JP5027837B2 - Paddy field work vehicle - Google Patents

Description

  The present invention relates to a structure of turning in a paddy field in a paddy field work vehicle such as a riding type rice transplanter or a riding type direct seeder.

  In a riding type rice transplanter, which is an example of a paddy field work vehicle, a planting clutch that transmits power to a seedling planting device (corresponding to a work device) is transmitted when a single work process is completed and the aircraft reaches the edge. Operate in the shut-off state (corresponding to the non-working state), raise the seedling planting device from the paddy surface (corresponding to the non-working state), and perform a turn (turning substantially U-turn). When the turning is finished, the seedling planting device is lowered to the surface (corresponding to the working state), the planting clutch is operated to the transmission state (corresponding to the working state), and the next work process is started.

For example, in Patent Document 1, when the aircraft reaches the heel and the operation of the planting clutch to the disengaged state and the raising of the seedling planting device are performed, the position of the aircraft at this time is the turning start position (see FIG. 9 (E1) (blocking position E1 of paragraph number 0057 of Patent Document 1).
Right and left rotational speed sensors (50 in FIGS. 2 and 6 of Patent Document 1) for detecting the rotational speeds of the right and left rear wheels are provided, and a turning process (airframe) of a predetermined body from the turning start position. Is set as the turning end position (E5 in FIG. 9 of Patent Document 1) (transmission position E5 in paragraph number 0063 of Patent Document 1).

  The aircraft's turning stroke (the distance traveled by the aircraft) has been detected from the turning start position by the right and left rotational speed sensors, and the turn end position has been reached based on the detection of the aircraft's turning stroke (the distance traveled by the aircraft). Is detected, the seedling planting device automatically descends to the paddy surface (step S14 in FIG. 8 of Patent Document 1) (corresponding to the working state), and the planting clutch is automatically operated to the transmission state. (Step S20 of FIG. 8 of Patent Document 1) (paragraph number 0076 of Patent Document 1) (corresponding to the working state), the next work process is started.

  This eliminates the need for the driver to lower the seedling planting device using the elevating lever or to operate the planting clutch at the end of the turn. (Turning start position) and the planting start position (turning end position) of the seedling in the next work process can be made substantially the same position from the heel.

JP 2008-230302 A

As for operating the working device provided in the fuselage to the non-working state (the working device is lifted or the working clutch that transmits power to the working device is disengaged) There is an artificial operation tool (see FIG. 1 of Patent Document 1 and 11 and 12 of FIG. 6).
In recent years, in addition to the above-described human-operated operation tools, when the driver performs a steering operation on the front wheels when the aircraft reaches the heel and the turn starts, the work device automatically enters the non-working state (work Some devices are configured to be operated when the device is raised or when the working clutch that transmits power to the working device is disengaged.

  In this case, the turning start position is detected by the operation of the working device to the non-working state by the human operation tool, the turning end position is set based on the turning start position, and the working device is operated by the steering operation of the front wheel. In the state where the turning start position is detected by the operation to the non-working state and the turning end position is set based on the turning start position, there may be different states as described below.

When the operation device is operated to a non-working state (the working device is lifted or the working clutch that transmits power to the working device is disengaged) by the human operation tool, for example, as shown in FIG. When it reaches, first, the operation device is often operated to the non-working state by the human operation tool. Therefore, the non-working of the work device by the human operation tool is performed in the state where the front-rear direction of the machine body is orthogonal to 畦 B. In many cases, the operation to the state is performed (after this, turning by the steering operation of the front wheels is often started).
As a result, for example, as shown in FIG. 6, the turning start position E11 is detected by the operation of the working device to the non-working state by the artificial operation tool, and the turning strokes L1 and L2 of the predetermined body are performed from the turning start position E11. The turning end position E31 is set as the turning end position E31, and the turning start position E11 and the turning end position E31 are substantially the same position from the heel B.

On the other hand, when the operation to the non-working state of the work device (the work device is lifted or the work clutch that transmits power to the work device is disconnected) by the steering operation of the front wheel is performed, for example, as shown in FIG. In addition, when the aircraft reaches the heel and the front wheel steering operation is performed, the operation of the work device is changed to the non-working state while the direction of the aircraft is changed by the steering operation of the front wheel (turning is started). It will be.
As a result, for example, as shown in FIG. 7, the operation device is operated to the non-working state in the state where the longitudinal direction of the machine body is inclined in the turning direction with respect to the kite B, and the turning start position E12 is detected. Therefore, when the position at which the turning strokes L1 and L2 of the predetermined aircraft are performed from the turning start position E12 is set as the turning end position E32, the turning start position E12 and the turning end position E32 are different from 畦 B. (The turning end position E32 is away from the heel B with respect to the turning start position E12).

  As described above, the turning start position is set by the operation of the work device to the non-working state by the operation of the front wheel by the operation of the work device to the non-working state by the steering operation of the front wheel. In this state, if the turning end position is different, when the work device is operated to the working state based on the detection of the turning end position, the work end position (turning start position) and the work start position ( The turning end position) may be the same position from the heel or different from the heel.

  According to the present invention, in a paddy work vehicle, even if the turning start position is detected by the operation of the working device to the non-working state by the manual operation tool, the turning is started by the operation of the working device to the non-working state by the steering operation of the front wheel. Even if the position is detected, the work end position (turning start position) and the work start position (turning end position) of the working device are configured to be substantially the same position from the heel.

[I]
(Constitution)
The first feature of the present invention is that the paddy field vehicle is configured as follows.
A manipulating device that is manually manipulated to operate the working device provided in the machine body in a non-working state, and a first manipulating the working device to a non-working state based on a steering operation of a front wheel. Operating means,
A turning start position of the airframe is detected based on an operation of the working device to the non-working state by the artificial operating tool or the first operating means, and a position where a predetermined turning stroke of the airframe is performed from the turning start position of the airframe. Setting means for setting as a turning end position of the aircraft,
Airframe position detecting means for detecting the position of the turning stroke of the airframe;
Second operation means for operating the working device to a working state based on detection of the turning end position of the airframe by the airframe position detecting means,
The difference between the turning end position of the airframe based on the operation of the working device to the non-working state by the artificial operating tool and the turning end position of the airframe based on the operation of the working device to the non-working state by the first operating means is small. As described above, a correction means is provided for moving the turning end position of the airframe based on the operation of the work device to the non-working state by the first operating means toward the turning start position side along the turning stroke of the airframe.

(Function)
For example, as shown in FIG. 6, it is assumed that the operation device is operated to the non-working state by the artificial operation tool, and the turning start position E11 and the turning end position E31 are set. In this case, in many cases, the operation device is operated to the non-working state by the human operation tool in a state in which the longitudinal direction of the machine body is orthogonal to the kite B. Therefore, the turning start position E11 and the turning end position E31 are It becomes substantially the same position from 畦 B.

