position L01 Work route L02 Work route L03 Work Route L04 Work route L05 Work route L06 Work route L07 Work route LB1 Ridge line (position data)
LB2 ridge line (position data)
LB3 ridge line (position data)
LB4 ridge line (position data)
LL1 Swivel path LL2 Swivel path LL3 Swivel path LL4 Swivel path LL4a Post-progress LL4b Forward turn LL5 Swivel path LL5a Pass forward Swivel LL5b Start position Post-progress LL6 Swivel path LL6a Predetermined forward turn Distance W7 Distance W8 Distance

Claims (18)

A work device equipped on the machine to work on the work site,
In the work path and the next work path along the work path adjacent to the work path, the end position of the work path in the vicinity of the outer peripheral portion of the work site and the next work in the vicinity of the outer peripheral portion of the work site. A swivel path storage unit that stores a plurality of different swivel paths over the start position of the path,
A work vehicle provided with a selection unit that selects the turning path from a plurality of the turning paths stored in the turning path storage unit based on the position data of the outer peripheral portion of the work site. The selection unit
The distance between the outer peripheral portion of the work site in the direction along the work path and the end position of the work path, the outer peripheral portion of the work site in the direction along the work path, and the start position of the next work path. The work vehicle according to claim 1, wherein the turning path is selected from a plurality of the turning paths stored in the turning path storage unit so that the distance between the two is the same. A display device for displaying the turning path selected by the selection unit is provided.
The work vehicle according to claim 1 or 2, wherein the turning path selected by the selection unit is determined based on an artificial operation. In the plurality of swivel paths stored in the swivel path storage unit,
From the end position of the work path to the start position of the next work path, from the position of passing the start position of the next work path, the passing forward turning stroke in which the aircraft turns.
Included is the swivel path having a post-progress for the start position to return to the start position of the next work path after the pass forward swivel stroke.
In the case of the position data in which the start position of the next work path is closer to the outer peripheral side of the work site than the end position of the work path.
The work vehicle according to any one of claims 1 to 3, wherein the selection unit selects the turning path having the passing forward turning process and the rear traveling process for the start position. In the plurality of swivel paths stored in the swivel path storage unit,
An unreachable forward turning stroke in which the aircraft turns from the end position of the work path to the start position of the next work path to a position before the start position of the next work path.
The invention according to any one of claims 1 to 4, wherein the turning path including the pre-progressing step for the start position for advancing to the starting position of the next working path after the unreached forward turning stroke is included. Work vehicle. In the plurality of swivel paths stored in the swivel path storage unit,
The post-progress after the straight-ahead process in which the front part of the machine advances to a position close to the outer peripheral portion of the work site and reaches the end position of the work process, and the turning process after the post-progress are performed in order. The work vehicle according to any one of claims 1 to 5, wherein the turning path that reaches the start position of the next work path is included. The selection unit
The work vehicle according to any one of claims 1 to 6, which selects the turning path from the plurality of turning paths stored in the turning path storage unit based on the hardness of the soil in the work area. .. An outer peripheral storage unit for storing the position data is provided.
The selection unit
Any one of claims 1 to 6 for selecting the turning path from a plurality of the turning paths stored in the turning path storage unit based on the position data stored in the outer peripheral storage unit. Work vehicle described in. An outer peripheral storage unit for storing the position data is provided.
The selection unit
The turning path is selected from the plurality of turning paths stored in the turning path storage unit based on the position data stored in the outer peripheral portion storage unit and the start position and the ending position of the working path. The work vehicle according to any one of claims 1 to 6. A positioning unit that detects the position of the aircraft is provided.
The outer peripheral storage unit is
The position on the center side of the work site is stored as the position data by a predetermined distance set in advance from the position of the machine detected by the positioning unit when the machine travels along the outer peripheral portion of the work site. The work vehicle according to claim 8 or 9. A positioning unit that detects the position of the aircraft is provided.
The outer peripheral storage unit is
When the machine travels along the outer peripheral portion of the work area, the position of the machine detected by the positioning unit passes through the position on the center side of the work area by a predetermined distance set in advance, and the work area The work vehicle according to claim 8 or 9, wherein the linear position along the outer peripheral portion of the above is stored as the position data. A work route storage unit that stores a plurality of the work routes set along a specific outer peripheral portion of the outer peripheral portion of the work area.
The front wheels of the aircraft are automatically steered based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the work route stored in the work route storage unit. The work vehicle according to claim 10 or 11, which is provided with a travel control unit. A positioning unit that detects the position of the aircraft and
Turning control that automatically steers the front wheels of the aircraft based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. The work vehicle according to any one of claims 1 to 12, which is provided with a part. A positioning unit that detects the position of the aircraft and
Turning control that automatically steers the front wheels of the aircraft based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. With a part
The turning control unit
According to claim 4, the front wheels are steered to move the aircraft backward so that the front wheels are less likely to pass through the passage locus of the front wheels in the passing forward turning stroke in the rear traveling step for the start position. The listed work vehicle. The turning control unit
In the passing forward turning stroke, the aircraft is located on the opposite side of the work path in a lateral direction orthogonal to the direction along the work path with respect to the start position of the next work path. Steer the front wheels to turn the aircraft while moving it forward.
The work vehicle according to claim 14, wherein the front wheels are steered to move the machine backward so that the machine moves toward the start position of the next work path in the rearward progress for the start position. A positioning unit that detects the position of the aircraft and
Turning control that automatically steers the front wheels of the aircraft based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. With a part
The turning control unit
The work vehicle according to claim 6, wherein in the rearward traveling step, the front wheels are steered in the opposite direction from the straight-ahead position toward the next work path to move the machine backward. A positioning unit that detects the position of the aircraft and
Turning control that automatically steers the front wheels of the aircraft based on the position of the aircraft detected by the positioning unit so that the aircraft travels along the turning path selected by the selection unit. With a part
The turning control unit
The work vehicle according to claim 6, wherein the front wheel is steered from a straight-ahead position toward the next work path in the rear-progressing step to move the machine backward. A positioning unit that detects the position of the aircraft and
Based on the position of the machine detected by the positioning unit, it notifies that the machine is displaced from the start position of the next work path in the lateral direction orthogonal to the direction along the work path. The work vehicle according to any one of claims 1 to 17, which is provided with a notification unit.

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