JP2022138310A - transplanter - Google Patents

Abstract

To provide a transplanter that enables an operator to easily perform lowering operation of a planting implement and connection operation of a planting clutch at a correct lowering start position and planting start position.SOLUTION: When rotation of a sulky rice transplanter is started on a headland, notification in a third notification mode using a notification buzzer is started (S65). When the sulky rice transplanter exceeds a first notification start position, notification in a first notification mode using the notification buzzer is executed (S71). When the sulky rice transplanter exceeds a second notification start position, notification in a second notification mode using the notification buzzer is executed (S69). According to such notification using the notification buzzer, an operator can easily perform lowering operation of a planting implement at an appropriate lowering start position and connection operation of a planting clutch at an appropriate planting start position and, even when a positional deviation occurs at the time of planting automatic control, the operator can perform recovery operation at an appropriate position (timing).SELECTED DRAWING: Figure 9

Description

TECHNICAL FIELD The present invention relates to a transplanter that transplants seedlings while reciprocating in a field.

Conventionally, when planting seedlings while traveling back and forth in a field, when the traveling machine starts turning at the end of the planting process, the planting clutch is disengaged and the planting machine is raised. Then, when the rotation is completed, the planting machine is lowered at the lowering start position in the next process, and the planting clutch is connected at the planting start position. Reference 1). In the transplanter described in Patent Document 1, when a series of controls after the start of turning of the traveling body is automatically performed (called automatic planting control), a notification buzzer is sounded with a short sound to perform automatic planting control. A worker (referred to as an operator) is notified of the fact that the plant is in the middle, and a notification buzzer is sounded with a long sound to notify the automatic connection of the planting clutch during automatic planting control.

Japanese Patent No. 6361758

By the way, in the automatic planting control described above, since the running position of the running machine is detected from the number of rotations of the drive shaft, etc., the running of the running machine detected is affected by the slip of the wheels and the timing of turning start by the operator. The position may differ from the actual running position (positional deviation). Therefore, although the actual travel position is not the descent start position or the planting start position, the planting work machine may be lowered and the planting clutch may be connected. However, in the case of the transplanter described in Patent Literature 1, the operator operates the planting machine at a position other than the descent start position or the planting start position until the planting clutch is automatically connected (until the notification buzzer sounds with a long sound). It is difficult to notice that the planting clutch has been lowered or the planting clutch has been engaged. Therefore, it was difficult for the operator to manually perform a so-called recovery operation in which the planting work machine is lowered and the planting clutch is connected at the correct lowering start position or planting start position.

The present invention has been made in view of the above points, and provides a transplanter that allows the operator to easily lower the planting work machine and connect the planting clutch at the correct lowering start position and planting start position. for the purpose of providing

A transplanter (P) according to one embodiment of the present invention includes a traveling machine body (1) and a planting machine (3) supported by the traveling machine body. In a transplanter that transplants seedlings to a field,
an operation means (20a) for steering the traveling machine body;
A planting clutch (8) for connecting and disconnecting power to be supplied to the planting machine;
Lifting means (25) for lifting and lowering the planting machine;
Position detection means (55) for detecting the running position of the running body;
reporting means (61);
When the traveling machine body starts turning, the planting clutch is disconnected and the planting machine is raised, and when the traveling machine body reaches the first traveling position (L1), the planting machine is lowered. Automatic planting control for connecting the planting clutch when the traveling body reaches a second traveling position (L2) farther than the first traveling position, and notification control for controlling the notification means to provide notification and a control means (50) capable of
The notification control includes a first notification process (S71) in which the notification means is notified in a first notification mode while the traveling body passes through a first travel area (LH) including the first travel position; Second notification processing (S69) in which the notification means is notified in the second notification mode while the aircraft passes through the second travel region (LK) including the second travel position, and the start and end of the planting automatic control Until and while not passing through the first travel area and the second travel area, a third that the reporting means reports in a third reporting mode different from the first reporting mode and the second reporting mode Including notification processing (S65),
It is characterized by

When the planting automatic control is canceled, the control means (50) terminates the third notification process, while continuing the first notification process and the second notification process.

The notification means (61) generates an intermittent sound as the third notification mode, and generates a continuous sound as the first notification mode and the second notification mode.