  For example, as shown in FIG. 7, it is assumed that the operation device is operated to the non-working state by the first operating means (front wheel steering operation), and the turning start position E12 and the turning end position E32 are set. In this case, the operation device is operated to the non-working state in a state where the longitudinal direction of the machine body is inclined in the turning direction with respect to the kite B, and the turning end position E32 of the aircraft is set to the kite B position relative to the turning start position E12. Suppose that it is in a position away from.

  According to the first feature of the present invention, for example, as shown in FIG. 7, the turning end position E32 based on the operation of the working device to the non-working state by the first operating means (front wheel steering operation) is the turning stroke of the airframe. It is moved (corrected) to the turn start position 12 side along L1, L2, and the turn end position E32 based on the operation of the work device to the non-working state by the first operating means (front wheel steering operation) is It approaches the turning end position E31 based on the operation of the working device to the non-working state by the artificial operating tool (the difference between the two becomes small).

  Thus, when the work device is operated to the working state based on the detection of the turning end position, the first operation means (even if the turning end position is based on the operation of the working device to the non-working state by the artificial operating tool ( Even if the turning end position is based on the operation of the work device to the non-working state by the steering operation of the front wheels), the work end position (turning start position) and the work start position (turning end position) of the work device are The positions are almost the same.

(The invention's effect)
According to the first aspect of the present invention, the non-working state of the work device by the first operation means (front wheel steering operation) even at the turning end position based on the operation of the work device to the non-working state by the human operation tool. Even if it is the turning end position based on the operation, the work end position (turning start position) and the work start position (turning end position) of the work device can be configured to be substantially the same position from the heel, It became easy to perform the work (for example, the turning planting process in the riding type rice transplanter) along the ridge after this, and the workability of the paddy field work vehicle could be improved.

[II]
(Constitution)
The second feature of the present invention resides in the following configuration in the paddy field work vehicle of the first feature of the present invention.
A travel distance detection means for detecting a travel distance of the airframe; and a steering angle detection means for detecting a steering angle from the straight traveling position of the front wheel,
The turning radius of the fuselage and the movement angle of movement of the fuselage with respect to the turning center of the fuselage are detected based on the travel distance of the fuselage and the steering angle from the straight position of the front wheel. Based on the above, a trigonometric function is used to detect the position of the aircraft in the traveling direction of the aircraft before the start of turning, and the position of the aircraft in the traveling direction of the aircraft before starting the turning is detected as the position of the turning stroke of the aircraft. Thus, the airframe position detecting means is configured.

(Function)
As described in the preceding section [I], the configuration for detecting the position of the turning stroke of the aircraft may be configured to detect the travel distance of the aircraft from the start of turning and set the position of the turning stroke of the aircraft. is there. This configuration is based on the idea that the turn at the shore of a paddy field work vehicle is a similar turn (standard turn), and the position of the turn of the airframe depends on the distance traveled from the start of the turn. It is the idea that it is derived.
However, if the turning at the shore becomes larger or smaller than expected due to the difference in the driver's maneuvering, the precondition of “typical turning” is lost in the above configuration, so the aircraft's With only the travel distance, the position of the turning stroke of the airframe cannot be detected with high accuracy, and the end position of turning cannot be detected with high accuracy.

  According to the second feature of the present invention, the travel distance of the airframe and the steering angle from the straight position of the front wheel are used, and the steering angle from the straight position of the front wheel is added to the travel distance of the airframe. Thus, it is possible to detect in which direction and how much the aircraft has advanced. If it is possible to detect how much the aircraft has advanced in which direction, even if the turning at the shore becomes larger or smaller than expected, regardless of this, before the start of the turning (for example, L01 in FIG. 6). The position of the aircraft (see, for example, Y1 in FIG. 8B) in the traveling direction of the aircraft (see, eg, (+ Y) (−Y) in FIG. 6) can be detected.

  For example, as shown in FIGS. 8 (a) and 8 (b), the turning radius R of the fuselage and the turning center C of the fuselage are determined by the travel distance G of the fuselage and the steering angle A from the straight travel position A1 of the front wheel 1. It is possible to detect the movement angle θ that the airframe has moved (for example, based on the wheel base W of the front wheel 1 and the rear wheel 2 and the steering angle A from the straight movement position A1 of the front wheel 1) The turning radius R is detected, and the movement angle θ of the aircraft is detected based on the turning center C and the turning radius R of the aircraft and the travel distance G of the aircraft). By detecting the turning radius and the moving angle of the aircraft, the position of the aircraft in the traveling direction of the aircraft before the start of turning can be detected with high accuracy by using a trigonometric function (for example, R * SIN in FIG. 8B). (Y1 is detected by (θ)).

  According to the second feature of the present invention, the position of the aircraft in the traveling direction of the aircraft before the start of turning can be detected regardless of whether the turning at the shore becomes larger or smaller than expected. If possible, by detecting (setting) the turning start position, it is possible to accurately detect the turning end position from the turning start position based on the position of the airframe in the traveling direction of the airframe before the start of turning.

(The invention's effect)
According to the second feature of the present invention, by detecting the position of the airframe in the traveling direction of the airframe before the start of turning, the turning end position can be detected with high accuracy, and the work device can be operated based on the detection of the turning end position. As a result, the work performance of the work vehicle can be improved.

It is a whole side view of a riding type rice transplanter. It is a top view which shows the steering operation system of the right and left front wheels, the transmission system to the right and left front wheels, and the right and left rear wheels. It is a figure which shows the control system of the body position detection means, turning start position detection means, turning end position detection means, 1st and 2nd operation means, correction | amendment means, automatic raising means, automatic raising / lowering control means with which the control apparatus was equipped. . It is a figure which shows the flow of control in the state which enters into the first half turning stroke and the second half turning stroke based on the operation lever being operated to the raised position (operated to the raised position and operated to the neutral position). Based on the fact that the right and left front wheels (steering members) are steered to the right (left) steering limit side beyond the right (left) setting angle, the first half turning stroke and the second half turning stroke It is a figure which shows the flow of control in the state which enters. It is a top view which shows the state which enters into the first half turning stroke and the second half turning stroke based on the operation lever being operated to the raised position (operated to the raised position and operated to the neutral position). Based on the fact that the right and left front wheels (steering members) are steered to the right (left) steering limit side beyond the right (left) setting angle, the first half turning stroke and the second half turning stroke It is a top view which shows the state which enters. (A) is a top view which shows the state which detects the wheel base of a wheel, the steering angle from the straight drive position of a wheel, the turning center of a body, and the turning radius of a body. (B) is a top view which shows the state which detects the position of the airframe in turning in the advancing direction of the airframe before the start of turning by the turning radius and movement angle of the airframe.

