JP6673422B2 - Seedling transplanter - Google Patents

Description

The present invention relates to a seedling transplanter .

A conventional GPS-equipped seedling transplanter acquires position information of the work start position and work end position when the work device is turned on and off, and creates a reference line from the obtained work start position and work end position. There is a vehicle equipped with an automatic steering device that automatically steers a steering wheel along the reference line and causes the vehicle to travel straight.

Since such a conventional seedling transplanter can acquire the positions where the working devices are turned on and off as the work start position and the work end position, the operation for acquiring the work start position and the work end position is not necessary, and There is an advantage that the property is good.

JP 2016-21890A

  However, for example, when the position information of the work start position and the work end position is acquired when the machine is stopped, there is a problem that the accuracy of the position information is reduced and accurate position information cannot be acquired.

An object of the present invention is to provide a seedling transplanter that can prevent a decrease in the accuracy of position information in view of the problems of the conventional seedling transplanter described above.

The first invention is
A traveling body (2), a planting device (52) connected to the traveling body (2), and having a plurality of planting tools (55-1) for planting seedlings in a field; A position information acquisition device (300) including a receiving antenna (310) for receiving a signal from an artificial satellite of the traveling vehicle body (2) and acquiring position information; and a position information acquisition device (300) acquired by the position information acquisition device (300). A control unit (400) for automatically traveling the traveling vehicle based on the position information and predetermined traveling route information, and a vehicle speed detection unit (510) for detecting a vehicle speed of the traveling vehicle (2). The reference position information for obtaining the predetermined travel route information is obtained by operating the operation lever (65), and as a condition for obtaining the reference position information, the seedling is being planted and the vehicle speed detection is performed. Before detected by unit (510) The vehicle speed is equal to or higher than a first threshold value, and the turning angle detected by a turning angle detection unit (220) for detecting a turning angle of an operation handle (34) for steering the traveling vehicle body (2) is equal to or less than a second threshold value. In this case, the reference position information is acquired, and two points of a work start point (Pa) and a work end point (Pb) are acquired only by two operations of the operation lever (65), and the control unit (400) ) Is configured to calculate a straight traveling reference line (Ls) which is a straight line passing through the two points, and when the operation lever (65) is operated, the vehicle speed and the turning angle of the operation handle (34) satisfy the condition. If the vehicle speed and the turning angle of the operation handle (34) do not satisfy the above condition even if a predetermined time elapses, the control unit (400) returns the position information. Unacquired status to workers While knowledge, seedlings transplanter characterized by informing to the re-operation of the operating lever (65) to obtain the reference position information of the operation start point (Pa) or work end point (Pb) is there.

The second invention provides
And a mechanism (100) for turning on and off the transmission of the driving force to all or a part of the plurality of planting tools (55-1). When the control unit (400) receives a signal indicating that the driving force is transmitted or not transmitted to the implanting tool (55-1), the vehicle speed of the traveling vehicle body is equal to or less than a third threshold. When it is determined that, the cutting mechanism entering cutting mechanism (100) is operated,
When the headland planting is detected by the position information acquisition device (300) in a state where the position information of the work start point (Pa) and the work end point (Pb) is obtained, the headland planting is recorded in the memory unit (410). Whether to execute the control of deleting the position information of the work start point (Pa) and the work end point (Pb) and deleting the position information of the work start point (Pa) and the work end point (Pb). 2. The seedling transplanter according to claim 1, wherein the seedling transplanter can be selectively switched in advance .

(Delete)

(Delete)

  According to the first aspect of the present invention, it is possible to prevent the accuracy of the reference position information from being reduced. Further, by taking the vehicle speed into consideration in the determination criterion, it is possible to more reliably prevent the accuracy of the reference position information from deteriorating.

Further , by taking the steering wheel turning angle into consideration as a criterion, it is possible to more reliably prevent the accuracy of the reference position information from being reduced. In addition, the worker who hears the voice message can perform the manual driving while consciously satisfying the above-mentioned condition without increasing the vehicle speed or increasing the steering wheel turning angle. The position information of the second reference point Pb can be reliably obtained in the first column.

(Delete)

According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, when the vehicle speed exceeds the third threshold value, the operation of the implanting / cutting-off mechanism is not performed. It is possible to make sure that the attachment is turned on and off. Further, when headland planting is detected, switching is made as to whether or not to erase the position information of the work start point (Pa) and the work end point (Pb) recorded in the memory unit (410). With this configuration, it is possible to prevent the position information of the work start point Pa and the work end point Pb from being automatically deleted in the deformed field.

Right side view of a riding rice transplanter according to an embodiment of the present invention. Top view of riding rice transplanter in the present embodiment The block diagram which shows the connection relationship between the control circuit of the riding rice transplanter in this Embodiment, various apparatuses, and various sensors. FIG. 3 is a schematic plan view of a field for describing acquisition of position information of a first reference point and a second reference point in the riding rice transplanter of the present embodiment. (A): A schematic side sectional view showing a transmission structure of a driving force of a first seedling planting part in the riding rice transplanter of the present embodiment, (b): first seedling planting in the riding rice transplanter of the present embodiment Side cross-sectional view around the ridge clutch part (A): A schematic side view of the clutch movable member constituting the ridge clutch portion in the riding rice transplanter of the present embodiment, as viewed from the left side, showing a state attached to the ridge clutch portion. (B): The present embodiment. FIG. 2 is a schematic rear view of a movable clutch member constituting a ridge clutch portion in a riding rice transplanter according to an embodiment of the present invention, which is attached to the ridge clutch portion as viewed from a rear side.

Hereinafter, an eight-row riding rice transplanter according to an embodiment of the seedling transplanter of the present invention will be described with reference to the drawings.

  As shown in the figure, in the riding rice transplanter 1 of the present embodiment, a planting device 52 is mounted on a rear side of a traveling vehicle body 2 via a lifting link device 3 so as to be able to ascend and descend, and fertilizer is applied to a rear upper side of the traveling vehicle body 2. A main body (hopper) of the device 5 is provided.

  The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10, 10 and a pair of left and right rear wheels 11, 11, which are drive wheels. A transmission case 12 is disposed at a front portion of an airframe, and the transmission is provided. Front wheel final cases 13, 13 are provided on the left and right sides of the case 12, and left and right front wheels are provided on left and right front wheel axles projecting outward from respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13, 13. 10 and 10 are respectively attached.

