JP6664942B2 - Agricultural work vehicle - Google Patents

Description

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

  Generally, there is a riding rice transplanter equipped with a turning planting automatic control (turning work machine automatic control) that operates when turning on a ridge. When the aircraft reaches the headland and the front wheels are steered, the turning planting automatic control starts integration of the traveling distance of the aircraft by the distance sensor, raises the planting device, and moves the traveling distance of the aircraft. When reaches the set distance, the planting device is lowered.

  The distance sensor was calculated by detecting the number of rotations of the transmission shaft that transmits power to the wheels.However, if there were many slips on the wheels, the travel distance of the aircraft could not be accurately detected, and There is a possibility that automatic turning planting automatic control may not be performed. Therefore, when the aircraft turns, the power transmission to the turning center-side wheel is cut off to make it rotate freely, the wheels on the outside of the turning are driven, and the slip ratio is detected based on the rotation difference between the driving wheel and the above-mentioned freely rotating wheel. In addition, a turning planting automatic control device that corrects a traveling distance started by a steering operation of the front wheels based on the slip ratio has been devised (Patent Document 1).

Japanese Patent No. 4976893

  The above-mentioned Patent Document 1 detects a slip rate when the body turns on the headland, so that a large difference occurs in the slip rate due to the roughness of the field at the headland and the steering operation of the operator, and the like. Since the slip ratio is detected for each turn, there is a possibility that the down position of the planting device is different for each headland turn.

  Therefore, the present invention sets a mode for correcting the mileage by measuring the slip ratio, reflects the mileage corrected in the mode in each automatic control of the field, and thereby solves the above-described problem. It is intended to provide a vehicle.

For example, with reference to FIGS. 1 to 5 and FIGS. 7 and 8, the present invention is supported by a front wheel (9) and a rear wheel (10), and the steering wheel (20) steers the front wheel (9). An agricultural work vehicle (P) including a traveling machine body (1) that travels using at least one of the front wheels and the rear wheels as a driving wheel (10), and a work machine (3) supported by the traveling machine body to be able to move up and down. At
A switch (24) for switching the mileage correction control (24d) to an on state;
The switch (24) is operated with the travel distance correction control (24d) set, and the predetermined distance (Lm) set in advance and the rotation of the traveling body measured based on the rotation of the drive wheel (10). A travel distance correction control means (S4) for calculating a slip ratio by comparing the travel distance with the travel distance (L2), and correcting the travel distance of the traveling body based on the slip ratio.
An agricultural work vehicle is characterized in that:

For example, referring to FIG. 9, the switch is a mode switching means (24) capable of switching a plurality of controls,
The mode switching means is operated with the distance measurement work control (24c) set, and the traveling body is advanced from a state in which the rear end of the traveling body (1) is aligned with a ridge, and the traveling distance correction control means After traveling the predetermined distance based on the traveling distance corrected in (S4), a distance measuring work control means (S5) for starting work of the work machine is provided.

For example, referring to FIGS. 10 and 11, the switch is a mode switching means (24) capable of switching a plurality of controls;
When the mode switching means (24) is set to the turning work machine automatic control (24b), the traveling distance correction control means (S4) is used when the traveling body (1) is turned by the steering handle (20). The work machine automatic control means (S6) for stopping the work of the work machine based on the traveling distance corrected in step (1), ascending and descending, and starting the work of the work machine (3) in the next stroke. .

Preferably, the work machine is a planting work machine (3),
The predetermined distance is a distance (Lm) of the headland (M),
The agricultural work vehicle is a riding rice transplanter (P).

  Note that the reference numerals in parentheses are for comparison with the drawings, but do not have any effect on the configuration described in the claims.

According to the present invention, when the travel distance correction control is set by the switch, when the traveling body travels a predetermined distance such as a headland, a predetermined distance and a travel distance measured based on the rotation of the drive wheel are used. Since the slip ratio is calculated by comparison and the running distance is corrected based on the slip ratio, the corrected running distance can be reflected in various automatic controls and appropriate control can be performed. Correction of the running distance by the slip ratio can be easily performed by setting a switch, and since the corrected running distance is used as it is in the same field once it is set, there is little variation and automatic control is performed. It can be performed stably.