[1]
As shown in FIG. 1, a link mechanism 3 is supported by a rear part of a machine body supported by right and left front wheels 1 and right and left rear wheels 2 so that the link mechanism 3 can be moved up and down. And a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3 to constitute a riding type rice transplanter as an example of a paddy field work vehicle. A paddy field generally has a mud or water layer formed on the lower hard cultivator G1, and the uppermost surface of the mud or water layer is a field surface G2, and the right and left front wheels 1, the right and left rear The wheel 2 travels in contact with the tiller G1.

  As shown in FIG. 1, the seedling planting device 5 includes three planting transmission cases 6, a rotary case 7 supported on the left and right of the rear portion of the planting transmission case 6, and rotatably supported at both ends of the rotary case 7. A pair of planting arms 8, a plurality of floats 9, a seedling platform 10, and the like are provided and configured in a six-row planting type. A hopper 14 for storing powdered fertilizer and three feed units 15 (corresponding to a working device) are provided on the rear side of the driver seat 13, and a blower 16 is provided below the driver seat 13. It has been. The float 9 is provided with a groove forming device 17, and a hose 18 is connected across the feeding portion 15 and the groove forming device 17.

  As shown in FIGS. 1 and 3, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and are in contact with the surface G <b> 2 to form an indicator (see FIG. 1). , And a retracted posture (see FIG. 3) that is spaced upward from the surface G2, so that it can be operated freely. The right and left markers 19 include an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. The electric motor 21 is provided to operate the right and left markers 19 to the working posture and the retracted posture, and the electric motor 21 is operated by the control device 23.

[2]
Next, the transmission system to the right and left front wheels 1 will be described.
As shown in FIG. 2, the power of the engine 31 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 via the transmission belt 32, and the front wheel differential is transmitted from the auxiliary transmission (not shown) of the transmission case 34. It is transmitted to the right and left front wheels 1 via a mechanism (not shown) and a transmission shaft (not shown) of the front axle case 35. The hydrostatic continuously variable transmission 33 is configured to be continuously variable from the neutral position to the forward side and the reverse side. As shown in FIG. 1, a shift lever 45 provided on the left side of the steering handle 20 is provided. To operate the hydrostatic continuously variable transmission 33.

  As shown in FIG. 2, a steering member 41 having a trapezoidal shape in plan view is swingably supported around the vertical axis P <b> 2 at the bottom of the mission case 34, and the steering member 41 is swung by the steering handle 20. The tie rod 42 is connected across the steering member 41 and the right and left front wheels 1. Accordingly, by operating the steering handle 20, the right and left front wheels 1 (steering member 41) can be steered from the straight travel position A1 over the right and left steering limits A3.

  As shown in FIGS. 1 and 2, reinforcing right and left frames 49 are connected across the rear portion of the mission case 34 and the body frame 66. A potentiometer 47 (corresponding to the steering angle detection means) is fixed to the left frame 49 in the body side, and a linkage rod 48 is connected across the steering member 41 and the detection arm 47a of the potentiometer 47.

  As shown in FIGS. 2 and 3, the position of the steering member 41 is detected by the potentiometer 47, and the detected value of the potentiometer 47 is input to the control device 23, and the right and left front wheels are detected by the detected value of the potentiometer 47. 1 (steering member 41) is detected a steering angle A from a straight traveling position A1.

[3]
Next, the transmission system to the right and left rear wheels 2 will be described.
As shown in FIG. 2, the power of the auxiliary transmission (not shown) of the transmission case 34 meshes with the transmission shaft 36, the input shaft 38 of the rear axle case 37, the bevel gear 38a fixed to the input shaft 38, and the bevel gear 38a. It is transmitted to the right and left rear wheels 2 via the bevel gear 39a, the transmission shaft 39 to which the bevel gear 39a is fixed, the right and left side clutches 40, and the right and left axles 65.

  As shown in FIG. 2, the right and left side clutches 40 are configured in a frictional multi-plate type and are urged to a transmission state. The right and left operation shafts 43 for operating the right and left side clutches 40 in the disengaged state are supported downward by the rear axle case 37, and the right and left operation shafts 43 extend between the steering member 41 and the right and left operation shafts 43. The left operating rod 44 is connected. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered within the range of the straight travel position A1 and the right and left set angles A2, the right and left operation rods 44 The right and left side clutches 40 are operated in the transmission state by the interchange of the long holes 44a. As a result, the aircraft moves straight (forward or reverse) while power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered to the right steering limit A3 side beyond the right set angle A2, the length of the right operating rod 44 is increased. The right operating rod 44 is pulled beyond the range of the hole 44 a, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43. Thus, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (the right side clutch). The airframe turns to the right in a state of free rotation (40 interruption state).

  As shown in FIG. 2, when the right and left front wheels 1 (steering member 41) are steered to the left steering limit A3 side beyond the left set angle A2, the length of the left operating rod 44 is increased. The left operating rod 44 is pulled beyond the range of the hole 44a, and the left side clutch 40 is operated to the disconnected state by the left operating shaft 43. Accordingly, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The airframe turns to the left in a state of free rotation (40 interruption state).

  As shown in FIGS. 2 and 3, right and left rotational speed sensors 50 (corresponding to travel distance detecting means) are provided in the rear axle case 37, and the right and left rotational speed sensors 50 provide right and left side sensors. The rotation speed of the lower transmission side of the clutch 40 is detected, and the detection values of the right and left rotation speed sensors 50 are input to the control device 23. Accordingly, the rotation speeds of the right and left rear wheels 2 are detected by the right and left rotation speed sensors 50 regardless of the transmission state and the disconnected state of the right and left side clutches 40.

[4]
Next, the transmission system to the seedling planting device 5 and the feeding unit 15 will be described.
As shown in FIGS. 1 and 3, the power of the auxiliary transmission (not shown) of the transmission case 34 is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 25. The power of the auxiliary transmission (not shown) of the transmission case 34 is transmitted to the feeding portion 15 through the fertilizer clutch 27 and the drive rod 30, and the planting and fertilizer clutches 26, 27 are operated in the transmission and shut-off states. An electric motor 28 is provided.

  As shown in FIGS. 1 and 3, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is turned in the direction shown in FIG. It is rotated in the clockwise direction, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling platform 10 and plant them on the rice field G2. When the planting clutch 26 is operated in the disconnected state, the reciprocating lateral feed drive of the seedling platform 10 and the rotational drive of the rotary case 7 are stopped.

  As shown in FIGS. 1 and 3, when the fertilizer clutch 27 is operated in the transmission state, the fertilizer is fed from the hopper 14 by a predetermined amount by the feeding portion 15, and the fertilizer is made through the hose 18 by the blower 16. The fertilizer is supplied to the rice field G2 through the groove generator 17. When the fertilizer application clutch 27 is operated in the disconnected state, the feeding unit 15 stops and the supply of fertilizer to the surface G2 stops.