  A front end portion of the vehicle body main frame 15 is fixed to a rear portion of the transmission case 12, while a rear wheel vertical movement fulcrum shaft 181 provided horizontally at the rear left and right central portions of the vehicle body main frame 15 is used as a fulcrum. The left and right rear wheel gear cases 18, 18 are rotatably supported, and the rear wheels 11, 11 are mounted on a rear wheel axle 17 that projects outward from the left and right rear wheel gear cases 18, 18.

  The left and right rear wheel gear cases 18, 18 are provided to project obliquely rearward from the rear wall of the transmission case 12 in plan view (see FIG. 2) from the rear wall of the transmission case 12, and are connected to the left and right rear wheel gear cases 18, 18. Power is transmitted by the wheel transmission shafts 18a, 18a (see FIG. 2).

  The engine 20 is mounted on the vehicle body main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission 21 and an HST (hydrostatic stepless transmission) 23. After the rotational power transmitted to the transmission case 12 is shifted by the transmission in the transmission case 12, the rotational power is separated into running power and external take-out power, and is taken out. A part of the traveling power is transmitted to the front wheel final cases 13, 13 to drive the front wheels 10, 10, and the rest is transmitted to the left and right rear wheel gear cases 18, 18 to drive the left and right rear wheels 11, 11. .

  In the transmission case 12, a gear-shift type sub-transmission (not shown) for switching the rotational power from the HST 23 into three stages for high speed (road running mode), neutral stop, and low speed (planting work mode). The auxiliary transmission is configured to be switched to any one of the three stages by an operator operating the auxiliary transmission lever 33. The auxiliary transmission lever 33 is arranged below the handle 34 so as to stand up from the feet of the operator.

  The external take-out power taken from the right side of the transmission case 12 is transmitted to the planting device 52 by the planting transmission shaft 26 via a planting clutch (not shown).

  Power is taken out from the right rear wheel gear case 18 by a drive shaft and transmitted to the fertilizer feeding mechanism of the fertilizer application device 5.

  As shown in FIGS. 1 and 2, a lower part of the planting device 52 is provided with a center float 53a at the center and side floats 53b and 53c on both left and right sides thereof. These floats glide while leveling the mud surface, and the first leveling section 55a, the second leveling section 55b, the third leveling section 55c, and the fourth leveling section 55d move to the leveling ground. A total of eight seedlings are planted in the field, one by one.

  In each of the four seedling planting portions 55a to 55d, two planting tools 55-1 having claws for planting seedlings are rotatable by driving force from the planting transmission shaft 26, two on each of the left and right sides. Are located.

  In addition, the driving force from the planting transmission shaft 26 can be individually entered into and cut off from each of the first planting portion 55a to the fourth planting portion 55d via the ridge clutch mechanism 100 (see FIG. 3). It is configured.

  That is, the ridge clutch mechanism 100 of the riding rice transplanter 1 of the present embodiment includes the first seedling planting portion 55a, the second seedling planting portion 55b, the third seedling planting portion 55c, and the fourth seedling planting portion 55d. The first ridge clutch device 110, the second ridge clutch device 120, the third ridge clutch device 130, and the fourth ridge clutch device 140 are provided correspondingly. The specific configuration of the ridge clutch mechanism 100 will be further described later with reference to FIGS.

  The monitor panel 40 on which various instruments and the like are arranged below the handle 34 has the first ridge clutch device 110, the second ridge clutch device 120, the third ridge clutch device 130, and the fourth ridge clutch device 140 described above. The first ridge clutch on / off switch 41, the second ridge clutch on / off switch 42, the third ridge clutch on / off switch 43, and the fourth ridge clutch on / off switch 44 ( 3 is provided, and the signals output from the respective switches are sent to the control unit 400 (see FIG. 3).

  Further, as shown in FIG. 1, an upper portion of the engine 20 is covered with an engine cover 30, and a seat 31 is provided thereon. Various operation mechanisms are incorporated in front of the seat 31, and various operation buttons (not shown) are provided on the upper surface of the seat 31 side, an automatic straight mode on / off switch 60 for turning on and off an automatic straight mode described later, and a later described later. There is a front cover 32 provided with the monitor panel 40 on which a ridge position acquisition mode on / off switch 70 for turning on / off the ridge position acquisition mode, a buzzer 80 described later, and a display lamp 90 described later. A handlebar 34 for steering the front wheels 10, 10 is provided above.

  On the right side (or left side) of the handle post 35, there is provided a finger-up lever 65 that can be operated in the up-down direction with the fingertip of the right hand (or left hand).

  On the right side of the handle 34, a work operation lever for switching between forward traveling and reverse traveling of the traveling vehicle body 2, setting a traveling speed and the like, and operating up and down of the planting device 52 and on / off of the planting operation. 36 are provided. The traveling speed is changed by adjusting the angle of the trunnion shaft (not shown) of the HST 23 by electric motor operation in conjunction with the operation position of the work operation lever 36. In addition, a raising / lowering switch (not shown) and a planting on / off switch (not shown) provided on the work operation lever 36 move up and down the planting device 52 and turn on / off the planting clutch (not shown). .

  In addition, at the left and right sides of the planting device 52, when performing the planting operation, the center of the place where the planting streak is to be formed in the row next to the row where the planting is currently being performed is provided as a guide in the traveling direction. A pair of left and right drawing markers (not shown) for forming lines in advance are provided. That is, the pair of left and right delineation markers serve as markers when the riding rice transplanter 1 turns forward on the ridge of the field and then advances straight ahead (manual running) by manually operating the handle 34 in the field. In this configuration, a line can be drawn on a field.

  In addition, not only in the above-described manual traveling, but also in the case of automatic straight traveling, the operator can recognize that the actual traveling direction of the aircraft is deviated from the expected straight traveling line by performing drawing with the drawing marker. This makes it easy to touch the field alternately left and right each time the vehicle turns, even during automatic straight running.

  Further, as shown in FIG. 3, the riding rice transplanter 1 according to the present embodiment includes an automatic steering device 200, a position information acquisition device 300, a rear wheel rotation sensor 510 for detecting a vehicle speed of the traveling vehicle body 2, and These are electrically connected to a control unit 400 (see FIG. 3) described later.

  FIG. 3 is a block diagram illustrating a connection relationship between the control unit 400 and various devices and various sensors.

