JP4752195B2 - Agricultural vehicle control system - Google Patents

Description

  The present invention relates to a control device for a farm vehicle that automatically performs field planting work such as rice planting work as the vehicle runs.

  In a paddy field work vehicle that performs rice transplanting as well as machine traveling, the operation of the farm working apparatus is controlled in conjunction with the turning traveling operation of the machine as shown in Patent Document 1 by the farm working device provided in the machine capable of turning. Is known. This paddy field work vehicle is configured to include a farm work device that performs paddy field vegetation work such as rice planting so as to be capable of moving up and down, a float that is integrated with the farm work device, and the like. This float is a flat floating body that is attached so as to be able to detect an inclination in the front-rear direction, leveling the vegetation surface of the paddy field, and detecting the height position of the vegetation surface.

  In reciprocating operation traveling in a field such as rice planting, the farm work device performs planting work while leveling the vegetation board surface with a float. At this time, the planting depth is adjusted by adjusting the height of the farm work apparatus based on the inclination angle of the float. During the turning process of making a U-turn at the turning point from going back to returning, the planting operation of the farm work device is stopped and the farm work device and the float are held at the non-working height position above the vegetation board surface by the ascending operation. Then, when turning into the turning direction and the aircraft turns in the reverse direction, the farm work apparatus and the float are lowered and the planting is resumed by operating the farm work apparatus. By automatically processing this series of turning operations in conjunction with the turning operation of the airframe by the control device, the operation burden on the operator can be reduced.

However, in the series of automatic turning processes by the control device, when the headland planting operation is started at the end of the reciprocating planting operation in the field, the farm work device may be operated improperly, and as a result, the headland There was a problem of disturbing the planting work.
JP 2002-335720 A

  The problem to be solved is to provide a farm vehicle control apparatus that performs control so that inappropriate operation of the farm work apparatus can be avoided when the headland land-filling work is entered from the reciprocating planting run.

The invention according to claim 1 instructs the stop of the farm work apparatus and the start of measurement of the odometer in correspondence with the timing of the turning start detected by the turning detection means for detecting the turning motion of the airframe, and determines from the running distance In the agricultural vehicle control apparatus including a control processing unit that performs a turn control for commanding the operation of the farm work device by reaching the work start position of the next stroke when the turn is completed, the control processing unit is configured to move to the work start position. Until the above determination of arrival,
The steering operation detecting means for detecting the steering operation for turning the aircraft has detected the interruption of the steering,
Or current heading and the pivot forward position and orientation differences and current towards position change is small criteria in the appropriate the Kotono headland swing control condition below 120 degrees of the aircraft based on the azimuth sensor for detecting an azimuth of the aircraft at least one condition of,
When the farming device is lowered after the backward operation and the subsequent forward operation, or when the farming device is lowered without performing the backward operation ,
Alternatively, when the manual operation detecting means for detecting the manual operation of the farm work apparatus detects the manual operation,
It is configured to turn the headland to command the operation of the farm equipment ,
When the headland turning control condition is not satisfied and when the manual operation detection means does not detect manual operation, the original process is continued without the pillow planting process,
If the following heading control condition is satisfied and the forward operation following this is not performed, wait until there is a forward operation,
When the headland turning control condition is satisfied and there is no reverse operation and there is no lowering operation of the farm work apparatus, the original process is continued without performing the pillow planting process .
In the invention according to claim 2, in addition to the operation command of the farm work apparatus until the determination, in the turning control of the headland, the marker is inactivated.
In the invention according to claim 3, in addition to the operation command of the farm work apparatus until the determination, in the turning control of the headland, the lifting sensitivity of the planting part is set to be insensitive.
According to claim 4 the invention is provided with a setting timer which can be set arbitrarily the time to recognize start the azimuth difference between the turning front position based on the azimuth sensor.
The invention according to claim 5 is provided with a rotation sensor that detects the number of rotations of the left and right rear wheels and a left and right marker in addition to the operation command of the farm work apparatus until the determination, and the control processing unit Based on the sensor, control is performed so that the marker on the side with the larger number of rotations of the left and right rear wheels is output after the aircraft has finished turning .