[5]
Next, the automatic raising / lowering control means 61 of the seedling planting apparatus 5 will be described.
As shown in FIG. 3, an automatic lift control means 61 is provided in the control device 23. A potentiometer 22 for detecting the height of the central float 9 with respect to the seedling planting device 5 is provided, with the rear portion of the central float 9 supported so as to be swingable up and down around the horizontal axis P1 of the seedling planting device 5. The detection value of the potentiometer 22 is input to the control device 23. As the aircraft moves, the center float 9 follows the ground surface G2 by detecting the height of the center float 9 with respect to the seedling planting device 5 based on the detection value of the potentiometer 22, and the surface G2 (center The height from the float 9) to the seedling planting device 5 can be detected.

  As shown in FIG. 3, the hydraulic cylinder 4 is provided with a control valve 24 for supplying and discharging hydraulic oil, and the control valve 24 is operated by the control device 23. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5, and when hydraulic oil is discharged from the hydraulic cylinder 4 by the control valve 24, the hydraulic pressure is increased. The cylinder 4 is extended and the seedling planting device 5 is lowered.

  As shown in FIG. 3, based on the height of the center float 9 with respect to the seedling planting device 5 (height from the field G2 (center float 9) to the seedling planting device 5), the seedling planting device 5 The control valve 24 is operated so as to maintain the set height from the surface G2 (so that the detected value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central float 9) is maintained at the set value). The cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down (the operation state of the automatic lift control means 61).

[6]
Next, the lifting lever 11 will be described.
As shown in FIGS. 1 and 3, an elevating lever 11 is provided on the right side of the driver's seat 13, and the elevating lever 11 can be operated and held in an automatic position, a raised position, a neutral position, a lowered position, and a planting position. The operation position of the elevating lever 11 is input to the control device 23. A potentiometer 29 for detecting the vertical angle of the link mechanism 3 relative to the airframe is provided, and the detection value of the potentiometer 29 is input to the control device 23, and the seedling for the airframe is detected by detecting the vertical angle of the link mechanism 3 relative to the airframe. The height of the planting device 5 can be detected.

  As shown in FIG. 3, control is performed as described below in a state where the elevating lever 11 is operated to the raised position, neutral position, lowered position, and planting position (the elevating lever 11 is not operated to the automatic position). The control valve 24 and the electric motors 21 and 28 are operated by the device 23, and the hydraulic cylinder 4, the planting and fertilizing clutches 26 and 27, and the right and left markers 19 are operated. In this case, the functions of the raised position U and the lowered position D of the operation lever 12 described in [7] to be described later are not activated, and only the functions of the right and left marker positions R and L of the operation lever 12 are activated.

  As shown in FIG. 3, when the elevating lever 11 is operated to the raised position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. The hydraulic cylinder 4 is contracted and the seedling planting device 5 is raised. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position in a state where the elevating lever 11 is operated to the raised position, the hydraulic cylinder 4 automatically stops.

  As shown in FIG. 3, when the elevating lever 11 is operated to the lowered position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. In a state where the hydraulic cylinder 4 is operated, the hydraulic cylinder 4 extends and the seedling planting device 5 is lowered. When the central float 9 comes into contact with the rice field G2, the automatic lifting / lowering control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 has a set height from the rice field G2). (The state in which the seedling planting device 5 automatically moves up and down so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the central float 9) is maintained at the set value).

As shown in FIG. 3, when the elevating lever 11 is operated to the neutral position, the automatic elevating control means 61 is stopped, the planting and fertilizing clutches 26 and 27 are operated in the disconnected state, and the right and left markers 19 are retracted. The hydraulic cylinder 4 stops in a state where it is operated.
Thus, the seedling planting device 5 can be raised and lowered to an arbitrary height and stopped by operating the elevating lever 11 to the raised position, the neutral position, and the lowered position.

  As shown in FIG. 3, when the elevating lever 11 is operated to the planting position, the automatic elevating control means 61 is activated in a state where the right and left markers 19 are operated to the retracted posture, and the planting and fertilizing clutch 26, 27 is operated to the transmission state. As a result, the rotary case 7 is rotationally driven as the seedling platform 10 is reciprocated horizontally to the left and right, and the planting arms 8 alternately take out seedlings from the lower part of the seedling platform 10 and plant them on the field G2. The fertilizer is fed from the hopper 14 by a predetermined amount by the feeding unit 15, and the fertilizer is supplied to the groove forming device 17 through the hose 18 by the blower 16, and is supplied to the surface G 2 through the groove forming device 17. The

[7]
Next, the operation lever 12 (corresponding to an artificial operation tool) will be described.
As shown in FIGS. 1 and 3, an operation lever 12 is provided on the lower right side below the steering handle 20, and the operation lever 12 extends outward on the right side. The operation lever 12 is configured to be operable in a cross direction from the neutral position N to the upward ascending position U, the downward descending position D, the rear right marker position R, and the front left marker position L, and is biased to the neutral position N. The operation position of the operation lever 12 is input to the control device 23.

  In the state where the elevating lever 11 is operated to the automatic position, the control valve 24 and the electric motors 21 and 28 are operated by the control device 23 based on the operation of the operation lever 12 as described below, and the hydraulic cylinder 4, The attachment and fertilization clutches 26 and 27 and the right and left markers 19 are operated.

  As shown in FIG. 3, when the operating lever 12 is operated to the raised position U (operated to the raised position U and operated to the neutral position N), the planting and fertilizing clutches 26 and 27 are operated to the disconnected state and automatically The raising / lowering control means 61 is stopped, the hydraulic cylinder 4 is contracted to raise the seedling planting device 5, and the right and left markers 19 are operated to the retracted posture as will be described later. When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  As shown in FIG. 3, when the operation lever 12 is operated to the lowered position D (operated to the lowered position D and operated to the neutral position N), the automatic lifting control means 61 stops and the planting and fertilizing clutches 26, 27 are stopped. Is operated in the shut-off state, and the hydraulic cylinder 4 is extended and the seedling planting device 5 is lowered while the right and left markers 19 are operated in the retracted posture. When the central float 9 comes into contact with the rice field G2, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 is set at a set height from the rice field G2. So that the seedling planting device 5 automatically moves up and down (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value). .

  As described above, after operating the operating lever 12 to the lowered position D (operating to the lowered position D and operating to the neutral position N), operating the operating lever 12 to the lowered position D again (to the lowered position D again). When operated to the neutral position N), the planting and fertilization clutches 26 and 27 are operated in the transmission state with the automatic lifting control means 61 activated.