The notification means (61) generates an intermittent sound with a first generation cycle as the third notification mode, and a second generation cycle shorter than the first generation cycle as the first notification mode and the second notification mode. Produces intermittent sound.

The reference numerals in parentheses are for comparison with the drawings, but they do not affect the structure described in the claims.

According to the present invention according to claim 1, the operator follows the notification in different notification modes by the notification means, the lowering operation of the planting work machine at an appropriate lowering start position, and the planting clutch at an appropriate planting start position connection operation can be easily performed. Therefore, even if positional deviation occurs due to the effects of wheel slip, turn start timing, etc. during planting automatic control, the operator can appropriately perform the recovery operation.

According to the present invention according to claim 2, even if the notification in the third notification mode ends due to the cancellation of the planting automatic control, the first notification process and the second notification process are continued, so the operator is appropriate It is possible to lower the planting work machine at an appropriate lowering start position and connect the planting clutch at an appropriate planting start position.

According to the present invention according to claim 3, since the sound generated as the third notification mode is different from the sound generated as the first notification mode and the second notification mode, the operator can set the descent start position or the planting start position becomes easier to judge.

According to the present invention according to claim 4, since the sound generated as the third notification mode is different from the sound generated as the first notification mode and the second notification mode, the operator can set the descent start position or the planting start position becomes easier to judge.

The side view which shows the riding rice transplanter of this embodiment. The top view which shows a riding rice transplanter. The side view which shows a hydraulic control mechanism. The perspective view which shows a working-equipment lever. 4 is a block diagram showing a control unit; FIG. FIG. 4 is a flowchart showing work machine control processing; FIG. 4 is a flow diagram showing a work machine operation control process; The flowchart which shows planting automatic control processing. FIG. 4 is a flowchart showing timing notification control processing; FIG. 4 is a diagram for explaining timing notification;

The transplanter of this embodiment will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a riding rice transplanter P as a transplanter has a running body 1 supported by a pair of front wheels 9 and a pair of rear wheels 10 as a running device. A planting work machine 3 is connected to the rear part of the planting machine 3 via a lifting link mechanism 2 . A lift cylinder 4 is interposed between the traveling body 1 and the planting machine 3 , and the planting machine 3 is raised and lowered according to the hydraulic expansion and contraction operation of the lift cylinder 4 .

The planting machine 3 includes a seedling platform 5 on which matted seedlings are placed, a planting mechanism 6 for scraping the seedlings from the seedling platform 5 and planting them in the field, and a float 7 for sliding down the field. The planting work is performed with the planting power supplied from the traveling body 1. An engine (not shown) and a transmission are mounted on the front part of the traveling body 1 . The transmission has a planted clutch 8 . The power output from the engine is changed by the transmission and transmitted to the front wheels 9 and the rear wheels 10 , and is also transmitted to the planting work machine 3 via the planting clutch 8 .

The planting clutch 8 is switched between a disconnected state in which power from the engine is not supplied to the planting machine 3 and a connected state in which power from the engine is supplied to the planting machine 3. The transmission of the planting power to is disconnected. Switching the planted clutch 8 from the disconnected state to the connected state is called connection of the planted clutch 8 , and switching the planted clutch 8 from the connected state to the disconnected state is called disconnection of the planted clutch 8 .

A driving unit 17 that is operated by a worker (operator) on board the traveling body 1 is arranged, and a driver's seat 19 and a steering device 20 are arranged in the driving unit 17 . The steering device 20 includes a steering handle 20a as operating means, an operating lever 40 (see FIG. 4), a steering column 20b, tie rods (not shown), and a steering motor 60 ( 5), the steering column 20b is rotated about the axial direction by the operator turning the steering handle 20a or driving the steering motor 60, the front wheels 9 are steered via the tie rods, and the traveling body 1 changes its running direction. Line markers 21 are arranged on the left and right sides of the planting machine 3 so as to be movable between the use position and the storage position.