The agricultural vehicle control apparatus of the present invention has the following effects.
In the invention according to claim 1, when the control processing unit determines that the turn is completed and the work start position of the next stroke is reached by measuring the turning operation distance corresponding to the turning of the machine body, the farm work apparatus is operated. The steering operation detecting means for detecting the steering operation for turning the aircraft has detected the interruption of the steering until the completion of the turn and the arrival of the work start position of the next stroke .
Or current heading and the pivot forward position and orientation differences and current towards position change is small criteria in the appropriate the Kotono headland swing control condition below 120 degrees of the aircraft based on the azimuth sensor for detecting an azimuth of the aircraft at least one condition of,
When the farming device is lowered after the backward operation and the subsequent forward operation, or when the farming device is lowered without performing the backward operation ,
Alternatively, when the manual operation detecting means for detecting the manual operation of the farm work apparatus detects the manual operation , the operation of the farm work apparatus is commanded. Therefore, when shifting to the headland work, inappropriate operations of the farm work apparatus due to the turning control being performed are restricted, and the headland work can be prevented from being disturbed.
In addition to the effect of the first aspect, the invention according to the second aspect can prohibit the marker operation unnecessary for the rotation planting and avoid the damage.
In addition to the effect of the first or second aspect, the invention according to the third aspect can level the field that is rough due to the body turning.
The invention according to claim 4, in addition to the effects of any one of claims 1 to 3, the timer setting by the operator can be arbitrarily set input, can correspond to an operator of the personality.
In addition to the effect of any one of the first to fourth aspects, the invention according to claim 5 has conventionally raised the planting part by replenishing seedlings because the left-right switching control was performed by the vertical movement of the planting part. In some cases, it may be switched to the opposite side, and in the pillow processing, it is necessary to manually turn off the marker. In addition, the steering operation may cause the steering to be reversed for alignment, and the operation was unstable. However, the above configuration eliminates such a problem and improves the workability by increasing the operating accuracy of the marker. Can do.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
An example of the rice paddy working machine of the present invention will be described with respect to the rice transplanter shown in the side view of FIG. The rice transplanter 1 supports the vehicle body so that four wheels can be driven by the turning wheels 2 and 2 and the rear wheels 3 and 3, in addition to the steering handle 4, the operator seat 5, the engine 6, the planting part (agricultural work device) 7, A control device (not shown) that controls various devices is provided.

  The planting part 7 is a farming device attached to the rear part of the machine body so as to be able to be lifted and lowered via the lifting part 11. In addition to the multi-planting operation according to the running of the machine body through a planting clutch (not shown), A feed unit 13 that sequentially feeds seedlings in conjunction with each other, a fertilizer unit 14 that discharges medicinal fertilizer, a leveling float unit 15... The float unit 15 is a flat floating body attached to the working unit so as to be able to detect the inclination, leveling the vegetation surface of the paddy field and detecting the height position of the vegetation surface.

  The control device turns the pattern according to the selection among “turn with back”, “automatic turn”, and “headland adjustment turn” by switching operation of the turn changeover switch 21 of FIG. 2 arranged on the cab of the rice transplanter 1. Configure to process. As shown in FIG. 3A, the “automatic turn” is a turning pattern in which planting is stopped in response to a steering operation for turning, and planting is resumed in a predetermined procedure accompanying the turning of the aircraft. As shown in FIG. 3 (b), the “turn with back” advances to a position close to the eaves and stops, stops planting, and resumes planting along with the subsequent turn of the machine following the reverse of the machine. As shown in Fig. 3 (c), the "headland adjustment turn" is for stopping the planting from the position before the aircraft turning and moving forward, and resuming the planting following the aircraft turning. is there.