As shown in FIG. 3, the following operation is performed in a state where the height of the seedling planting device 5 detected by the potentiometer 29 is lower than a predetermined height set in advance.
In a state where the right (left) marker 19 is operated to the retracted position, if the operation lever 12 is operated to the right marker position R (left marker position L) for a first set time (relatively short time) or more, the right The (left) marker 19 is operated to the acting posture.
In a state where the right (left) marker 19 is operated to the acting posture, the operation lever 12 is moved to the right marker position R (left marker position L) for a second set time (a time longer than the first set time) or more. When operated, the right (left) marker 19 is operated to the retracted posture.

  As shown in FIG. 3, when the seedling planting device 5 is raised and the height of the seedling planting device 5 detected by the potentiometer 29 is higher than a predetermined height set in advance, The left marker 19 is operated to the retracted posture. In a state where the height of the seedling planting device 5 detected by the potentiometer 29 is higher than a predetermined height set in advance, even if the operation lever 12 is operated to the right and left marker positions R and L as described above. Regardless of this, the right and left markers 19 are maintained in the retracted posture.

[8]
Next, a structure related to the control at the time of turning at the shore will be described.
As shown in FIG. 3, the control device 23 includes a body position detecting means 51, a turning start position detecting means 52 (corresponding to a setting means), a turning end position detecting means 53 (corresponding to a setting means), a first operating means 54, A second operating means 55, a correcting means 56, and an automatic raising means 57 are provided.

  In the state where the elevating lever 11 is operated to the automatic position, the body position detecting means 51, the turning start position detecting means 52, the turning end position detecting means 53, the first and second operating means 54 and 55, the correcting means 56, and the automatic raising The means 57 operates as described in [9] to [13] below. An artificially operable setting switch 46 is provided, and the automatic lifting means 57 can be set to the activated and stopped states when the elevating lever 11 is operated to the automatic position.

  As shown in FIG. 6, the airframe position detection means 51 detects the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 (corresponding to the position of the turning stroke of the airframe). (In other words, the coordinates of the aircraft in the direction of travel before the start of turning are detected). As described in [9] to [13] below, the body position detection means 51 detects the position Y1 of the body in the traveling direction (+ Y) (−Y) of the body during the work strokes L01 and L02.

  In the riding type rice transplanter equipped with the 6-row type seedling planting device 5, as shown in FIG. 6, the first half turning stroke L1 and the second half turning stroke L2 are performed at the beach (畦 B). There is a case where the next work process L02 is entered from the process L01. The first half turning stroke L1 and the second half turning stroke L2 will be described in the following [9] to [13].

Based on the operation lever 12 being operated to the ascending position U (operated to the ascending position U and operated to the neutral position N), the state of entering the first half turning stroke L1 and the second half turning stroke L2, and
Based on the fact that the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the first half turning stroke L1 And the state of entering the second turning stroke L2,
These two states are described in the following [9] to [13].

[9]
Next, based on the operation lever 12 being operated to the raised position U (operated to the raised position U and operated to the neutral position N), in the state of entering the first half turning stroke L1 and the second half turning stroke L2, the first half The turning stroke L1 will be described with reference to FIGS.

  In the work process L01, the seedling planting device 5 comes into contact with the field surface G2, and the operating state of the automatic lifting control means 61 and the transmission state of the planting and fertilizing clutches 26 and 27 (corresponding to the operating state of the working devices 5 and 15). Assume that the transmission state of the right and left side clutches 40, the state where the right marker 19 is operated to the acting posture, and the state where the left marker 19 is operated to the retracted posture.

When the aircraft reaches the heel in this state, the front-rear direction of the aircraft is orthogonal to heel B, and the driver first operates the operation lever 12 to the raised position U (operates to the raised position U). Then, it is operated to the neutral position N) (step S1).
Thereby, the planting and fertilization clutches 26 and 27 are operated in the disconnected state (step S2) (corresponding to the state in which the working devices 5 and 15 are operated in the non-working state by the artificial operation tool 12), and the seedling planting device 5 and the feeding unit 15 are stopped, and the automatic lifting control means 61 is stopped (step S3). The hydraulic cylinder 4 is contracted to raise the seedling planting device 5 (step S4), and the right marker 19 is operated to the retracted position (step S5). When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  When an operation signal due to the operation lever 12 being moved to the raised position U is input to the control device 23, at this time, the turning start position detecting means 52 causes the advancing direction (+ Y) of the machine body in the work strokes L01 and L02. The position Y1 of the machine body at (−Y) is detected (set) as “0 (origin)”, and “0 (origin)” is detected (set) as the turning start position E11 (step S101).

  At the same time, the turning end position detecting means 53 sets “0 (origin)” as the turning end position E31 (step S102) (from the turning start position E11 of the airframe, the predetermined turning turns L1 and L2 of the airframe are performed). This corresponds to a state where the broken position is set as the turning end position E31 of the aircraft). In this case, the turning start position E11 is detected (set) in a state where the longitudinal direction of the airframe is orthogonal to the kite B. Therefore, when “0 (origin)” is set as the turning end position E31, the turning starts. Since the position E11 and the turning end position E31 are substantially the same position from the heel B, the advancing direction (+ Y) (−Y) (corresponding to the advancing direction of the airframe before the start of turning) of the work strokes L01 and L02. It becomes a state orthogonal to 畦 B.

  Immediately after operating the operating lever 12 to the raised position U, the driver operates the steering handle 20, steers the right and left front wheels 1 (steering member 41) in the turning direction, and turns the first half of the turning stroke. Enter L1. When the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S6), the previous item [2] In the state where the side clutch 40 on the outer side of the turn is operated to the transmission state, the side clutch 40 on the turn center side is operated to the disengaged state (step S7).

When detection (setting) of the turning start position E11 is performed in step S101, the machine body position detection means 51 uses the following equation 1 based on the following formula 1 in the traveling direction (+ Y) (−Y) of the machine body in the work strokes L01 and L02. Detection of the position Y1 of the airframe (corresponding to the position of the airframe in the traveling direction of the airframe before the start of turning) is started (step S103).
Formula 1: Y1 = R * SIN (θ)
R: turning radius of the aircraft θ: angle of movement of the aircraft from the turning start position E11

  As shown in FIG. 8A, when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is determined, the turning center C of the fuselage is the right and left rear wheels 2 It is determined that the vehicle is positioned on an extension line of the axle 65 (see FIG. 2), and the wheel bases W (the axles of the right and left front wheels 1 and the axles 65 of the right and left rear wheels 2 (see FIG. 2) 2) and the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is detected. When the turning center C of the airframe is detected, the distance between the left and right center of the airframe and the turning center C of the airframe is detected as the turning radius R of the airframe.

As shown in FIGS. 8A and 8B, in the state in which the turning center C and turning radius R of the airframe are detected, the pulse of the rotation speed sensor 50 on the turning center side (the rotation speed of the rear wheel 2 on the turning center side). ) To detect the travel distance G of the aircraft (corresponding to the arc portion with respect to the turning radius R of the aircraft), and based on the turning center C of the aircraft and the turning radius R and the traveling distance G of the aircraft, the movement angle θ of the aircraft is Detected. As described above, the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 is detected based on Equation 1 based on the turning radius R and the movement angle θ of the airframe (step) S103).
As a result, when the moving angle θ of the airframe is in the range of 0 degrees (turning start position E11) to 90 degrees (boundary position E2), the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02. The position Y1 is in a state of moving away from the turning start position E11 to (+ Y).