Further, the traveling machine body 1 is provided with a hydraulic control mechanism 25 (see FIG. 3) that controls the raising and lowering of the planting machine 3 . FIG. 3 shows the hydraulic control mechanism 25 as lifting means. The hydraulic control mechanism 25 shown in FIG. 3 swings around a work machine operation cam 31 and a rotary pin 33 which are linked to the hydraulic control valve (not shown) of the planted clutch 8 and the lift cylinder 4 (see FIG. 1). A clutch arm 35 for connecting and disconnecting the planting clutch 8, a hydraulic control valve 29 that opens and closes as the working machine operating cam 31 rotates, and a working machine operating cam 31 that is fixed coaxially with the rotating shaft of the working machine operating cam 31. A working machine operating cam potentiometer 32 is provided for detecting the rotational position of the working machine.

The working machine operating cam 31 is rotated to each position of "raising", "fixed", "automatic (lowering)", and "planting" based on the drive of the working machine operating cam motor 30, and each position is operated for working. Detected by the machine operating cam potentiometer 32 . When the hydraulic control valve 29 is opened and closed in accordance with the rotation of the work machine operating cam 31, the hydraulic pressure of a hydraulic pump (not shown) provided in the transmission is released or cut off, thereby expanding or contracting the lift cylinder 4, thereby moving the plant. The attached work machine 3 (see FIG. 1) moves up and down. The work machine operation cam 31 raises the planting work machine 3 at the "raise" position, fixes the planting work machine 3 at an arbitrary height at the "fixed" position, and planting at the "automatic (lower)" position. The working machine 3 is lowered until the float 7 (see FIG. 1) touches the ground. In the "automatic (lowering)" and "planting" positions, mechanical automatic lifting control based on the detection of the ground height by the float 7 is performed.

The upper end of the clutch arm 35 follows the outer periphery of the working machine operating cam 31 and swings in the front-rear direction as the working machine operating cam 31 rotates. As the clutch arm 35 swings, the planting clutch 8 is disengaged and the planting clutch 8 is disengaged while the working machine operating cam 31 is positioned at each of the "raise", "fixed" and "lower (automatic)" positions. While the mechanism 6 (see FIG. 1) is inactive and in the "planting" position, the planting clutch 8 is engaged and the planting mechanism 6 is operable.

Next, the operating lever 40 will be explained using FIG. The operating lever 40 is configured to be swingable in vertical and horizontal directions, is biased to a neutral position by a biasing member (not shown), and returns to the neutral position after being pivoted vertically or horizontally. is configured to Although not shown, the steering device 20 includes an upper/lower switch for setting the operation of the operation lever 40 to raise/lower the planting work machine 3 and a switch for setting the operation of the planting clutch 8 to connect/disconnect. , a switch for setting the orientation of the marker 21, and the like. By operating these switches, the operator can operate the raising operation of the planting work machine 3 and the disengagement of the planting clutch 8 by the upward swing operation of the operation lever 40, and can operate the planting work machine 3 by the downward swing operation. lowering operation and connection of the planting clutch 8 can be operated. Further, the operator can switch the orientation of the marker 21 by swinging the operation lever 40 left and right.

<Block diagram>
The traveling body 1 is provided with a control section 50 as control means for controlling each section of the riding rice transplanter P. As shown in FIG. FIG. 5 is a control block diagram showing the control unit 50. As shown in FIG. As shown in FIG. 5, on the input side of the control unit 50, a working machine that switches between an ON state that permits connection of the planting clutch 8 (see FIG. 1) and an OFF state that restricts the connection of the planting clutch 8. A preparation switch 52, an automatic planting switch 54, a working machine upper switch 51a operated by raising the operating lever 40 (see FIG. 4), a working machine lower switch 51b operated by lowering the operating lever 40, and a working machine operating cam. A potentiometer 32, a lift angle potentiometer 53 that detects the elevation position of the planting work machine 3 from the angle of the elevation link mechanism 2 (see FIG. 1), a rotation sensor 55 that detects the amount of rotation of the drive shaft (not shown) of the transmission, and A front wheel steering angle sensor 38 is connected to detect the steering angle of the front wheels 9 by operating the steering handle 20a. The control unit 50 can detect the traveling position and traveling speed of the traveling machine body 1 based on the detection result of the rotation sensor 55 as position detection means.