  As shown in the system diagram of FIG. 4, the input / output configuration of the control processing unit 22 that performs signal processing in the control device includes various switch and sensor signals in addition to the operation signal of the changeover switch 21 for selecting the turning pattern. In addition, it controls the actuators of various devices for airframe traveling and planting operation. Specifically, on the input side, a planting start automatic changeover switch 23 for automatic planting operation selection, a finger lever switch 23a for planting operation command, and a planting part ascent mode switch 24 for automatic ascent selection of the planting part 7 , HST lever position sensor 25 for detecting a shift operation, steering angle sensor 26 for detecting a steering operation, a time lag adjusting dial 27 for adjusting a time, a brake pedal sensor 28 for detecting a brake operation, and n1 for determining a lowering timing of the working unit A setting dial 29, an azimuth sensor 51 for detecting the azimuth of the machine body axis line, a front / rear inclination angle sensor 52 for detecting the front / rear inclination of the machine body, etc. are connected to input signals.

  On the output side, an electromagnetic hydraulic valve 11b for raising and lowering the planting unit 7 via a hydraulic cylinder 11a of the elevator unit 11, a planting clutch operating solenoid 31 for planting operation of the planting unit 7, and a fertilizing clutch operation for operating a fertilizer machine Solenoid 32, HST motor 33 for tilting the HST lever, side float stopper solenoid 36 for fixedly controlling tilt detection of the float unit 15 described later, planting depth motor 37 for adjusting planting depth, left and right electric motors A marker motor 61 or the like that operates the marker is connected to control each device.

  The n1 setting dial 29 is a dial that can be adjusted within a predetermined range from “early” to “slow” centering on “standard”, and the rotation distance n1 of the drive shaft corresponding to the instruction is the lowering timing of the working unit. Is set. The side float stopper solenoid 36 drives a stopper that fixes the tilt of the side float to advance and retreat. By fixing the inclination of the side float by the side float stopper solenoid 36, it is possible to forcibly level the ground of the wheel during turning. The float fixing operation for leveling is canceled by the control processing unit 22 when the planting unit 7 descends and starts the planting operation, and thereafter, the lift adjustment is performed by detecting the inclination. Further, the planting depth motor 37 is attached to the support portion of the side float to adjust the planting depth. In particular, driving reaction force is applied when going straight after turning, and the planting part 7 at the rear part of the aircraft lowers due to the aircraft ascending, and the planting depth by this planting unit 7 becomes inappropriate. Control the depth to be shallow.

  As shown in the flowchart of FIG. 5, the control processing by the control processing unit 22 is such that after each sensor value reading (S1), the shift position becomes the planting speed (S2), and the drive shaft rotational speed is a predetermined value. Wait until n3 (S2a) is reached. This predetermined value n3 is a rotational distance corresponding to the straight traveling distance of the farm field, and by setting in advance, it is possible to determine the approach of the farm field to the edge. By this condition determination, after the marker non-operation process (S2b), the turn selection changeover switch 21 is checked (S3), and according to the selection from among "turn with back", "automatic turn" and "headland adjustment turn" Rotate the pattern.

  The turn pattern with the back is described in detail on the condition that the HST lever is neutral (S11) and the main clutch is not "disengaged" (S12) according to the signal from the HST lever position sensor 25. When traveling is stopped by the HST lever, a planting part “rising” and a planting clutch “disconnect” are commanded (S13).

  In this case, the detection accuracy of the turning control can be improved by detecting the neutrality of the HST lever. In addition, a wrinkle detection sensor such as a contact sensor (not shown) is provided at the front end of the body, and the HST lever is returned to neutral via the lever tilting device 33 according to a detection signal when approaching the side surface of the wrinkle to automatically stop. By configuring, it is possible to prevent the collision with the rod and improve the positioning accuracy, and to secure the subsequent control accuracy.