  The automatic steering device 200 is configured to automatically operate the steering wheel 34 to maintain the traveling vehicle body 2 in the straight traveling direction.

  That is, the automatic steering device 200 automatically applies an arbitrary rotational force to the steering wheel 34 to rotate the steering motor 210 and the steering potentiometer 220 for detecting the rotation angle of the steering wheel 34 (steering angle). ,have.

  Further, the position information acquisition device 300 is configured to acquire position information (ie, coordinate information) of the riding rice transplanter 1 on the earth based on GNSS (Global Navigation Satellite System), and to convert a signal from an artificial satellite into a predetermined signal. It has a receiving antenna 310 for receiving at intervals, and the position information acquired by the position information acquisition device 300 is sent to the control unit 400.

  The position information sent to the control unit 400 is configured to be recordable in the memory unit 410 (see FIG. 3). The recording of the position information will be further described later.

  1 and 2, the receiving antenna 310 is fixed to the center of the upper surface of the portal-shaped antenna fixing member 320 in a front view, and left and right lower end portions 321L and 321R of the antenna fixing member 320 are The front end of the floor step 37 is fixed to both left and right sides.

  Note that the traveling vehicle body 2 of the present embodiment is an example of the traveling vehicle body of the present invention. Further, the position information acquisition device 300 of the present embodiment is an example of the position information acquisition device of the present invention, and the control unit 400 of the present embodiment is an example of the control unit of the present invention. Further, rear wheel rotation sensor 510 of the present embodiment is an example of a vehicle speed detecting unit of the present invention, and handle 34 of the present embodiment is an example of an operating handle of the present invention. Further, the handle potentiometer 220 of the present embodiment is an example of the turning angle detection unit of the present invention. In addition, the planting tool 55-1 of the present embodiment corresponds to an example of the planting device of the present invention, and the planting device 52 of the present embodiment corresponds to an example of the planting device of the present invention. Further, the ridge clutch mechanism 100 of the present embodiment is an example of the cutting-in / cut-out mechanism of the present invention.

  In the above-described configuration, the worker who has boarded the riding rice transplanter 1 of the present embodiment manually performs the planting work in the first row in the field as a preparation work for performing automatic straight traveling based on the straight traveling target line. In addition to running straight, the finger-up lever 65 is operated to obtain position information (position coordinate values) of the first reference point Pa and the second reference point Pb (see FIG. 4) serving as reference points.

  Hereinafter, mainly with reference to FIGS. 3 and 4, the acquisition of the positional information of the first reference point Pa and the second reference point Pb in the riding rice transplanter 1 of the present embodiment will be specifically described.

  FIG. 4 is a schematic plan view of the field 600 for explaining the acquisition of the positional information of the first reference point Pa and the second reference point Pb in the riding rice transplanter 1 of the present embodiment.

  Here, the field 600 of FIG. 4 has a substantially rectangular shape, and among the ridges surrounding the four sides of the field 600, the upper ridge in the figure is the upper ridge 610, and the lower ridge in the figure is the lower ridge 620. And

  Note that, in the memory unit 410 of the riding rice transplanter 1 of the present embodiment, the positional information of the first reference point Pa and the second reference point Pb in the field 600 is not recorded in advance, and the ridges surrounding the four sides of the field 600 are not recorded. Is assumed to be recorded in advance.

  In addition, here, the riding rice transplanter 1 uses the leftmost row of the field 600 as the first row as the starting row of the planting work, but in consideration of the traveling route in headland planting, the row shown in FIG. The following description can be similarly applied to the case where the second row is the starting row of the planting operation. Further, in this case, the riding rice transplanter 1 obtains position information of a first reference point Pa and a second reference point Pb described below without performing planting work in the first column on the left end of the field 600. The second row may be used as the starting row of the planting operation.

  First, the operator places the riding rice transplanter 1 at the left end of the lower row 620 of the field 600, starts the engine 20, and sets the automatic straight mode on / off switch 60 to "on". The control unit 400 that has determined that the position information of the first reference point Pa and the second reference point Pb has not yet been recorded in the memory unit 410, triggered by the “ON” signal from the automatic straight ahead mode ON / OFF switch 60, Control for accepting manual traveling for acquiring position information of the first reference point Pa and the second reference point Pb is started.

  Next, the worker starts the planting work by manual traveling from the side of the lower row 620 in the first row at the left end of the field 600, and lifts the finger-up lever 65 upward (or , So that the first ON signal is output to the control unit 400.

  The control unit 400 that has received the first ON signal starts determining the vehicle speed and the steering wheel turning angle from the detection results of the rear wheel rotation sensor 510 and the steering wheel potentiometer 220, and the vehicle speed is equal to or higher than a predetermined speed (for example, 0.11 m / sec). When it is determined that the steering angle is in a straight-ahead state (for example, approximately 0 °), the position information of the first reference point Pa is obtained and recorded in the memory unit 410.

  After that, the vehicle is manually driven for a while toward the upper ridge 610 for a while, and then the operator operates the finger-up lever 65 so as to lower (or lift) the finger-up lever 65, so that the second ON signal is sent to the controller 400. Is output.

  The control unit 400 that has received the second ON signal starts determining the vehicle speed and the steering wheel turning angle in the same manner as described above, determines that the vehicle speed is equal to or higher than the predetermined speed, and determines that the steering wheel turning angle is in the straight traveling state. When it is determined, the position information of the second reference point Pb is acquired and recorded in the memory unit 410.

  Thereby, the control unit 400 calculates the position information of the straight traveling reference line Ls, which is a straight line passing through the two points of the first reference point Pa and the second reference point Pb, and records it in the memory unit 410.

  Further, the control unit 400 is used for automatic straight running in the second and subsequent rows parallel to the calculated straight running reference line Ls and separated by a distance corresponding to the vehicle width W of the riding rice transplanter 1 (see FIG. 4). Information of a plurality of straight ahead target lines Lm is calculated and recorded in the memory unit 410.

  In addition, the locus | trajectory of the riding rice transplanter 1 of the 1st row by manual driving | running | working is represented by the thick white arrow in FIG.