According to the first aspect of the present invention, distance measurement control for moving the work vehicle forward from the ridge and starting work from a state where the vehicle has traveled a predetermined distance such as a headland is appropriately performed based on the corrected travel distance. Can be.

According to the second aspect of the present invention, when turning the traveling body by the steering wheel, the work machine is stopped, ascends and descends, and the turning work machine automatic control for starting work in the next stroke is corrected by the correction. It can be performed properly depending on the traveled distance.

Preferably , the work machine is a planting work machine, the predetermined distance is the headland distance, and applied to a riding rice transplanter, and various planting automatic controls are appropriately and stably based on the corrected traveling distance. It can be carried out.

The side view which shows the riding rice transplanter which can apply this invention. The top view of a riding rice transplanter. 5A is a perspective view of the operation part viewed from an operator of the operation part, and FIG. 6B is a plan view of a switching operation part. FIG. 3 is a block diagram of a control unit. FIG. 4 is a main flow diagram according to the embodiment having each automatic control. FIG. 4 is a flowchart of work machine operation control. FIG. 4 is a flowchart of target distance correction control. The top view showing the planting route. Flow chart of headland measurement planting control. The flowchart of work machine automatic control at the time of turning. The top view showing the planting route.

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

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

  The traveling machine body 1 is provided with a working machine operation cam (not shown) connected to a planting clutch and a hydraulic control valve of the lift cylinder 4. The work machine operation cam is driven by a work machine operation cam motor (work machine operation drive means) 11 (see FIG. 4), and each of “up”, “fixed”, “automatic (down)”, and “planting” is performed. It is operated to the position. Then, in the "up" position, the planting machine 3 is raised (the planting clutch is disengaged), and in the "fixed" position, the planting machine 3 is fixed at an arbitrary height (the planting clutch is disengaged). In the "automatic (down)" position, the planting work machine 3 is lowered until the float 7 touches the ground (the planting clutch is disengaged), and in the "planting" position, the planting clutch is engaged. In the “automatic (down)” and “planting” positions, a mechanical automatic up / down control based on the detection of the ground height by the sensing float 7 is executed.

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

  As shown in FIG. 3A, a display panel 25 is disposed in front of the driving unit 17, a switching operation unit 26 is disposed on the left rear side, and a main transmission operation lever 27 is further disposed on the left side thereof. A work implement operation lever 29 is disposed on the right rear side of the display panel. The display panel 25 includes a planting display unit that indicates a planting preparation state, an automatic planting display unit that displays an automatic planting control state, a hydraulic position display unit that displays each state of the planting operation using the work machine operation cam, and the like. There are various display units.

  As shown in FIG. 3B, the switching operation unit 26 includes a work mode changeover switch (dial) 24, a work (planting) automatic operation unit 28, a work (planting) preparation switch 30, and a headlight switch 34. , A drawing marker switch 32, a notification buzzer switch 33, and a display lamp thereof. The work mode changeover switch 24 comprises a dial, an OFF position 24a, a turning control mode (automatic control of the working machine during turning) 24b, a headland measurement planting mode (distance measurement work control) 24c, and a headland measurement mode (travel distance). (Correction control) 24d. The work (planting) automatic operation unit 28 is composed of a dial, and by rotating the dial, the headland width, that is, the distance from the edge of the ridge to the start of planting (planting start position) can be set. The (late) side end A is an on / off switch for automatic ascending.

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

  As shown in FIG. 4, the traveling body 1 is provided with a control unit 31 for controlling each operation of the planting operation. The control unit 31 includes switches and sensors operated by the operation units. And outputs the signals to the display units and the actuators. As the input means, an upper switch 29a and a lower switch 29b operated by a work implement operation lever 29, the work (planting) preparation switch 30, the work mode changeover switch 24, a distance adjusting dial (planting start position potentiometer) 28 A work machine operation cam potentiometer 35 for detecting each position (position) of the work machine operation cam; a lift angle potentiometer 36 for detecting an elevation position of the planting operation machine 3 based on an angle of the elevating link mechanism 2; a drive shaft of the transmission Alternatively, there are a rotation sensor 37 for detecting the rotation speed of the rear wheel 10, a front wheel turning angle sensor 38 for detecting a turning angle of the front wheel 9 by operating the steering handle 20, and the like. The rotation sensor 37 detects the rotation speed of the traveling shaft or the drive shaft between the left and right side clutches and the left and right rear wheels, and detects the headland distance, the turning distance, It is possible to determine a predetermined distance until the start of the planting operation and whether or not the traveling machine body 1 is traveling.