When the work machine preparation switch 52 is turned on (ON operation), the control unit 50 puts the planting work machine 3 in a drivable state, while the work machine preparation switch 52 is turned off (OFF operation). , the driving of the work machine 3 with planting is regulated. When the automatic planting switch 54 is turned on (ON operation), the control unit 50 automatically causes the riding rice transplanter P to travel straight to carry out seedling planting work in the field, as well as automatic straight travel control, as well as reciprocating planting. When one stroke of the planting work is completed, the automatic planting control for temporarily stopping the seedling planting work while the riding rice transplanter P is turning in the headland is made executable. In addition, when the automatic planting switch 54 is turned off (OFF operation), the control unit 50 regulates the execution of the automatic planting control, while allowing the operator to perform various operations related to seedling planting work. and

On the other hand, on the output side of the control unit 50, there are a work machine operation cam motor 30 for operating the planting work machine 3 to move up and down, a steering motor 60, and a notification buzzer 61 as a notification means capable of notifying various states of the control unit 50. It is connected. By driving the steering motor 60, the control unit 50 can steer the front wheels 9 independently of the steering operation of the steering handle 20a by the operator.

<Work machine control processing>
Next, when the traveling machine body 1 reciprocates in the field while repeating the turning motion at the end of the field, and the planting work machine 3 performs the planting work of transplanting the seedlings to the field, the work machine executed by the control unit 50 The control processing will be described with reference to FIGS. 6 to 10 while referring to FIGS. 1, 2, 5, and the like.

When the main power supply (not shown) of the riding rice transplanter P is turned on, the control unit 50 executes the working machine control process shown in FIG. As shown in FIG. 6, the work machine control process includes a work machine operation control process (S1), an automatic planting control process (S2), and a timing notification control process (S3). As long as the state is maintained, it is repeatedly executed by the control unit 50 . Note that the control unit 50 detects the traveling position of the traveling machine body 1 based on the detection result of the rotation sensor 55 during execution of the working machine control process.

<Work machine operation processing>
The work machine operation control process (see S1 in FIG. 6) will be described. As shown in FIG. 7, first, it is determined whether or not there is a short-time (not long-press) signal from the lower switch of the operating lever 40 (S11). ON or OFF is determined (S12). When the work implement preparation switch 52 is ON, it is determined whether or not the work implement operation cam potentiometer 32 raises the position of the work implement operation cam 31 (operation cam position) (S13). If the operating cam position is not raised, the working machine operating cam potentiometer 32 similarly determines whether it is automatic or not (S14). If it is not automatic, it is determined whether it is fixed or not (S15). If the work position is other than fixed, ie (planting), the planting state is continued (return), and if it is fixed, the work machine operation cam motor 30 is set to automatic (down), and the planting work machine 3 is lowered. Then, the float 7 reaches the automatic position where it touches the ground (S16).

In step S12, if the working machine preparation switch 52 is OFF, it is determined whether or not the operating cam position is raised (S17), and if not raised, it is determined whether or not the operating cam position is fixed (position) (S18). If it is fixed, it is set to automatic (lowering), and the planting machine 3 is in an automatic (lowering) state in which the float 7 is grounded (S19).

In step S14, when the operation cam position is at the automatic (lowering) position, the lift angle potentiometer 53 determines whether or not the planting work machine 3 is in the downward movement (S20), and if it is in the downward movement (S20 NO), the planting clutch is put into a waiting state (S21), and if the planting state is stopped (YES), the working machine operation cam 31 is set to the planting position and the planting operation is started (S22). At the same time, the turning travel position L of the riding rice transplanter P during the automatic planting control is reset, and counting of the travel position (planting travel position Lo) in the planting work is started.

In steps S13 and S17, when the work machine 3 with planting is in the ascending state, the work machine operation cam 31 is set to be fixed, and the work machine 3 with planting is in a fixed state (S23), and the process is returned. Moreover, it returns also when it determines with step S18 other than fixation.

Therefore, when the operator operates the operation lever 40 downward for a short period of time (one shot), the working machine operation cam 31 is moved downward by one step, that is, upward→fixed, fixed→automatic (lowering), automatic (lowering)→planting. (planting remains the same).