  As described above, in the riding rice transplanter 1 of the present embodiment, the vehicle speed is equal to or higher than the predetermined speed (for example, 011 m / sec), and the steering wheel turning angle is in a straight traveling state (for example, approximately 0 °). Is satisfied at the same time as a determination condition when acquiring the position information of the first reference point Pa and the second reference point Pb, and thus, when acquiring the position information of these reference points, It is possible to prevent a decrease in the accuracy of the position information based on the GNSS and to prevent a decrease in the accuracy of the position information of the straight traveling reference line Ls.

  Thus, according to the riding rice transplanter 1 of the present embodiment, the planting work by the automatic straight traveling from the second to the eighth row of the field 600 is performed by the straight traveling calculated based on the straight traveling reference line Ls. Since the accuracy of the target line Lm can be prevented from lowering, the accuracy of the planting operation can be improved.

  In the above configuration, when the operator operates the finger-up lever 65 to obtain the position information of the first reference point Pa or the second reference point Pb (see FIG. 4), the vehicle speed and the steering wheel turning angle are set in advance. If the determined conditions are not satisfied, the control unit 400 has described the configuration in which the control unit 400 takes a standby state until those conditions are satisfied. However, the present invention is not limited to this. For example, the operator may set the first reference point Pa or the second reference point. Even if a predetermined time has elapsed since the finger-up lever 65 was operated to obtain the position information of the point Pb (see FIG. 4), the vehicle speed and the steering wheel turning angle do not satisfy the predetermined conditions. And the control unit 400, the control unit 400 outputs a voice message for notifying the operator that the acquisition of the position information could not be performed, and the first reference point Pa or the second reference point Pb. 4 to obtain a location information of the reference) may be output to the effect of voice message prompting again operation of the finger-up lever 65.

  Thereby, the worker who hears the voice message can perform the manual driving while consciously satisfying the above-mentioned condition without increasing the vehicle speed or increasing the steering wheel turning angle, so that the first reference point Pa or The position information of the second reference point Pb can be reliably obtained in the first column.

  Next, when the automatic rectilinear mode on / off switch 60 of the riding rice transplanter 1 of this embodiment is set to the “on” state and the above-described planting work is performed in the field 600, the riding rice transplanter 1 During traveling, based on the actual position information of the riding rice transplanter 1 by the position information acquisition device 300 and the position information of the ridge previously recorded in the memory unit 410, the upper ridge 610 in the front and the lower ridge in the front. The configuration and operation of the control unit 400 detecting that the vehicle is approaching 620 and generating a warning sound to alert the worker by the buzzer 80 will be described mainly with reference to FIGS.

  In the present embodiment, the distance between the riding rice transplanter 1 and the ridge is uniformly determined as a criterion for determining whether or not the riding rice transplanter 1 emits a warning sound to notify that it is approaching the front ridge. Instead of focusing on whether the value has reached a value (for example, 8 m), the criterion is changed according to the vehicle speed of the riding rice transplanter 1.

  That is, the distance between the riding rice transplanter 1 and the ridge as a criterion for determining whether or not to emit a warning sound is determined in advance so that the speed is higher when the vehicle speed of the riding rice transplanter 1 is higher than when the vehicle speed is lower. The vehicle speed and the distance as a criterion are set and stored in the memory unit 410 in association with each other.

  When the warning sound is issued, the operator releases the automatic straight traveling mode, turns by manual traveling, and moves the riding rice transplanter 1 to the next row.

  Accordingly, the position of the riding rice transplanter 1 when the warning sound is emitted is farther from the front ridge when the vehicle speed is higher than when the vehicle speed is lower, so that the automatic straight traveling mode is manually released. As the time, it is possible to secure a sufficient time which is almost equal to or longer than the case where the vehicle speed is low.

  Further, if the operator does not cancel the automatic straight running mode even when the warning sound is issued, the riding rice transplanter 1 further runs straight and reaches a predetermined distance (for example, approximately 1 m) before the ridge as the second determination criterion. When the control unit 400 determines that the vehicle has approached, the control unit 400 forcibly cancels the automatic straight running mode, returns the HST 23 to the neutral position, and forcibly stops transmission of power to the front wheel 10 and the rear wheel 11. .

  As described above, even when the automatic straight running mode is not manually released, the HST 23 is forcibly stopped when a certain distance is reached before the ridge, so that the vehicle can be surely driven before the ridge even if there is a slip of a tire or the like. Can be stopped.

  Next, while the riding rice transplanter 1 is traveling in each row, the control unit 400 determines the actual position information of the riding rice transplanter 1 by the position information acquisition device 300 and the position information of the furrows recorded in the memory unit 410 in advance. Based on the above, how to detect that approaching the front upper ridge 610 and the front lower ridge 620 will be further described.

  Here, when the above-described planting work is performed in the field 600 by setting the automatic straight mode on / off switch 60 of the riding rice transplanter 1 according to the present embodiment to the “on” state, the second reference point by the control unit 400 is used. It is assumed that the acquisition of Pb is performed at a position before the distance from the upper ridge 610 reaches the criterion distance for determining that the above-described warning sound should be emitted.

  Accordingly, in the first row of the manual running, the first reference point Pa is, of course, determined before the timing at which the determination is made that the riding rice transplanter 1 makes a warning sound when approaching the upper row 610. , The position information of the second reference point Pb has already been acquired, and the position information of the straight traveling reference line Ls is calculated and recorded in the memory unit 410.

  Further, as described above, since the position information of the four ridges of the field 600 is recorded in the memory unit 410 in advance, for example, the position information of the upper ridge line Lα corresponding to the upper ridge 610 or the lower ridge 620 Is previously recorded.

  From the above, the control unit 400 can calculate the position information of the first intersection Psα between the straight-line reference line Ls in the first column and the upper ridge line Lα, and records it in the memory unit 410.

  Thereby, the control unit 400 obtains the actual position information of the riding rice transplanter 1 periodically acquired by the position information acquiring device 300 and the position information of the first intersection Psα recorded in the memory unit 410 as described above. Thus, the distance between the riding rice transplanter 1 and the upper ridge 610 during manual traveling in the first row can be sequentially calculated.

  By detecting this calculation result, the control unit 400 determines whether or not the riding rice transplanter 1 that is being manually driven in the first row has approached the front upper ridge 610 and reached the distance of the determination criterion. Can be determined.

  Further, similarly to the case of the first column, the control unit 400 determines the position of the lower intersection Pmβ, which is the intersection of each straight target line Lm and the lower ridge line Lβ in the even-numbered columns from the second column. The information and the position information of the upper intersection Pmα, which is the intersection of each of the straight target lines Lm and the upper ridge line Lα in the second and subsequent odd columns, are calculated and recorded in the memory unit 410.