[10]
Next, based on the operation lever 12 being operated to the ascending position U (operated to the ascending position U and operated to the neutral position N), in the state of entering the first half turning stroke L1 and the second half turning stroke L2, Will be described with reference to FIGS. 4 and 7.

  When the movement angle θ of the aircraft exceeds 90 degrees (boundary position E2), it is determined that the aircraft has entered the second turning stroke L2. Since the direction of the airframe L2 in the second half is opposite to the direction of the airframe in the first half turn L1, the position Y1 of the airframe in the forward direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02. However, it will be in the state which approaches the turning start position E11 (turning end position E31).

  When entering the latter half of the second half of the turning stroke L2, the driver operates the steering handle 20 to operate the right and left front wheels 1 (steering member 41) to the straight travel position A1 (step S8). As a result, the side clutch 40 on the turning center side is operated to the transmission state (step S9), and the aircraft enters the straight traveling state. When the airframe enters a straight traveling state, the calculation according to Equation 1 is not performed, and the average value (negative value) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) is the work process L01. , L02 is detected as the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft.

  The right and left front wheels 1 (steering member 41) are operated to the straight travel position A1 side beyond the right (left) set angle A2 (step S8), and the side clutch 40 on the turning center side is operated to the transmission state. Then (step S9) At the same time, the seedling planting device 5 is automatically lowered in a state where the planting and fertilization clutches 26 and 27 are operated in the disconnected state (step S10).

  When the central float 9 comes into contact with the rice field G2, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 is set at a set height from the rice field G2. So that the seedling planting device 5 automatically moves up and down (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value). (Step S11).

When the turning end position detecting means 53 detects that the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 has reached the turning end position E31 (step S12). The planting and fertilizing clutches 26 and 27 are operated in the transmission state by the second operating means 55 (step S13) (based on the detection of the turning end position detecting means 53, the work devices 5 and 15 are operated by the second operating means 55. Corresponds to the operating state).
Thereby, planting of seedlings by the seedling planting device 5 and supply of fertilizer to the field surface G2 by the feeding unit 15 are started, and the next work process L02 is started.

[11]
Next, based on the fact that the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the first half In the state of entering the turning stroke L1 and the latter turning stroke L2, the first turning stroke L1 will be described with reference to FIGS.

  In the work process L01, the seedling planting device 5 comes into contact with the field surface G2, and the operating state of the automatic lifting control means 61 and the transmission state of the planting and fertilizing clutches 26 and 27 (corresponding to the operating state of the working devices 5 and 15). Assume that the transmission state of the right and left side clutches 40, the state where the right marker 19 is operated to the acting posture, and the state where the left marker 19 is operated to the retracted posture.

  When the aircraft reaches the heel in this state, the front-rear direction of the aircraft is perpendicular to heel B. With the setting switch 46 being operated to the operating position (step S21), the driver operates the steering handle 20 without operating the operating lever 12 to the raised position U, and the right and left front wheels 1 (steering member 41). Is steered in the turning direction to enter the first half turning stroke L1.

  Thus, when the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2 (step S22), the previous item As described in [2], the side clutch 40 on the turning center side is operated in the disengaged state with the side clutch 40 on the outer side being operated in the transmission state (step S23).

  When the potentiometer 47 detects that the right and left front wheels 1 (steering member 41) have reached the right (left) set angle A2 (when the detection value of the potentiometer 47 is input to the control device 23), Planting and fertilization clutches 26 and 27 are operated in the disconnected state (step S24) (the operation devices 5 and 15 are operated in the non-working state by the first operating means 54 based on the steering operation of the front wheel 1) ), The seedling planting device 5 and the feeding unit 15 are stopped, and the automatic lifting control means 61 is stopped (step S25). The hydraulic cylinder 4 is contracted by the automatic raising means 57, the seedling planting device 5 is raised (step S26), and the right marker 19 is operated to the retracted posture (step S27). When the potentiometer 29 detects that the seedling planting device 5 has reached the upper limit position, the hydraulic cylinder 4 automatically stops.

  In this case, when the setting switch 46 is operated to the stop position (step S21) (the automatic ascending means 57 is stopped), the right and left front wheels 1 (steering member 41) are set to the right (left) set angle A2. Even if the steering operation is performed to the right (left) steering limit A3 side beyond this, only the side clutch 40 on the turning center side is operated in the disconnected state, and the process does not proceed to step S24. Accordingly, in the state where the setting switch 46 is operated to the stop position, the driver operates the operation lever 12 to the raised position U (operating to the raised position U as described in [9] and [10] above). Operate to neutral position N).

[12]
Next, based on the fact that the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the first half The detection (setting) of the turning start position E12 and the turning end position 31 in the state of entering the turning stroke L1 and the latter turning stroke L2 will be described with reference to FIGS.

  As described in [11], when the potentiometer 47 detects that the right and left front wheels 1 (steering member 41) have reached the right (left) set angle A2, the detection value of the potentiometer 47 is When input to the control device 23), at this time, the turning start position detecting means 52 causes the position Y1 of the body in the traveling direction (+ Y) (−Y) of the body in the work strokes L01 and L02 to be “0 ( "Origin)" is detected (set), and "0 (Origin)" is detected (set) as the turning start position E12 (Step S201).

  In this case, when the right and left front wheels 1 (steering member 41) reach the right (left) set angle A2, the longitudinal direction of the machine body is inclined in the turning direction with respect to the kite B. When the turning start position E12 is set at this time, the turning start position E12 is inclined with respect to the kite B.

  Accordingly, as described in [9] above, when “0 (origin)” (turning start position E12) is set as the turning end position E32 as it is, the turning end position E32 is also inclined obliquely with respect to 畦 B. (The turning start position E12 and the turning end position E32 are different from the heel B) (the turning end position E32 is away from the heel B with respect to the turning start position E12). Similarly, when the right and left front wheels 1 (steering member 41) reach the right (left) set angle A2, the advancing direction (+ Y) (−Y) of the machine in the work strokes L01 and L02 is set. And the advancing direction (+ Y) (-Y) of the airframe of work process L01, L02 will be in the state inclined diagonally with respect to ridge B.