If it is determined in step S11 that there is no short-time (not long-press) signal from the lower switch of the operating lever 40 (no S11), it is determined whether there is a short-time operation of the upper switch of the operating lever 40. (S24). If there is no operation, it is determined whether or not it is in the state of waiting for the planting clutch to be turned on in step S21 (S25). (S26). If it is stopped (YES in S26), the working machine operation cam 31 is set to the planting position and planting work is started (S27), as in step S22. Also, the turning travel position L of the riding rice transplanter P is reset, and the counting of the planting travel position Lo is started.

If there is a short-time operation of the upper side operation in step S24, it is determined whether or not the work machine 3 with planting is in the rise (S28). When the work machine 3 with planting is in a rise, it is continued and returned as it is. If the planting work machine 3 is not raised, it is detected whether or not the operation cam position is fixed (position) (S29), and if it is fixed, the work machine operation cam 31 is set to the raised position (S32). . At this time, counting of the turning travel position L of the riding rice transplanter P is started. If it is other than fixed, the process proceeds to step S30.

In step 30, it is determined whether the work machine 3 with planting is automatic (lowering) or planting, and if it is automatic (lowering), it is judged whether the work machine lowering operation is stopped by the lift angle potentiometer 53 (S31). If the operation is stopped (YES in S31), the working machine operating cam 31 is set to the raised position (S32). At this time, counting of the turning travel position L of the riding rice transplanter P is started. When the descent operation is in progress (NO in S31), the working machine operation cam 31 is set to the fixed position and the planted working machine 3 is in a fixed state (S33). When it is determined in step 30 that the planting position is present, the working machine operating cam 31 is set to be automatic (downward), and the planting clutch 8 is switched to the disengaged state (S34).

<Automatic planting control>
Next, the planting automatic control process (see S2 in FIG. 6) will be described with reference to FIG. As shown in FIG. 8, first, it is determined whether the automatic planting switch 54 is ON (S41), and if the automatic planting switch 54 is ON (YES in S41), the steering handle 20a (front wheel steering angle) It is determined whether or not the steering angle is greater than or equal to α (S42). When the operator intends to turn the headland and operates the steering handle 20a at a predetermined turning angle α or more (YES in S42), it is determined whether or not the planting traveling position Lo of the riding rice transplanter P is at a predetermined position or more ( S43).

If the steering angle signal from the front wheel steering angle sensor 38 is greater than or equal to the predetermined steering angle α, and the planting traveling position Lo, which starts counting in steps S27 and S22 and step S49 described later, is greater than or equal to a predetermined position, the graph shown in FIG. As shown, it is determined that the riding rice transplanter P has completed one stroke of planting work by reciprocating planting and has turned in the headland (YES in S42, YES in S43). As the riding rice transplanter P starts turning from the turning start position L0 with reference to the rear wheels, the working machine operation cam 31 is switched to the raised position, and the turning travel position L of the riding rice transplanter P starts counting. A planting automatic flag is set to ON (S44). Also, the planted traveling position Lo is reset. In this state, the planting clutch 8 is disengaged by switching the working machine operating cam 31 to the raised position, and the seedling planting operation in the field is temporarily stopped.

The "automatic planting flag" indicates that the automatic planting control has been started and is being executed by ON, and indicates that the automatic planting control has been canceled by OFF. At the start (initial stage) of the working machine control process associated with turning on the main power supply of the riding rice transplanter P, the automatic planting flag is set to OFF.

If the steering handle 20a is not operated at the predetermined turning angle α or more (NO in S42), it is determined whether or not the automatic planting flag is set to ON (S45). When the planting automatic flag is not set to ON (NO of S45), it returns. When the planting automatic flag is set to ON (YES of S45), it is determined whether the operator operated the control lever 40 (S46). When the operator operates the operation lever 40 (YES in S46), the automatic planting control is canceled (cancelled), the automatic planting flag is set to OFF, and the turning travel position L and the travel position Ls of the riding rice transplanter P are set to It is reset (cleared) (S47).