  Accordingly, the control unit 400 determines the actual position information of the riding rice transplanter 1 periodically acquired by the position information acquisition device 300 and the position information of the upper intersection Pmα recorded in the memory unit 410 as described above. Accordingly, the distance between the riding rice transplanter 1 and the upper row 610 during the automatic straight traveling can be sequentially calculated in the odd-numbered rows from the second row.

  Further, the control unit 400 determines the actual position information of the riding rice transplanter 1 periodically acquired by the position information acquisition device 300 and the position information of the lower intersection Pmβ recorded in the memory unit 410 as described above. Accordingly, the distance between the riding rice transplanter 1 and the lower ridge 620 during the automatic straight traveling in the second and subsequent even-numbered rows can be sequentially calculated.

  Therefore, by detecting the calculation result, the control unit 400 determines that the riding rice transplanter 1 that is automatically traveling straight in the first and subsequent rows approaches the upper ridge 610 or the lower ridge 620 in front of the above determination. It can be determined whether the reference distance has been reached.

  When the above-described planting operation is performed in the field 600 with the automatic straight-running mode on / off switch 60 of the riding rice transplanter 1 according to the present embodiment set to the “on” state, the control unit 400 performs the second reference point Pb. Is not executed even when the distance from the upper ridge 610 is equal to or less than the distance of the determination criterion for determining that the above-mentioned warning sound should be emitted, since the position information of the straight traveling reference line Ls cannot be calculated, The position information of the first intersection Psα cannot be calculated. Therefore, in this case, control unit 400 does not emit a warning sound in the first column.

  Further, as described above, when the riding rice transplanter 1 is traveling in the field, it is determined that a warning sound is issued when it is determined that the rice transplanter 1 has approached the front ridge. For example, at least the first reference point Pa and the second reference point If the position information of the point Pb and the position information of the upper ridge line Lα and the lower ridge line Lβ are recorded in the memory unit 410 in advance, the automatic straight-line mode on / off switch 60 of the riding rice transplanter 1 is turned on. This is applicable not only to the case of traveling in the state of "", but also to the case of performing the planting operation by manual traveling with the automatic straight mode ON / OFF switch 60 of the riding rice transplanter 1 in the "OFF" state. Can be aroused.

  Here, the configuration in which the warning sound is issued when the ridge approaches the front of the rice transplanter 1 is described. However, the present invention is not limited to this. For example, when an obstacle such as a wall approaches the front of the rice transplanter 1. Further, a warning sound for restricting the continuation of the traveling operation approaching the obstacle may be further generated for alerting the user.

  Here, the memory unit 410 has been described assuming that the position information of the ridge surrounding the four sides of the field 600 is recorded in advance, but the position information of the ridge may be obtained in any manner. For example, if the upper ridge 610 and the lower ridge 620 of the field 600 are substantially straight, the ridge reference line is obtained by manually traveling in parallel with the ridge in the same procedure as the above-described procedure for obtaining the straight reference line Ls. Then, the acquired ridge reference line is translated in consideration of the vehicle width W (see FIG. 4), thereby obtaining the position information of the upper ridge line Lα and the position of the lower ridge line Lβ corresponding to the lower ridge 620. Information may be obtained.

  Next, the configuration of the ridge clutch mechanism 100 and the on / off control will be described mainly with reference to FIGS.

  FIG. 5A is a schematic side sectional view showing a transmission structure of the driving force of the first seedling planting portion 55a, and FIG. 5B is a diagram showing the vicinity of the ridge clutch portion 150 in the first seedling planting portion 55a. It is a schematic side sectional view.

  FIG. 6A is a schematic side view of the clutch movable member 151 that constitutes the ridge clutch unit 150, and is a view from the left side of a state attached to the ridge clutch unit 150. FIG. FIG. 9 is a schematic rear view of the clutch movable member 151 that constitutes the ridge clutch unit 150, and shows a state in which the clutch movable member 151 is attached to the ridge clutch unit 150 from the rear side.

  As described above, the ridge clutch mechanism 100 is provided corresponding to each of the first seedling planting section 55a, the second seedling planting section 55b, the third seedling planting section 55c, and the fourth seedling planting section 55d. It comprises a first ridge clutch device 110, a second ridge clutch device 120, a third ridge clutch device 130, and a fourth ridge clutch device 140 (see FIG. 4).

  The first to fourth seedling planting portions 55a to 55d have the same structure, and the first to fourth ridge clutch devices 110 to 140 have the same structure to each other. The first seedling planting section 55a and the first ridge clutch device 110 provided corresponding to the first seedling planting section 55a will be mainly described.

  First, the transmission structure of the driving force in the first seedling planting section 55a will be described.

  That is, as shown in FIG. 5A and FIG. 6B, the transmission structure of the driving force in the first seedling planting section 55a includes (1) a large planting clutch (not shown). In the case of the "" state, the planting drive shaft 550 that always rotates, (2) a clutch movable member 151 that is loosely connected to the planting drive shaft 550 and is slidably provided in the axial direction, and (3) And (4) a clutch movable member 151. A planting tool rotation shaft 560 for rotating a planting tool 55-1 (see FIG. 2) rotatably arranged on the left and right sides of the first seedling planting portion 55a. And a chain belt 570 bridged between a first gear portion 151a formed on the second gear portion 561 and a second gear portion 561 connected to the planting tool rotation shaft 560.

The planting drive shafts 550 of the first to fourth seedling planting sections 55a to 55d are coaxially connected to each other.

  The first ridge clutch device 110 is connected to a planting drive shaft 550 provided in the first seedling planting section 55a as shown in FIGS. 3 and 5A to 6B. (2) The ridge clutch section 150 having a clutch movable member 151 for moving on and off and a movable pin 152, and (2) the movable pin 152 is connected to a first compression spring 153 provided on the outer peripheral portion of the movable pin 152 (see FIG. b) a torque spring 160 that moves in the axial direction of the movable pin 152 against the restoring force of the movable pin 152, the one end 161 of which is connected to the rear end 152a of the movable pin 152, and One end 171a of an inner cable 171 included is connected to the torque spring 160 rotatably attached to the outer wall of the seedling planting portion 55a and (3) the other end 162 of the torque spring 160. The cable member 170 for rotating the torque spring 160 is connected to (4) the other end (not shown) of the inner cable 171 so that the inner cable 171 can be pulled in the direction of arrow C. And a solenoid 180 (see FIG. 3) provided on the traveling vehicle body side.