  In the case of the main clutch “disengaged”, it is possible to cope with an abnormal stop or the like during planting by stopping the turning process, including the case where continuation of the stop for a predetermined time or more is detected. At this time, it is configured to return to the “turn with back” process when the operator performs a reverse operation. In addition, since the planting part “rise” is performed before the backward movement of the aircraft, the planting part 7 cannot be fully raised during the backward movement of the aircraft due to the normal backlift operation that raises the working unit with the backward movement of the aircraft. Since the situation of biting into the topsoil is avoided, breakage of the float portion 15 can be prevented.

  Next, the vehicle travels a predetermined distance backward (S14) with a lapse of a predetermined time in order to alleviate the impact. During this reverse travel, the time margin allows the operator to receive less shock due to switching of the traveling direction and prevent biting into the topsoil when the ascending operation of the planting part 7 is slow. Further, since the planted field scene is disturbed by the wheel traces due to the backward movement, and it is troublesome to erase the wheel traces without defeating the planted seedlings, the backward movement is restricted to the range up to the planting end position.

  After a predetermined time elapses, a forward operation (S15) is awaited, and distance counting by drive shaft rotation starts (S16). The operability can be improved by configuring the aircraft to move forward by a tilt command of the HST lever instead of the forward operation. Further, by providing a time lag until the aircraft starts moving forward, the shock received by the operator can be suppressed, and by providing the time lag adjustment dial 27, it is possible to set the preferred time for backward and forward movement, so that operability Can be improved.

  In accordance with the steering operation (S17) for turning following the start of forward movement, the turning operation of the aircraft is accompanied by the direction storing process (S18a, S18a) and predetermined left or right turn control (S18, S18) described later. To resume planting from the specified position. The predetermined turn control (S18) is based on the left and right common subroutine processing, and is configured to be incorporated into other turning patterns.

  In the case of using a rice transplanter with a small number of planting lines, the “turn with back” control process as described above can be planted up to a position close to the reed in the reciprocating planting work on the field. In order to adapt to the planting width, it is possible to reduce the circumferential planting work width of the ridge. In the case where the control of the turning process is stopped by the signal of the brake pedal sensor 28, safety can be ensured in case of abnormality.

  In the “automatic turn”, distance counting is started (S22, S22) in the same manner as described above in accordance with the left / right steering wheel operation (S21), and turn control corresponding to the azimuth storage processing (S18a, S18a), respectively. Planting is resumed from a predetermined position by (S18, S18). In addition, the “headland adjustment turn” starts the distance count (S32) in the same manner as described above under the condition of the planting “cut” operation (S31), performs azimuth storage processing (S18a), and continues to move forward before turning. Planting is resumed from a predetermined position by performing azimuth storage processing and turn control (S18, S18) in accordance with the steering wheel operation (S33).

  For details of the left or right turn control process by the subroutine process, as shown in the flowcharts of FIGS. 6 and 7, the ascending mode switch 24 of the planting unit 7 is checked (S41). After waiting until the predetermined turning distance n1 is reached by several checks (S42), the lift sensitivity of the center float is set to "insensitive" (S42a), and the side float solenoid 36 is activated (S42b) to Fix tilt detection.

  Ascending / descending sensitivity is reduced when the topsoil is soft, by receiving an acting force near the fulcrum of the rear part of the center float of the float part 15 as a rising position when the topsoil is hard. By receiving an acting force closer to the front part away from the center fulcrum of the center float as a posture, the detection sensitivity is increased to make it more sensitive. After these side and center floats are set, a planting part “down” is commanded (S44) after a process A (S43) for pillow planting described later.

  On the other hand, in the case of the ascending mode in the above check (S41), the planting part “raising” is commanded (S41a), and including this case, when the predetermined turning distance n2 ′ is reached by the drive shaft rotation number check (S45), A fertilizer clutch “ON” is commanded (S47) on condition that the handle angle for determining the abnormal operation is not equal to or greater than a specified value b (for example, 180 °) (S46). If the result of the steering wheel angle check (S46) is equal to or greater than the specified value b, the process is terminated after an alarm output (S46a).