If the operator does not operate the operation lever 40 (NO in S46), the riding rice transplanter P is turning 180 degrees on the headland and is in the process of moving on to the next planting, in step S44 (see S32 in FIG. 7). ) is compared with a preset position (planting start position L2, see FIG. 10), and the turning travel position L is compared with the planting start position L2. If not (NO in S48), the turning travel position L is further compared with a position shorter than the preset planting start position L2 (descent start position L1, see FIG. 10) (S50). If the turning travel position L does not exceed the descent start position L1 (first travel position) (NO in S50), the process returns. When the turning travel position L exceeds the descent start position L1 (L≧L1, YES in S50), that is, when the riding rice transplanter P reaches the descent start position L1, the working machine operating cam 31 is switched to the descent position. (S51), planting work machine 3 descends so that float 7 may touch the ground.

When the turning travel position L of the riding rice transplanter P exceeds the planting start position L2 (second travel position) (L≧L2) (YES in S48), that is, the riding rice transplanter P reaches the planting start position L2. In this case, the working machine operation cam 31 is switched to the planting position, the turning travel position L and the travel position Ls are reset, and the automatic planting flag is set to OFF (S49). Moreover, the counting of the planting traveling position Lo is started.

In this way, when the turning travel position L of the riding rice transplanter P counted from the turning start position becomes longer than the predetermined lowering start position L1, the planting machine 3, which has been raised to the non-working position, is lowered, and further turns. When the position L is longer than the planting start position L2 (>the descent start position L1), the planting machine 3 is switched to the planting state and the seedlings are planted in the field, assuming that the U-turn at the headland is completed. Attachment work resumes.

<Timing notification control process>
In this embodiment, when the riding rice transplanter P starts to turn on the headland, the notification buzzer 61 (see FIG. 5) emits a sound to notify the operator of the execution state of the above-described automatic planting control. Also, the timing of lowering the planting work machine 3 and the connection timing of the planting clutch 8 can be notified. The timing notification control process (see S3 in FIG. 6) for realizing this will be described with reference to FIGS. 9 and 10. FIG.

As shown in FIG. 9, first, it is determined whether or not the planting automatic switch 54 is ON (S61). When the automatic planting switch 54 is OFF (NO in S61), the above-described automatic planting control is not performed in the headland, so the process returns without any notification by the notification buzzer 61. On the other hand, when the planting automatic switch 54 is OFF (YES in S61), it is determined whether or not the timing notification flag is ON (S62). The timing notification flag is a flag used for determining whether or not to notify the operator of the descent timing of the work machine 3 with planting and the connection timing of the clutch 8 with planting. In the case of this embodiment, as will be described later, when the timing notification flag is ON, notification of the lowering timing of the planting work machine 3 and the connection timing of the planting clutch 8 by the notification buzzer 61 is permitted. At the start (initial stage) of the working machine control process associated with turning on the main power supply of the riding rice transplanter P, the timing notification flag is set to OFF.

When the timing notification flag is OFF (NO in S62), it is determined whether or not the planting automatic flag described above is ON (S63). If the automatic planting flag is OFF (NO in S63), it is determined whether or not the automatic planting flag at the end of the previous work machine control process (to be distinguished, called the previous automatic planting flag) is ON. (S66). On the other hand, if the automatic planting flag is ON (YES in S63), it is determined whether or not the previous automatic planting flag is OFF (S64). Here, by the processing of steps S63, S64, and S66, if the automatic planting flag remains OFF as before (both S63 and S66 are NO), if the automatic planting flag is turned OFF this time from ON last time ( S63 is NO, S66 is YES), if the automatic planting flag is turned ON this time from OFF last time (both S63 and S64 are YES), if the automatic planting flag remains ON as it was last time (YES in S63) , S64 is NO), and the processing is divided for each of the four cases.

If the automatic planting flag remains OFF, which is the same as the previous time (NO in both S63 and S66), the process is returned. When the automatic planting flag is turned OFF from ON last time (NO in S63, YES in S66), the notification of the third notification mode by the notification buzzer 61, which will be described later, is terminated (S67). When the automatic planting flag is turned ON from OFF last time to ON this time (both S63 and S64 are YES), the notification of the third notification mode by the notification buzzer 61 (third notification process) is started, and the running position Ls is counted. is started, and the timing notification flag is set to ON (S65). If the automatic planting flag remains ON as before (YES in S63, NO in S64), the process is returned.