  Further, as described above, the clutch movable member 151 is a member that is slidably movable with respect to the planting drive shaft 550 (see arrows A and B in FIG. 6B) and is loosely connected to each other. 6A, a cam portion 151b having a substantially fan-shaped convex portion 151b1 on the outer peripheral edge, a first gear portion 151a, and a tapered portion 151c are formed.

  Further, the convex portion 151b1 of the cam portion 151b is formed so as to be fittable with a fitting concave portion (not shown) formed on the outer peripheral portion of the planting drive shaft 550.

  A second compression spring (not shown) for always pressing the clutch movable member 151 in the direction of arrow B is arranged on the outer peripheral portion of the planting drive shaft 550.

  The movable pin 152 is slidable in a direction perpendicular to the center axis of the planting drive shaft 550 (see arrow D in FIG. 5B). It is housed in a through hole provided obliquely in the portion 55a1. The rear end 152a of the movable pin 152 protrudes outward from the through hole.

  With the above configuration, when the movable pin 152 is moved in the direction of the arrow D (see FIG. 5B), the distal end 152b (see FIG. 5B) of the movable pin 152 becomes the tapered portion 151c of the clutch movable member 151. The clutch movable member 151 is inserted in the direction of the center axis of the planting drive shaft 550 while abutting against the pressing force of the second compression spring (not shown) in the arrow B direction. Move in the direction of arrow A. When the clutch movable member 151 moves in the direction of arrow A, the cam portion 151b fitted in the fitting recess formed in the outer peripheral portion of the planting drive shaft 550 also moves in the direction of arrow A. The state is released.

  That is, when the movable pin 152 is moved in the direction of the arrow D (see FIG. 5B), the fitting concave portion of the planting drive shaft 550 and the cam portion 151b are in the fitted state, and the movement from the planting drive shaft 550 is performed. From the state in which the driving force can be transmitted to the implanting tool rotation shaft 560 side (that is, the state in which the ridge clutch is “in”), the fitting state between the fitting concave portion of the planting drive shaft 550 and the cam portion 151b is released. Then, the state changes to a state where the driving force from the planting drive shaft 550 is not transmitted to the planting tool rotation shaft 560 side (that is, the ridge clutch is in the “disengaged” state).

  In the present embodiment, it is assumed that the transmission of power is performed when the clutch is in the “on” state, and the transmission of power is stopped when the clutch is in the “off” state. .

  Next, the on / off control of the ridge clutch mechanism 100 by the control unit 400 will be described.

  While the operator is traveling the riding rice transplanter 1, for example, in order to stop or start the seedling planting operation by the first seedling planting section 55a, the first ridge clutch on / off switch 41 (see FIG. 3) ) Is operated on the “cut” side or the “enter” side.

  In this case, when the control unit 400 receives the “off” signal or the “on” signal from the first ridge clutch on / off switch 41, the vehicle speed is determined to be a predetermined value (for example, 1.60 m / sec) or less, and if it is determined that the predetermined value is exceeded, the operation of the first ridge clutch on / off switch 41 by the operator is not accepted, and the operation is not performed. A predetermined sound is emitted from the buzzer 80 for notifying that it is not accepted. In this case, the control unit 400 does not change (either stop or start) the seedling planting operation by the first seedling planting unit 55a.

  On the other hand, if the control unit 400 determines that the vehicle speed is equal to or lower than the predetermined value based on the detection result of the rear wheel rotation sensor 510, it outputs a predetermined command to the solenoid 180 of the first ridge clutch device 110, and (1) When the first ridge clutch on / off switch 41 (see FIG. 3) is operated to the “off” side, the solenoid 180 is switched from the “OFF” state to the “ON” state, and (2) the first ridge clutch on / off When the switch 41 (see FIG. 3) is operated to the “ON” side, the solenoid 180 is switched from the “ON” state to the “OFF” state.

  Next, the cases (1) and (2) will be described separately.

  (1) When the first ridge clutch ON / OFF switch 41 (see FIG. 3) is operated to the “OFF” side, when the solenoid 180 is switched from the “OFF” state to the “ON” state, the solenoid 180 is turned on. The operation pulls the inner cable 171 in the direction of arrow C (see FIG. 5B), so that the torque spring 160 rotates, and the movable pin 152 moves in the direction of arrow D.

  When the movable pin 152 is moved in the direction of the arrow D (see FIG. 5B), the vehicle speed is equal to or lower than the predetermined value. Therefore, as described above, the clutch movable member 151 moves in the direction of the arrow A (see FIG. 6B). ) To move smoothly. Accordingly, as described above, the cam portion 151b fitted in the fitting recess formed in the outer peripheral portion of the planting drive shaft 550 also moves in the direction of arrow A, and the fitted state is released.

  By the way, in the case of high-speed running, the fitting state between the cam portion 151b and the fitting concave portion of the planting drive shaft 550 becomes stronger than in the low-speed running. Therefore, when the first ridge clutch on / off switch 41 (see FIG. 3) is operated to the “off” side, the solenoid 180 is operated even if the vehicle speed exceeds a predetermined value and the vehicle is running at a high speed. By switching to the “ON” state, even if the other end 162 of the torque spring 160 is pulled in the direction of arrow C, the movable pin 152 is pressed by the one end 161 of the torque spring 160 in the direction of arrow D. With the load, the clutch movable member 151 cannot be moved in the direction of arrow A (see FIG. 6B), and the movable pin 152 is flipped in the direction of arrow D 'opposite to the direction of arrow D, and as a result, However, there is a problem that the fitting state between the cam portion 151b and the fitting concave portion of the planting drive shaft 550 cannot be released, and the planting by the first seedling planting portion 55a cannot be stopped. Flip get.

  However, as in the present embodiment, only when control unit 400 checks the vehicle speed and determines that the vehicle speed is equal to or less than a predetermined value, first to fourth ridge clutch on / off switches 41 to fourth ridge clutch on / off switches. The configuration of accepting the "disconnect" operation for any of the 44 can ensure the operation of the ridge clutch mechanism 100.