  The output means includes the work mode display 25a, the planting display 25b, the hydraulic position display 25c, the work machine operation cam motor (drive means) 11, the notification buzzer 39 stopped by the switch 33, and the like.

  FIG. 5 shows a main routine (main control) S1 having automatic planting control, work machine operation control S3, target (running) distance correction control S4, headland (distance) measurement planting (work) control S5, and The turning-time work machine automatic control S6 is sequentially repeated.

Next, the work implement operation control S3 will be described with reference to FIG. First, it is determined whether there is a short-time (not long-pressed) signal from the lower switch 29b of the work implement operation lever 29 (S11), and if so, ON / OFF of the work preparation switch 30 is determined (S12). ) . If the work preparation switch is ON, it is determined by the work machine operation cam potentiometer 35 whether or not the operation cam position has been raised (S13). If the operation cam position is other than raised, similarly, it is determined by the work machine operation cam potentiometer 35 whether the operation is automatic or other than automatic (S14). If it is not automatic, it is determined whether it is fixed or other than fixed (S15). When the operation position is other than the fixed state, that is, in the (planting) working position, the planting state is continued (return). In the fixed state, the work machine operation cam motor 11 is set to automatic (down), and the planting work machine 3 is lowered. Then, the float is brought to the automatic position where it touches the ground (S16).

  In step S12, if the work preparation switch is OFF, it is determined whether the operation cam position is raised (S17). If not, it is determined whether the work machine operation cam position is fixed (S18), and the fixed position is determined. Is set to automatic (down), the planting working machine enters an automatic (down) state in which the float is in contact with the ground (S19). Also, in step S14, if the work implement operation cam position is at the automatic (down) position, it is determined by the lift angle potentiometer 36 whether or not the work implement is in a down movement (S20). (NO), the planting clutch enters the waiting state (S21), and if it is stopped (YES), the work machine operation cam is set to planting and planting work is started (S22).

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

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

  If there is no lower operation in step S11, it is determined whether there is a short-time operation of the upper switch 29a of the work implement operation lever 29 (S24). If there is no operation, it is determined whether or not the planting clutch is in the waiting state in step S21 (S25). If it is in the waiting state (YES), it is determined by the lift angle potentiometer 36 whether or not the work machine lowering operation is stopped. (S26). If it is stopped (YES), the work machine operation cam is set to the planting position, and the planting operation is started (S27).

  If there is a short-time operation of the upper operation in step S24, it is determined whether or not the work implement operation cam is in the ascending state (S29). If it is in the ascending state, it is continued (return). Otherwise, it is determined whether the operation cam position is automatic (down) or planted (S32). If it is automatic (down), the work machine lowering operation is performed by the lift angle potentiometer 36. Is stopped (S33). If the operation is stopped (YES), the operation is set to ascend (S34). If the lowering operation is being performed (NO), the work machine operation cam is set to be fixed, and the work machine is in a fixed state (S35). If it is not the waiting state for the planting clutch in step S25 (NO), it is determined whether or not the working machine operation cam position is raised (S28), and if not, the operation is continued (returned). If the operation cam position is in the ascending position, it is determined whether or not the height of the work implement has reached a predetermined height (S30). If it has reached (YES), the operation cam is switched to the fixed position (S31).