  In this case, while the right and left front wheels 1 (steering member 41) are steered from the straight travel position A1 to the right (left) set angle A2, the aircraft can be tilted at any angle in the turning direction. The inclination angle θ <b> 1 is obtained in advance corresponding to the traveling speed of the aircraft, the operation speed of the steering handle 20 by the driver, and the like, and is stored in the control device 23. Thus, when the turning start position E12 is detected (set), the right and left front wheels 1 (steering member 41) are steered from the straight travel position A1 to the right (left) set angle A2. The tilt angle θ1 is obtained based on the traveling speed of the aircraft, the operating speed of the steering handle 20 by the driver, and the like.

  The turning end position detecting means 53 temporarily sets “0 (origin)” (turning start position E12) as the turning end position E32, and the correcting means 56 sets the angle G1 from the turning end position E32 to the 畦 G side (of the fuselage). The position on the turn start position E12 side along the turn strokes L1 and L2 is set as the turn end position E31 (step S202) (based on the operation of the work devices 5 and 15 to the non-working state by the artificial operation tool 12). Work by the first operating means 54 so that the difference between the turning end position E31 of the airframe and the turning end position E32 of the airframe based on the operation of the work devices 5 and 15 to the non-working state by the first operating means 54 is reduced. A state in which the turning end position E32 of the aircraft based on the operation of the devices 5 and 15 to the non-working state is moved to the turning start position E12 side in the turning strokes L1 and L2 of the aircraft. This).

  The intersection P3 between the turning stroke L2 in the latter half (the trajectory that the left and right center of the aircraft will pass) and the turning end position E31 is the turning end position E31 in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02. Is set as the position Y2 corresponding to (step S202). As a result, in the direction orthogonal to 畦 B, the turn end position E31 (Y2) is closer to 畦 B than the turn end position E32, and the turn end position E12 and the turn end position E31 (Y2) Are close to each other (substantially the same position).

[13]
Next, based on the fact that the right and left front wheels 1 (steering member 41) are steered to the right (left) steering limit A3 side beyond the right (left) set angle A2, the first half The first half turning stroke L1 and the second half turning stroke L2 in the state of entering the turning stroke L1 and the latter turning stroke L2 will be described with reference to FIGS.

As described in the previous item [12], in the state in which the turning start position E12 and the turning end position E31 (Y2) are detected (set), the airframe position detection unit 51 performs the following, as described in the previous item [9]. Based on Equation 1, the detection of the position Y1 of the body in the traveling direction (+ Y) (−Y) of the body in the work strokes L01 and L02 is started (step S203).
Formula 1: Y1 = R * SIN (θ)
R: turning radius of the machine body θ: movement angle of the machine body from the turning start position E12 Thus, when the movement angle θ of the machine body is in the range of 0 degrees (turning start position E12) to 90 degrees (boundary position E2), the work process L01 , L02 in the advancing direction (+ Y) (−Y) of the aircraft, the aircraft moves away from the turning start position E12 to (+ Y).

  When the movement angle θ of the aircraft exceeds 90 degrees (boundary position E2), it is determined that the aircraft has entered the second turning stroke L2. Since the direction of the airframe L2 in the second half is opposite to the direction of the airframe in the first half turn L1, the position Y1 of the airframe in the forward direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02. However, it will be in the state which approaches the turning start position E12 (turning end position E31 (Y2)).

  When the latter half of the second turning stroke L2 is entered, the driver operates the steering handle 20 to operate the right and left front wheels 1 (steering member 41) to the straight travel position A1 (step S28). As a result, the side clutch 40 on the turning center side is operated to the transmission state (step S29), and the aircraft enters the straight traveling state. When the airframe enters a straight traveling state, the calculation according to Equation 1 is not performed, and the average value (negative value) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) is the work process L01. , L02 is detected as the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft.

  The right and left front wheels 1 (steering member 41) are operated to the straight travel position A1 side beyond the right (left) set angle A2 (step S28), and the side clutch 40 on the turning center side is operated to the transmission state. Then (step S29), at the same time, the seedling planting device 5 is automatically lowered in a state where the planting and fertilization clutches 26 and 27 are operated in the disconnected state (step S30).

  When the central float 9 comes into contact with the rice field G2, the automatic lifting control means 61 is activated, and the seedling planting device 5 comes into contact with the rice field G2 and stops (the seedling planting device 5 is set at a set height from the rice field G2. So that the seedling planting device 5 automatically moves up and down (so that the detection value of the potentiometer 22 (the vertical distance between the potentiometer 22 and the center float 9) is maintained at the set value). (Step S31).

When the turning end position detecting means 53 detects that the position Y1 of the airframe in the advancing direction (+ Y) (−Y) of the airframe in the work strokes L01 and L02 has reached the turning end position E31 (Y2) (step) S32), the planting and fertilizing clutches 26, 27 are operated in the transmission state by the second operating means 55 (step S33) (based on the detection of the turning end position detecting means 53, the working device 5 is operated by the second operating means 55). , 15 is equivalent to the state of operating to the operating state).
Thereby, planting of seedlings by the seedling planting device 5 and supply of fertilizer to the field surface G2 by the feeding unit 15 are started, and the next work process L02 is started.

[First Alternative Embodiment for Implementing the Invention]
In steps S103 and S203 of FIG. 4 and FIG. 5 in the above-mentioned [Description of the Invention], the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02 based on Expression 1. Instead of configuring the body position detection means 51 so as to detect the position Y1, the body position detection means 51, the turning start position detection means 52, and the turning end position detection means 53 may be configured as follows. Good.

  When an operation signal resulting from the operation lever 12 being moved to the raised position U is input to the control device 23 (step S1), the right and left front wheels 1 (steering member 41) are set to the right (left) set angle. When the potentiometer 47 detects that the operation has exceeded A2 (step S22), integration of detection values of the rotation speed sensor 50 on the turning center side is started (corresponding to the turning position detecting means 51).

  Separately from this, when the integration of detection values of the rotation speed sensor 50 on the turning center side (corresponding to the turning start positions E11 and E12) is set as the origin (corresponding to the turning start position detecting means 52), The first set value (corresponding to the turning end position E31) or the second setting value (corresponding to the turning end position E31 (Y2)) is set.

  In this case, when the origin is set by operating the operating lever 12 to the raised position U, the first set value is set, and the right and left front wheels 1 (steering member 41) are set to the right (left). When the origin is set by operating beyond the angle A2, the second set value is set. 6 and 7, the turning radius of the airframe and the travel distance of the airframe are recognized in advance, and the detection value of the rotation speed sensor 50 on the turning center side is recognized as a value representing the position of the airframe. The aforementioned first and second set values are stored in the control device 23 in advance.

In the second half of the turning stroke L2, the right and left front wheels 1 (steering member 41) are moved before the detected value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the first or second set value. The vehicle is operated to the straight travel position A1 side beyond the right (left) set angle A2, and accordingly, the side clutch 40 on the turning center side is operated to the transmission state, and the seedling planting device 5 is automatically lowered.
Next, when the detection value (integrated value) of the rotation speed sensor 50 on the turning center side reaches the first or second set value described above, it is determined that the turning end positions E31 and E31 (Y2) have been reached (turning end). The planting and fertilizing clutches 26 and 27 are operated to the transmission state by the second operating means 55.