  Next, (2) when the first ridge clutch ON / OFF switch 41 (see FIG. 3) is operated to the “ON” side, when the solenoid 180 is switched from the “ON” state to the “OFF” state, Since the pulling force of arrow 180 in the direction of arrow C (see FIG. 5B) is released, the movable pin 152 moves in the direction opposite to arrow D by the restoring force of the first compression spring 153 (see FIG. 5B). The torque spring 160 rotates while moving in the direction of arrow D '(see FIG. 5B), and the inner cable 171 is pulled in the direction of arrow C' opposite to the direction of arrow C.

  When the movable pin 152 is moved in the direction of the arrow D ', the contact of the distal end 152b of the movable pin 152 with the tapered portion 151c is released. The clutch movable member 151, which has stopped rotating, moves in the direction of arrow B by the action of the pressing force of the second compression spring (not shown) in the direction of arrow B (see FIG. 6B). The cam 151b smoothly fits into the fitting concave portion (not shown) of the planting drive shaft 550 rotating at a low speed due to the low speed running.

  By the way, in the case of high-speed running, since the planting drive shaft 550 is also rotating at a high speed, the cam portion 151b that has moved in the direction of arrow B with respect to the fitting recess of the planting drive shaft 550 that is rotating at a high speed. Even if it is attempted to fit, it will be flipped in the direction of arrow A, making it difficult to fit. Therefore, when the first ridge clutch ON / OFF switch 41 (see FIG. 3) is operated to the “ON” side, even if the vehicle speed is higher than a predetermined value and the vehicle is running at a high speed, the solenoid 180 is turned on. By switching to the “OFF” state, even if the movable pin 152 is moved in the direction of arrow D ′, the restoring force of the second compression spring in the direction of arrow B fits the planting drive shaft 550 that is rotating at high speed. The cam portion 151b cannot fit into the combined concave portion, and as a result, there may be a problem that planting by the first seedling planting portion 55a cannot be started.

  However, as in the present embodiment, only when control unit 400 checks the vehicle speed and determines that the vehicle speed is equal to or less than a predetermined value, first to fourth ridge clutch on / off switches 41 to fourth ridge clutch on / off switches. By adopting a configuration to receive the “enter” operation of any of the 44, the operation of the ridge clutch mechanism 100 can be reliably performed.

  In the above-described configuration, the control unit 400 operates the first ridge clutch on / off switch 41 (or any of the second ridge clutch on / off switch 42 to the fourth ridge clutch on / off switch 44) by the operator. Good), when the above operation is not received, the configuration in which the predetermined sound for notifying that the operation is not received is emitted from the buzzer 80 has been described. However, the present invention is not limited to this. For example, the first ridge clutch ON / OFF switch 41 to the first Each of the four ridge clutch on / off switches 44 is provided with a first ridge clutch lamp to a fourth ridge clutch lamp (not shown) for indicating whether or not the switch is in the “on” state. The control unit 400 does not accept the operator's "ON" or "OFF" operation for each of the switches 41 to the fourth ridge clutch ON / OFF switch 44. To inform the bets, the corresponding ridges clutch lamp flashes several times (e.g., 3 flashes) may be allowed configuration.

  Further, in the above configuration, when the control unit 400 determines that the vehicle speed exceeds a predetermined value (for example, 1.60 m / sec) when receiving a signal from the first ridge clutch on / off switch 41, for example. The configuration in which the operation of the first ridge clutch on / off switch 41 by the operator is not described has been described. However, the present invention is not limited to this. The configuration may be such that the angle of the trunnion shaft (not shown) of the HST 23 is automatically adjusted. In this configuration, the buzzer 80 may be configured to emit a predetermined sound for automatically informing the operator that the vehicle speed has been reduced. Further, in the case of this configuration, instead of the configuration in which the predetermined sound is emitted from the buzzer 80, the configuration may be such that the ridge clutch lamp blinks a plurality of times (for example, blinks three times).

  Further, for example, when receiving a signal from the first ridge clutch ON / OFF switch 41, the control unit 400 determines that the vehicle speed exceeds a predetermined value (for example, 1.60 m / sec), The configuration in which the HST 23 is automatically controlled so as to be equal to or less than the value has been described. In this configuration, for example, the “ON” signal or the “OFF” signal from the first ridge clutch ON / OFF switch 41 is further applied. Correspondingly, a ridge clutch sensor (not shown) is provided which can detect that the cam portion 151b has been fitted into the fitting concave portion (planting started) or that the fitting has been released (planting stopped). Based on the detection result of the ridge clutch sensor, for example, the first seedling planting section 55a appropriately performs planting in response to the “ON” signal or the “OFF” signal from the first ridge clutch ON / OFF switch 41. When it started, If the control unit 400 determines that the planting has been stopped properly, the control unit 400 adjusts the angle of the trunnion shaft of the HST 23 and automatically reaches the traveling speed corresponding to the set position of the work operation lever 36. It is good also as composition returned. Thereby, operability can be improved.

  Next, the operation start condition of the automatic operation in the riding rice transplanter 1 of the present embodiment will be mainly described.

  That is, the automatic operation start conditions for the planting operation of the riding rice transplanter 1 of the present embodiment are listed below.

This makes it possible to prevent the automatic operation from being started so as not to be stuck in the middle of the field when there is a possibility that the planting operation cannot be continued during the reciprocating operation when the machine body is in an abnormal state.

  Automatic charging can be started when the battery is not out of charge.

  The automatic work can be started when the engine start is detected.

  If no out-of-seedling is detected, automatic operation can be started.

  If the radiator water temperature abnormality is not detected, the automatic work can be started.

  When there is no abnormality in the handle sensor, automatic work can be started.

  If there is no abnormality in the HST lever sensor, automatic work can be started.

  If there is no abnormality in the HST trunnion arm sensor, automatic work can be started.

  If there is no abnormality in the planting portion inclination sensor, automatic work can be started.

  If there is no abnormality in the angular velocity sensor for horizontal control, the automatic work can be started.

If there is no abnormality in the marker sensor (the sensor that detects the operation of the drawing marker), automatic work can be started.

If there is no abnormality in the float sensor (sensor for detecting unevenness in the field scene), the automatic work can be started.

If there is no abnormality in the link sensor that detects the planting height, the configuration is such that automatic work can be started.

  If there is no abnormality in the accelerator sensor for the electric accelerator, automatic work can be started.