  Next, the target (traveling) distance correction control S4 will be described with reference to FIGS. The target distance correction control S4 is a control for measuring the slip ratio of the drive wheels 10 at the headland M. In general, the rice transplanting work proceeds by reciprocating planting while leaving the headland M on the ridge, making a U-turn of the riding rice transplanter P on the headland, and finally planting around the headland M part by two turns. To complete the planting operation. A mark O is provided in advance at an inner corner of the headland M in a portion where the riding rice transplanter P enters the field. The headland M, which is a predetermined distance, is usually twice the planting width of the rice transplanter P. However, when the body length is shorter than the number of planting strips, one round is sufficient. It is not limited to the surroundings, and is appropriately set according to the shape of the field. The mark O is previously attached to the set actual measurement value Lm. The riding rice transplanter P that has entered the field moves backward toward the ridge with the outside aligned with the mark O, and descends the planting work machine 3 so that the rear end of the planting work machine 3 is aligned with the ridge ( Automatic).

  In this state, the work mode changeover switch (dial) 24 is set to the headland measurement mode (running distance correction control) 24d, and the headland distance setting dial 28 of the automatic operation unit is set to the 0 (standard, center) position C. In the state after the above operation, the distance adjustment dial 28 is not operated (S41; NO), the work preparation switch 30 is turned on (S42), and the slip ratio setting mode (headland measurement mode) 24d is set. (S43; YES), and the distance adjustment dial 28 is at 0 (S44; YES). Then, the planting work machine is in the automatic (down) state (S45; YES), and in this state, the operation of the work machine operation lever 29 (S46) and whether the operation lever is operated downward is determined (S47). That is, when the operator determines that the rear end of the machine body coincides with the ridge, the operator long-presses the work machine operation lever 29 downward. Since the work implement operating lever 29 is being operated downward, steps S46 and S47 are YES, and it is determined whether the operating lever is longer than a predetermined time (whether the operation is a long-press operation) (S48). If the operation is longer than the time (S48; YES), it is determined whether or not the aircraft is in the traveling stop state (S49), and further, it is determined whether the headland measurement flag is OFF (S50). The airframe is in a stopped state at the time of the ridge (S49; YES), and since the flag is OFF (S50; YES), the headland measurement flag is turned ON, and the work machine is automatic (down), The counting of the traveling distance L2 by the rotation sensor 37 is started, and the target (traveling) distance correction control for displaying the headland measurement on the display panel 25 is performed (S51).

  In this state, the operator operates the main transmission operation lever 27 to move the rice transplanter P forward, and moves the work implement operation lever 29 when the planting mechanism 6 of the riding rice transplanter P is aligned with the mark O. The one-shot operation for the predetermined time or less is performed (S48; NO). Thus, the planting work machine 3 is in the planting state (S52), and the headland measurement flag is determined (S53). In step S51, the headland measurement flag has been switched ON, and in step S53, the answer is YES, and the count value of the traveling distance L2 by the rotation sensor 37 based on the drive wheels and the mark O correspond to the mark O in advance. The reference headland distance Lm stored in the control unit 31 is compared (S54), and the slip ratio of the drive wheel 10 is calculated based on the comparison. That is, depending on the state of the field, the slip ratio increases as the traveling distance L2 of the headland M based on the rotation sensor 37 using the drive wheels is longer than the preset headland distance Lm actually measured by the mark O. Based on the slip ratio, the travel distance L2 is corrected so as to match the reference headland distance Lm stored in advance, and each set distance is stored by the correction (S54). Then, the count of the traveling distance L2 is cleared, the headland measurement flag is turned off, and the display of the headland measurement state on the display panel 25 is released (S55).

  In step S41, if the distance adjustment dial 28 is operated (YES), each set distance corrected based on the setting of the adjustment dial is stored (S56). Further, in the target distance correction control, when the work implement operation lever is operated other than the lower side operation (S47; NO), the planting work machine is in the up state (S57), and the target distance correction control is canceled as described above. Is performed (S55).

  Next, headland measurement planting control (distance measurement work control) S5 will be described with reference to FIG. The headland measurement and planting control S5 automatically performs the planting operation of the work machine 3 after the riding rice transplanter P travels on the headland M from a state where the rear end of the planting work machine 3 is aligned with the ridge. Control. When the work preparation switch 30 is in the ON state (S60; ON state) and the work mode changeover switch 24 is in the headland measurement planting control mode (distance measurement work control) 24c (S61; YES), the headland measurement flag is set. It is OFF (S62; NO). Since the riding rice transplanter P moves backward on the headland and the rear end approaches the ridge, and the planting work machine 3 is in the automatic (down) or planting position and has stopped running, steps S63 and S64 are performed as follows. Both are YES.