In step S62, when the timing notification flag is ON (YES in S62), the traveling position Ls is compared with the second notification start position l2 (see FIG. 10) (S68), and the traveling position Ls is notified. If the start position l2 has not been reached (NO in S68), the traveling position Ls is further compared with the first notification start position l1 (l1<l2, see FIG. 10) closer than the notification start position l2 (S70). . As shown in FIG. 10, in the turning (advancing) direction of the riding rice transplanter P, the notification start position l2 is set on the front side of the planting start position L2, and the notification start position l1 is set on the front side of the descent start position L1. is set to

If the travel position Ls does not exceed the notification start position l1 (NO in S70), the process returns. On the other hand, when the traveling position Ls exceeds the notification start position l1 (Ls≧l1, YES in S70), the notification in the first notification mode (first notification process) is performed by the notification buzzer 61 for a predetermined time ( S71).

When the traveling position Ls exceeds the notification start position l2 (Ls≧12, YES in S68), the notification buzzer 61 performs notification in the second notification mode (second notification process), and the timing notification flag is turned OFF. (S69).

In the case of the present embodiment, as the notification of the third notification mode, for example, the notification buzzer 61 is caused to generate an intermittent sound (for example, a beeping sound, a short sound) whose generation cycle is the first generation cycle. On the other hand, as the notification of the first notification mode and the second notification mode, for example, an intermittent sound (for example, a beeping sound, a short sound) with a second generation cycle shorter than the first generation cycle is generated for a predetermined time. The information buzzer 61 is caused to generate over a period of time. Alternatively, as the notification of the first notification mode and the second notification mode, instead of such an intermittent sound (short sound), a continuous sound that continues for a predetermined time (for example, a continuous beep sound, called a long sound) is generated for a predetermined time. You may make the information buzzer 61 generate|occur|produce over. Note that the notification in the first notification mode and the notification in the second notification mode may not be the same notification mode, and may be different notification modes from the third notification mode.

The notification by the notification buzzer 61 will be specifically described with reference to FIG. 10 . As shown in FIG. 10, when the riding rice transplanter P starts to turn at the turning start position L0 on the headland, an intermittent beeping sound (third notification mode) is started. Thereby, the operator can grasp that planting automatic control was started.

When the riding rice transplanter P exceeds the notification start position l1, notification by an intermittent beeping sound (or continuous beeping sound, first notification mode) is started. When the sound of the notification buzzer 61 changes from an intermittent beep beep to an intermittent beep beep sound, the operator can recognize that the lowering start position L1 is approached. This intermittent beeping sound continues while the vehicle passes through the first travel area LH including the notification start position l1 (predetermined time).

As a result, the operator can grasp the descent start position L1, so if it is determined that the descent start position L1 grasped by the notification is not the optimum position for descending the planting machine 3, the artificial planting machine 3 lowering operation can be performed at a desired position (timing). As the riding rice transplanter P approaches the descent start position L1, it is preferable to gradually shorten the generation period of the intermittent beeping sound, because this makes it easier for the operator to grasp the descent start position L1.

If the planting machine 3 is not manually lowered, and the riding rice transplanter P exceeds the lowering start position L1, the notification returns to the intermittent beep sound (third notification mode). On the other hand, when the planting machine 3 is manually lowered, the intermittent beeping sound (first notification mode) and the intermittent beeping sound (third notification mode) are terminated and become silent. . That is, when the planting automatic control is canceled by manual operation, the notification by the intermittent beep sound (third notification mode) is terminated.

When the planting work machine 3 is not manually lowered, when the riding rice transplanter P exceeds the notification start position l2, an intermittent sound (third notification mode) in which the notification buzzer 61 sounds beep-beep-beep-beep-beep-beep-beep. Since it changes to an intermittent sound (second notification mode) that sounds, the operator can grasp that it is close to the planting start position L2. In the case of this embodiment, from the start to the end of the planting automatic control, and while not passing through the first travel area LH and the second travel area LK, the notification in the third notification mode is performed.

On the other hand, when the planting machine 3 is manually lowered, when the riding rice transplanter P exceeds the notification start position l2, an intermittent beeping sound (second notification mode) is emitted from the notification buzzer 61. generated. That is, even after the planting automatic control is canceled by a human operation, the notification of the planting start position L2 is continued. This intermittent sound (second notification mode) continues to sound while the vehicle passes through the second travel area LK including the notification start position l2 (predetermined time). Then, when the riding rice transplanter P exceeds the planting start position L2, the notification by the notification buzzer 61 ends and becomes silent.