  Subsequently, when the planting start automatic change-over switch 23 is checked (S48), the main clutch “disconnect” alarm is output until the predetermined turning distance n2 is reached by the drive shaft rotational speed check (S49). The process until the main clutch monitoring (S49a) is repeated so as to end by (S49b). If the check of the automatic start switch 23 (S48) is not “ON”, the operation of the finger lever (S48a) is awaited.

  When the predetermined turning distance n2 (S49) is reached, or when the finger lever is operated (S48a), the lifting sensitivity and the side float stopper solenoid 36 are returned to the original state (S50a) to increase the detection sensitivity, Adjusting and controlling the raising and lowering of the planting unit 7 for straight planting, and operating the planting depth motor 37 to the “shallow” side by a predetermined amount (S50b) prevents deep planting at the start of straight traveling.

  Next, planting is “entered”, and the marker operation outside the turn is commanded (S50c), and the drive shaft rotation count clear (S51) starts a new straight-ahead distance count. By this count, planting can be carried out without raising the planting part 7 even if the steering wheel is operated until the next turn position. Moreover, a predetermined planting depth is set by setting a timer at the start of planting (S52), waiting for a predetermined time (S52a) when the aircraft is stabilized, and returning the planting depth motor (S53). The process is terminated while maintaining

  All control values necessary for these series of operation patterns, for example, straight travel distance, straight travel direction, turning steering amount and turning shift value, are maintained even when the engine key is turned off, while all By providing a switch for resetting the control value, a new control value can be set when the field changes.

  With the above-described configuration, the planting unit 7 performs a corresponding operation in conjunction with the turning operation of the airframe by the left or right turn control processing, thereby performing leveling of the turning process and straight traveling after the turning is completed. Planting is resumed.

  In the above, the details of the process A (S43) for pillow planting do not correspond to the ON check of the pillow planting mode switch (S61) as shown in the flowchart of FIG. 8, and the handle angle (S62) is not less than the specified value a. There is no lowering operation (S63) of the planting part by the finger lever, the machine heading difference from before turning is 120 degrees or less and the current heading change is not small (S64), that is, it does not correspond to the predetermined turning motion If so, the original process is continued without the pillow planting process.

  In addition to the case where the pillow transplant mode switch (S61) is turned on, if the handle angle (S62) is not equal to or greater than the specified value a, it corresponds to the condition of S64, and the time-up condition (S66) in the timer process (S65) When the timer turn by is completed and maintained for a predetermined time and the timer is cleared (S67), the pillow planting process (S71 to S77) of (1) is started.

  This pillow planting process is performed when the backward operation by the HST lever and the subsequent forward operation (S72, S73) are performed under the marker non-operation process (S71), or when the planting part is lowered by the finger lever (S63, In the case of S72a), planting part "lower", planting "on", fertilizer clutch "on" (S74), lifting sensitivity set to "insensitive" (S75), timer clear (S76), predetermined planting related The process up to process B (S77) is repeated in series.

  In the above, when there is no lowering operation (S72a) of the planting part by the finger lever, the timer process (S72b) repeats from (1), and when the timer is up (S72c), alarm output, timer clear, drive shaft rotation The process is terminated by clearing the count (S81 to S83).

  As shown in the flowchart of FIG. 9, the details of the process B (S77) relating to the planting are as follows. After the drive shaft rotation count is cleared (S91), the shaft is lifted after the lifting operation (S92) of the planting portion by the finger lever. Until the count starts (S93) and the rotational speed reaches the predetermined value n4 (S94), when the front / rear inclination angle sensor value is not “front rising” (S95), the planting part is lowered by the finger lever ( When S96) is performed, the drive shaft rotation count is cleared (S97) and the process returns to the original process.