  In this state, when the operator presses the work implement operating lever 29 in the downward operation direction for a predetermined time or more (S65; YES), the headland measurement flag is OFF (S66; YES), and the headland measurement flag is turned off. It is switched to ON, the planting work machine is in the automatic (down) state, the count of the traveling distance L2 by the rotation sensor 37 can be started, and the headland measurement state is displayed on the display panel 25 (S67). .

  Then, in the headland measurement planting control mode, the operator moves the riding rice transplanter P forward by operating the main transmission operation lever 27. Accordingly, in step S62, the headland measurement flag is ON and the result is YES, and since there is no operation of the work implement operation lever (S68; NO), the traveling of the rice transplanter is performed by the rotation sensor 37 based on the rotation of the drive wheel 10. The distance L2 is counted, the travel distance L2 is corrected to the headland distance or the slip ratio set by the adjustment dial 28, and compared with the headland distance Lm (S69). When the traveling distance L2 by the rotation sensor 37 is longer than the headland distance set in advance (S69; YES), the planting work machine 3 enters the planting state with the planting clutch engaged (S70). Then, the count of the traveling distance L2 is cleared, the headland measurement flag is turned off, and the display of the headland measurement state on the display panel 25 is released (S71).

  If the work implement operating lever 29 is operated during the headland measurement and planting control (S68; YES), it is determined whether the operation is an upward operation of the planting work machine (S72). If the operation is the upside operation (S72; YES), the planting machine rises (S73), the measurement of the traveling distance L2 is canceled, the headland measurement flag is turned off, and the headland measurement state display is released. (S71). If the operation lever 29 is other than the upper operation, that is, the lower operation (S72; NO), the planting machine is in the planting state (S70), and similarly the headland measurement planting control is canceled (S71). .

  Next, the turning work machine automatic control S6 will be described with reference to FIGS. The automatic control of the working machine at the time of turning, when reciprocating planting in the field, when the riding rice transplanter turns on the headland by steering operation, raises the planting work machine 3, and planting according to the next planting process This is control to lower the work machine and start planting automatically. The work preparation switch 30 is ON (S80; ON state), the work mode switching dial 24 is the turning control mode (turning work machine automatic control) 24b (S81; YES), and the work machine operation lever 29 is operated. No (S82; NO). Then, the turning-time control flag is OFF (S83; NO), and the traveling distance L0 of the rice transplanter P from the start of the planting of the process K1 is compared with a distance Lu preset in the field (S84). . The travel distance L0 is corrected by the slip ratio by the target distance correction control S4 based on the rotation sensor 37, or is corrected by the adjustment dial 28. When the traveling distance L0 exceeds the set planting distance Lu (S84; YES), the turning control flag is switched to ON (S85).

  Then, when it returns and is determined again in step S83, since the turning control flag is ON (S83; YES), it is determined whether there is a steering operation beyond a predetermined turning angle (S86). In the riding rice transplanter P, since the operator fully operates the steering to reach the headland M to turn, the above-mentioned step S86 becomes YES, and the work implement operation lever is not operated. (Down) or in the planted state (S87; YES). Thereby, the work implement operation cam motor 11 operates the operation cam to the ascending position, and the work implement 3 is raised (S89). Since the timing adjustment dial 28 is not at the ON position A of the automatic ascent control (S90; NO), the count of the headland traveling distance L1 is started (S91).