[Second embodiment for carrying out the invention]
In the above-mentioned [Mode for Carrying Out the Invention], the turning center C and the turning radius R of the airframe are changed each time the steering angle A from the rectilinear position A1 of the right and left front wheels 1 (steering member 41) changes. This is not the detection of the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01, 102 by the equation 1 It may replace with and may be comprised as follows.

In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 6 and FIG. 7, there are nine regions (0 ° to 10 ° regions, 10 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree to 20 degree region, 20 degree to 30 degree region, 30 degree to 40 degree region, 40 degree to 50 degree region, 50 degree to 60 degree region, 60 degree to 70 degree region, 70 degree to The turning radius R of one airframe (the turning radius R of the airframe corresponding to the central angle of the area) is set in each of the nine areas in an area of 80 degrees and an area of 80 degrees to 90 degrees.
For example, in the range of 0 degrees to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is 5 degrees (FIG. 8A ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

  When the steering angle A from the rectilinear position A1 of the right and left front wheels 1 (steering member 41) is in the region of 0 degrees to 10 degrees, the rectilinear position A1 of the right and left front wheels 1 (steering member 41) Even if the steering angle A changes, the turning radius R of one aircraft in the range of 0 to 10 degrees is used regardless of this, and the travel distance G of the aircraft, the detection of the movement angle θ of the aircraft, 1 detects the position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft in the work strokes L01 and L02.

  At 10 degrees to 20 degrees, as described above, the turning distance R of one aircraft in the region of 10 degrees to 20 degrees is used to detect the traveling distance G of the aircraft and the movement angle θ of the aircraft. Then, the position Y1 of the machine body is detected in the traveling direction (+ Y) (−Y) of the machine body in the work processes L01 and L02 according to Equation 1.

[Third Another Mode for Carrying Out the Invention]
Instead of the above-mentioned [second alternative embodiment for carrying out the invention], the following configuration may be adopted.
In the first half turning stroke L1 (second half turning stroke L2) shown in FIG. 8, there are nine regions (0 ° to 10 ° regions, 10 ° to 20 °) having a range of 10 degrees (corresponding to a predetermined angle range). Degree area, 20 degree to 30 degree area, 30 degree to 40 degree area, 40 degree to 50 degree area, 50 degree to 60 degree area, 60 degree to 70 degree area, 70 degree to 80 degree area The turning radius R of one airframe (the turning radius R of the airframe corresponding to the maximum angle of the area) is set in each of the nine areas.
For example, in the region of 0 to 10 degrees, the turning radius R of the aircraft when the steering angle A from the straight traveling position A1 of the right and left front wheels 1 (steering member 41) is 10 degrees (FIG. 8 (a) ( b) is set as the turning radius R of one aircraft in the range of 0 to 10 degrees.

  Even if the steering angle A of the right and left front wheels 1 (steering member 41) from the rectilinear position A1 falls within the range of 0 degrees to 10 degrees from 0 degrees (straight travel position A1), the work strokes L01 and L02 The position Y1 of the aircraft in the traveling direction (+ Y) (−Y) of the aircraft is not detected. When the steering angle A from the rectilinear position A1 of the right and left front wheels 1 (steering member 41) reaches 10 degrees, the turning radius R and 10 degrees of one airframe in the range of 0 degrees to 10 degrees gives the formula 1, the position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work processes L01 and L02 is detected.

  At 10 degrees to 20 degrees, using the turning radius R of the airframe in the region of 10 degrees to 20 degrees, as described above, at 20 degrees, 30 degrees, ..., 10 degrees to 20 degrees The position Y1 of the airframe in the traveling direction (+ Y) (−Y) of the airframe in the work processes L01 and L02 is detected based on the turning radius of one airframe in the region of.

  In the present invention, a rotary cultivator (corresponding to a working device) can be connected to a rotary tiller device (corresponding to a working device) at the rear part of the machine body and a cutting part (corresponding to a working device) can be supported to be lifted and lowered at the front part of the machine body It can also be applied to work vehicles such as combines. It is also possible to configure the body position detection means 51 by GPS. In place of the powdery fertilizer in the hopper 14, the present invention can be applied to a liquid fertilizer or a work vehicle containing powdered or liquid chemicals, seeds, or the like. The work device (planting and fertilizing clutches 26, 27) is lifted (non-working state) in which the working device (for example, the grooving device) is lifted from the working ground without being operated in the transmission and cut-off state. The present invention can also be applied to a work vehicle supported so as to be movable up and down in a lowered state (working state) in contact with the ground.

DESCRIPTION OF SYMBOLS 1 Front wheel 5,15 Work apparatus 12 Artificial operation tool 47 Steering angle detection means 50 Travel distance detection means 51 Airframe position detection means 52,53 Setting means 54 1st operation means 55 2nd operation means 56 Correction means A Steering angle A1 Straight ahead position C Center of turn E11, E12 Start position E31, E32 End position G End distance of the machine L1, L2 Turn distance of the machine R The position of the aircraft in the direction of the aircraft before the start θ Movement angle

Claims (2)

A manipulating device that is manually manipulated to operate the working device provided in the machine body in a non-working state, and a first manipulating the working device to a non-working state based on a steering operation of a front wheel. Operating means,
A turning start position of the airframe is detected based on an operation of the working device to the non-working state by the artificial operating tool or the first operating means, and a position where a predetermined turning stroke of the airframe is performed from the turning start position of the airframe. Setting means for setting as a turning end position of the aircraft,
Airframe position detecting means for detecting the position of the turning stroke of the airframe;
Second operation means for operating the working device to a working state based on detection of the turning end position of the airframe by the airframe position detecting means,
The difference between the turning end position of the airframe based on the operation of the working device to the non-working state by the artificial operating tool and the turning end position of the airframe based on the operation of the working device to the non-working state by the first operating means is small. The paddy field is provided with correction means for moving the turning end position of the airframe based on the operation of the working device to the non-working state by the first operating means toward the turning start position along the turning stroke of the airframe. Work vehicle. A travel distance detection means for detecting a travel distance of the airframe; and a steering angle detection means for detecting a steering angle from the straight traveling position of the front wheel,
The turning radius of the fuselage and the movement angle of movement of the fuselage with respect to the turning center of the fuselage are detected based on the travel distance of the fuselage and the steering angle from the straight position of the front wheel. Based on the above, a trigonometric function is used to detect the position of the aircraft in the traveling direction of the aircraft before the start of turning, and the position of the aircraft in the traveling direction of the aircraft before starting the turning is detected as the position of the turning stroke of the aircraft. The paddy field vehicle according to claim 1, wherein the body position detecting means is configured as described above.

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