  When the lowering operation of S96 is not performed, the process is repeated again from S94. If the rotational speed has reached the predetermined value n4 (S94) by this S94, or if the front / rear inclination angle sensor value is “front rising” (S95), the process is terminated. Thereby, since it is set as the structure which does not return to turn control once it enters into a pillow planting process (control for the head-planting in the headland, processing A and B), in the subsequent head-planting in the headland, It is possible to reliably prevent malfunction, and to detect the exit from the field while finishing the work and passing over the fence by detecting “upwardly rising” of the aircraft (S95) and ending the pillow planting process (Processing A and B) By returning to the control start state, it is possible to perform turn control according to the work conditions when starting the work after moving to the next field. Similarly, a state different from the time of working on the field, such as traveling on a road traveling for a predetermined distance or more while the planting portion is raised, is detected (S94), and the pillow planting processing (processing A and B) is terminated. By returning to the control start state, the turn control can be executed according to the work condition when the work is started after moving to the next field.

  In the control processing according to the above-described processing procedure, unnecessary planting can be prevented by stopping the control when the planting unit 7 is lowered by 90 ° turning (S63). The same applies to the case where the neutral operation of the steering wheel is used as a reference instead of the lowering of the planting portion 7, or the case where the rear wheel count or the azimuth sensor is used. After the stop process, the control is resumed by moving to another field.

  As described above, when the control processing unit detects the suspension of steering, the driving of the farm work device, and the manual operation of the farm work device before the completion of the turning of the body, the turn control is stopped thereafter, and the turn By setting the completion criterion for headland work, even if there is an abnormal operation including erroneous operation before the aircraft turns when shifting to headland work, improper operation of the farm work device It is possible to prevent damage to regulated and planted seedlings.

  In the turning control of the headland, after turning 90 °, the planting part is lowered by the forward operation (S73) following the backward movement operation (S72) of the aircraft, and then the planting operation (S74) is performed. Since planting is automatically controlled, workability can be improved. In addition, by automatically turning off the auto marker as the headland turns (S71), it is possible to inhibit the marker operation unnecessary for the rotation planting and to avoid the damage. In this case, a pillow planting mode switch may be provided to switch the auto marker. Furthermore, when raising and lowering sensitivity by float or the like during pillow planting is switched to “insensitive”, that is, “hard” (S75), it is possible to level the field that is rough due to the turning of the body.

  An orientation sensor by geomagnetism or the like that can recognize the direction of turning of the aircraft is provided, and a setting timer is provided so that the recognition that the planting direction has been changed, for example, by 90 degrees can be selected by time. When the automatic function (turn control) of the turning control can be automatically canceled by S67), the turning control mode can be cleared without requiring a switch operation for ending the turning control as in the prior art. , The operation can be simplified. In this case, it is possible to deal with the individuality of the operator by allowing the operator to arbitrarily input the timer setting.

  The determination of stopping the turning control is performed based on the disengagement of the traveling clutch (S49a), thereby preventing malfunction. Similarly, processing based on drought clutch lever operation, parking brake lever operation, seedling reduction sensor detection signal, fertilizer reduction sensor detection signal, throttle lever idling operation, saddle crossing arm operation, spare seedling table movement, etc. be able to.

  In the marker control, the left / right switching of the marker and the entry / exit are controlled by the rear wheel rotation difference and the rotation speed in the turning control (S50c). Specifically, after the turn is finished, the rotation sensor provided on the rear wheel spindle is controlled so that the marker on the side with the higher number of rotations is put out. In addition, when the body does not turn 180 degrees in the pillow processing (determined based on the number of rotations of the inner rear wheel and the turning distance is less than n2), control is performed so that the marker is not left and right.

  Conventionally, since the left and right switching control was performed by the vertical movement of the planting part, when the planting part is raised by seedling replenishment, it may be switched to the opposite side. It was necessary to turn it off. In addition, the steering operation may cause the steering to be reversed for alignment, so the operation was unstable. However, the above configuration eliminates such a problem and improves the workability by increasing the operating accuracy of the transmission marker. be able to.