  The turning operation of the riding rice transplanter P nears the end of the headland M, and the steering operation is gradually returned so as to match the planting line K2 in the next stroke, so that the turning angle becomes equal to or less than the predetermined turning angle. As a result, step S86 becomes NO, and the traveling distance L1 at the headland M is compared with a preset turning completion distance Lp (S92). In the case of NO, the traveling distance L1 is further compared with a predetermined set distance Ld (S93). ). The predetermined set distance Ld is set such that when the planting machine 3 at the predetermined ascending position starts to descend and the turning operation on the headland is completed and the planting operation is resumed, the planting machine is lowered to the planting position. It is set to take time to do. Then, when the travel distance L1 obtained by correcting the travel distance by the rotation sensor 37 by the slip ratio based on the target distance correction control 54 or the adjustment dial 28 exceeds the set distance Ld (S93; YES), the work equipment is driven by the motor 11 by the motor 11. The operation cam is switched to automatic (down), and the planting work machine 3 enters the automatic state and descends (S94). Then, the traveling of the rice transplanter P on the headland proceeds, the planting work machine 3 descends, the float 7 comes into contact with the ground, and the traveling distance L1 becomes the turning completion distance Lp. If it exceeds (S92; YES), the work implement 3 turns on the planting clutch to be in the planting state, the counter of the headland traveling distance L1 is cleared, the counting of the planting traveling distance L0 is started, and turning control is performed. The flag is cleared (S95). When the work implement operating lever 29 is manually operated, the planting travel distance L0 and the headland travel distance L1 are cleared, the turning control flag is cleared, and the turning work machine automatic control is canceled.

  Although the above description has been directed to a riding rice transplanter, the present invention is similarly applicable to automatic control in other agricultural work vehicles. For example, when applied to a tractor as an agricultural work vehicle, a rear end of a work machine such as a rotary is aligned with a field end such as a row, and a predetermined distance is advanced from there. The slip ratio is calculated by comparison, and the traveling distance is corrected and controlled. This makes it possible to reflect the traveling distance correction control to a work machine such as a rotary machine in distance measurement work control, turning work machine automatic control, and the like.

DESCRIPTION OF SYMBOLS 1 Traveling body 3 (planting) work machine 9 Front wheel 10 Rear wheel (drive wheel)
20 steering handle 24 switch (mode switching means)
24b Automatic turning work machine control (turning control mode)
24c Distance measurement work control (headland measurement planting control mode)
24d Traveling (target) distance correction control (headland measurement mode)
S4 Traveling (target) distance correction control (means)
S5 Distance (headland) measurement work (planting) control (means)
S6 Automatic control of work machine during turning (means)
P Farm work vehicle (Riding rice transplanter)
Lm Predetermined distance L2 Mileage M Headland

Claims (2)

A traveling machine body that is supported by front and rear wheels, steers the front wheel by a steering handle, and travels with at least one of the front wheel and the rear wheel as a drive wheel; and a working machine that is supported by the traveling machine body to be able to move up and down. , The agricultural work vehicle with
A switch for switching the mileage correction control to an on state,
The switch is operated in a state where the switch is set to the traveling distance correction control, and a slip ratio is calculated by comparing a predetermined distance set in advance with a traveling distance of the traveling body measured based on rotation of the driving wheel. , Bei example and a travel distance correction control means for correcting the travel distance of the traveling machine body by the slip rate,
The switch is a mode switching means capable of switching a plurality of controls,
Operate in a state where the mode switching means is set to the distance measurement work control, advance the traveling aircraft from a state where the rear end of the traveling aircraft is aligned with the ridge, and travel distance corrected by the traveling distance correction control means. After traveling the predetermined distance on the basis of, comprises a distance measurement work control means in which the work of the work machine is started,
An agricultural work vehicle characterized by the above-mentioned. A traveling machine body that is supported by front and rear wheels, steers the front wheel by a steering handle, and travels with at least one of the front wheel and the rear wheel as a drive wheel; and a working machine that is supported by the traveling machine body to be able to move up and down. , The agricultural work vehicle with
A switch for switching the mileage correction control to an on state,
The switch is operated in a state where the switch is set to the traveling distance correction control, and a slip ratio is calculated by comparing a predetermined distance set in advance with a traveling distance of the traveling body measured based on rotation of the driving wheel. A travel distance correction control unit that corrects the travel distance of the traveling body based on the slip ratio,
The switch is a mode switching means capable of switching a plurality of controls,
The mode switching means is operated in a state in which the turning work machine is set to automatic control, and the work of the work machine is performed based on the traveling distance corrected by the traveling distance correction control means when the traveling body is turned by the steering handle. It comprises a turning work machine automatic control means for stopping and ascending and descending, and further starting work of the work machine in the next stroke,
An agricultural work vehicle characterized by the above-mentioned .

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