As a result, the operator can grasp the planting start position L2, so if it is determined that the planting start position L2 grasped by the notification is not the optimum position for connecting the planting clutch 8, the artificial planting clutch 8 connection operation can be performed at a desired position (timing). As the riding rice transplanter P approaches the planting start position L2, it is preferable to gradually shorten the generation period of the intermittent beeping sound, because this makes it easier for the operator to grasp the planting start position L2. .

As described above, when the riding rice transplanter P of the present embodiment starts to turn at the turning start position L0 on the headland, the notification buzzer 61 starts to notify in the third notification mode. Then, when the riding rice transplanter P exceeds the notification start position l1, the notification in the first notification mode by the notification buzzer 61 is started. Further, when the riding rice transplanter P exceeds the notification start position l2, the notification in the second notification mode by the notification buzzer 61 is started. As a result, the operator can easily perform the lowering operation of the planting work machine 3 at an appropriate lowering start position and the connection operation of the planting clutch 8 at an appropriate planting start position according to the notification by the notification buzzer 61. It becomes possible. Therefore, even if positional deviation occurs due to the effects of wheel slip and turning start timing during planting automatic control, the operator can perform an artificial recovery operation at an appropriate position (timing).

In addition, in the above-described embodiment, an example in which the notification buzzer 61 is operated as notification means to perform notification by sound is shown, but the present invention is not limited to this. The notification means may be capable of notifying the operator, and may be, for example, notification by means of light such as an LED or a lamp, or notification by display such as a liquid crystal display. In addition, as notification by sound, the pitch or timbre of the sound of a buzzer may be changed.

Moreover, in the above-described embodiment, the riding rice transplanter P having the traveling body 1 supported by the front wheels 9 and the rear wheels 10 has been described, but the present invention is not limited to this. The transplanter may include a traveling body 1 supported by a crawler as a traveling device.

Reference Signs List 1 Traveling body 3 Planting work machine 8 Planting clutch 20a Operating means (steering handle)
25 Lifting means (hydraulic control mechanism)
50... Control means (control unit)
55 Position detection means (rotation sensor)
61... Notification means (notification buzzer)
L1: First travel position (descent start position)
L2: Second running position (planting start position)
LH: first travel area LK: second travel area P: transplanter (riding rice transplanter)

Claims (4)

A transplanter that includes a traveling machine body and a planting machine supported by the traveling machine body, and that transplants seedlings into a field by the planting machine while traveling,
an operation means for steering the traveling machine;
A planting clutch for connecting and disconnecting power to be supplied to the planting machine;
Elevating means for elevating the planting machine;
a position detection means for detecting the running position of the running body;
a notification means;
When the traveling machine body starts turning, the planting clutch is disconnected and the planting machine is raised, and when the traveling machine body reaches the first traveling position, the planting machine is lowered, Automatic planting control for connecting the planting clutch when the traveling machine body reaches a second traveling position farther than the first traveling position, and notification control for controlling the notification means to perform notification. a control means;
The notification control includes a first notification process in which the notification means is notified in a first notification mode while the traveling machine body passes through the first traveling region including the first traveling position; While passing through the second travel region including the position, second notification processing to notify the notification means in the second notification mode, and between the start and end of the planting automatic control and the first travel region and the A third notification process that causes the notification means to notify in a third notification mode different from the first notification mode and the second notification mode while not passing through the second travel area,
A transplanter characterized by: When the automatic planting control is canceled, the control means terminates the third notification process, while continuing the first notification process and the second notification process.
The transplanter according to claim 1, characterized in that: The notification means generates an intermittent sound as the third notification mode, and generates a continuous sound as the first notification mode and the second notification mode,
3. The transplanter according to claim 1 or 2, characterized in that: The notification means generates an intermittent sound with a first generation cycle as the third notification mode, and generates an intermittent sound with a second generation cycle shorter than the first generation cycle as the first notification mode and the second notification mode. Occur,
3. The transplanter according to claim 1 or 2, characterized in that:

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