  Moreover, before raising the planting part 7 at the time of turning control, the position where the marker is raised based on the travel distance is controlled (S2b), and the marker is twisted by dragging when the marker is raised while turning. Therefore, the line drawing by the marker is straight and the operator can work without hesitation, and the breakage of the marker can be prevented.

It is a side view of the rice transplanter to which the control device for ground working machines of the present invention is applied. It is a turn selection switch. It is each turning block diagram of "automatic turn" (a), "turn with back" (b), and "headland adjustment turn" (c). It is an input-output system diagram of the control device for ground working machines. It is a detailed flowchart of turn control. It is a detailed flowchart (a) of turn control. It is a detailed flowchart (b) of turn control. It is a detailed flowchart of the process A about the pillow planting in FIG. It is a detailed flowchart of the process B regarding the planting in FIG.

Explanation of symbols

1 Rice transplanter (agricultural work vehicle)
2 Turning wheel 3 Rear wheel (odometer)
4 Steering handle 7 Planting part (agricultural equipment)
11 Lifting unit 22 Control processing unit 23a Finger lever switch (manual operation detecting means)
25 Lever position sensor 26 Cutting angle sensor (steering motion detection means)
31 Planting clutch operating solenoid 51 Direction sensor (turning detection means)
53 Rear wheel transmission shaft rotation speed sensor (turning detection means)
A, B processing

Claims (5)

In response to the turning start timing detected by the turning detection means for detecting the turning motion of the airframe, the stop of the farm work apparatus and the start of the odometer measurement are instructed, and the next process by the completion of the turning determined from the traveling distance is instructed. In the agricultural vehicle control device including a control processing unit that performs turn control to command the operation of the agricultural work device by reaching the work start position,
The control processing unit, until the determination of reaching the work start position,
The steering operation detecting means for detecting the steering operation for turning the aircraft has detected the interruption of the steering,
Or current heading and the pivot forward position and orientation differences and current towards position change is small criteria in the appropriate the Kotono headland swing control condition below 120 degrees of the aircraft based on the azimuth sensor for detecting an azimuth of the aircraft at least one condition of,
When the farming device is lowered after the backward operation and the subsequent forward operation, or when the farming device is lowered without performing the backward operation ,
Alternatively, when the manual operation detecting means for detecting the manual operation of the farm work apparatus detects the manual operation,
It is configured to turn the headland to command the operation of the farm equipment ,
When the headland turning control condition is not satisfied and when the manual operation detection means does not detect manual operation, the original process is continued without the pillow planting process,
If the following heading control condition is satisfied and the forward operation following this is not performed, wait until there is a forward operation,
A farm vehicle control apparatus characterized in that when the turn control condition of the headland is satisfied and there is no reverse operation and there is no lowering operation of the farm work apparatus, the original process is continued without a pillow planting process .   2. The agricultural vehicle control apparatus according to claim 1, wherein, in addition to the operation command of the agricultural work apparatus until the determination, in the turning control of the headland, the marker is inactivated.   The farm vehicle control according to claim 1 or 2, wherein in the turning control of the headland in addition to the operation command of the farm work apparatus until the determination, the lifting sensitivity of the planting part is set to be insensitive. apparatus. 4. The agricultural vehicle control apparatus according to claim 1, further comprising a setting timer that can arbitrarily set a time for starting recognition of a heading difference from a heading direction based on the heading sensor. 5. In addition to the operation command of the farm work apparatus until the determination, a rotation sensor that detects the number of rotations of the left and right rear wheels and a left and right marker are provided, and the control processing unit finishes turning the aircraft based on the rotation sensor. 5. The agricultural vehicle control apparatus according to claim 1, wherein the control is performed so that a marker on a side with a larger number of rotations of the left and right rear wheels is provided later .