When there is no abnormality in the planting clutch sensor for judging on / off of planting, automatic work can be started.

When there is no abnormality in the planting clutch sensor for judging on / off of planting, automatic work can be started.

  If there is no abnormality in the ridge clutch sensor, automatic construction can be started. Furthermore, in this configuration, if the control unit determines that there is no scene to operate the ridge clutch during the next one reciprocation, automatic work can be started even if the ridge clutch sensor is abnormal. . Thus, even if there is an abnormality in the sensor, the automatic operation can be started if there is no obstacle to the next reciprocating operation.

  If there is no abnormality in the ridge clutch sensor for fertilizer application, automatic work can be started. Further, in this configuration, if the control unit determines that there is no scene to operate the fertilizing ridge clutch during the next one reciprocating stroke, the automatic work starts even if the fertilizing ridge clutch sensor is abnormal. Is possible. Thus, even if there is an abnormality in the sensor, the automatic operation can be started if there is no obstacle to the next reciprocating operation.

When there is no abnormality in the rotor sensor (the sensor that detects the drive of the leveling rotor), automatic work can be started.

  If there is no abnormality in the motor that controls the steering operation, automatic operation can be started.

  If the control unit determines that there is no scene to operate the ridge clutch during the next one reciprocation stroke in a situation where the automatic operation is being performed by the riding rice transplanter 1, the ridge clutch sensor has an abnormality. Also, the automatic work is not interrupted. Thus, even if there is an abnormality in the sensor, the automatic operation is not interrupted unless the current reciprocating operation is hindered.

  If the control unit determines that there is no scene of operating the ridge clutch for fertilization during the next one reciprocation stroke in a situation where the automatic work is being performed by the riding rice transplanter 1, the ridge clutch for fertilization is used. Even if there is an abnormality in the sensor, the automatic work is not interrupted. Thus, even if there is an abnormality in the sensor, the automatic operation is not interrupted unless the current reciprocating operation is hindered.

  In the above-described embodiment, when the control unit determines that the vehicle speed of the riding rice transplanter 1 is equal to or higher than the predetermined speed and the steering wheel turning angle is in the straight traveling state, the first reference point Pa and the second reference point Although the configuration for acquiring the position information of Pb has been described, the present invention is not limited to this. For example, when the control unit determines that the vehicle speed of the riding rice transplanter 1 is equal to or higher than the predetermined speed, the first reference point Pa and the second reference point A configuration for acquiring the position information of Pb may be used.

  Further, in the above-described embodiment, when the control unit determines that the vehicle speed of the riding rice transplanter 1 is equal to or higher than the predetermined speed and the steering angle is in the straight traveling state, the first reference point Pa and the second reference point Although the configuration for acquiring the position information of Pb has been described, the present invention is not limited to this. For example, when the control unit determines that the riding rice transplanter 1 is not stopped (that is, it is running), the first reference point Pa The position information of the second reference point Pb may be acquired.

  In the above-described embodiment, the control unit 400 checks the vehicle speed and determines that the vehicle speed is equal to or less than the predetermined value, and only when the first ridge clutch on / off switch 41 to the fourth ridge clutch on / off switch 44 is determined. In any case, when the “enter” operation is received and it is determined that the value exceeds a predetermined value, the configuration is such that the “enter” operation is not received. However, the present invention is not limited to this. Only when this is done, any of the first to fourth ridge clutch on / off switches 41 to the fourth ridge clutch on / off switch 44 receives the “enter” operation, and if it is determined that the value is equal to or more than the predetermined value, the “ It is good also as a structure which does not accept an "enter" operation.

  Further, in the above embodiment, the criterion for determining whether or not the riding rice transplanter 1 emits a warning sound for notifying that it is approaching the front ridge is changed according to the vehicle speed of the riding rice transplanter 1. The distance between the riding rice transplanter 1 and the ridge as a criterion is set in advance so that the speed is higher when the vehicle speed of the riding rice transplanter 1 is higher than when the vehicle speed is lower. The configuration in which the vehicle speed and the distance as the criterion are associated with each other and recorded in the memory unit 410 has been described. However, the present invention is not limited to this. For example, the distance between the riding rice transplanter 1 and the ridge as the criterion May be a function including the vehicle speed as a parameter.

  That is, in the case of this configuration, for example, the distance between the riding rice transplanter 1 and the ridge as a criterion is represented by the following function F.

F = vehicle speed (m / sec) × 4 (sec) + braking distance (m) +3 (m) according to vehicle speed
The actual distance from the ridge of the rice transplanter 1 may be expressed as H (m), and a buzzer 80 may be used to generate a warning sound when the control unit determines that H ≦ F is satisfied. As a result, a change in the determination criterion (see the function F) according to the vehicle speed allows a sufficient time for the operator to manually turn off the automatic straight-ahead control. Here, in the above-described function F, the generation period of the warning sound is set to at least 4 seconds or more, and the setting is made so that the aircraft stops 3 m before the ridge. However, the present invention is not limited to this.

  Further, in the above-described embodiment, the configuration in which the determination criterion (see function F) changes according to the vehicle speed has been described. However, in this configuration, when the vehicle speed is low, the value of function F becomes a predetermined distance (for example, When the distance is less than 8 m), F may be fixed to a predetermined distance (for example, 8 m). Accordingly, when the value of the function F is less than a predetermined distance (for example, 8 m) in the calculation, the control unit does not use the calculation result and fixes F to the predetermined distance. When it is detected that the actual distance H (m) from the ridge of the riding rice transplanter 1 has reached a predetermined distance (for example, 8 m), a warning sound can always be emitted.

  Further, in the above embodiment, even when a warning sound is issued when it is determined that the actual distance from the ridge of the riding rice transplanter 1 has reached the criterion distance, the operator manually performs the automatic straight traveling. Unless the mode is released, that is, unless the automatic straight-ahead control is turned off, it is controlled that the riding rice transplanter 1 further travels straight and approaches a predetermined distance (for example, approximately 1 m) before the ridge as a second determination criterion. When the control unit determines, the control unit forcibly releases the automatic straight running mode and forcibly stops the transmission of power to the front wheel 10 and the rear wheel 11; however, the present invention is not limited to this. The predetermined distance in front of the ridge as a second determination criterion for turning off the vehicle may be changed according to, for example, the vehicle speed at which the control unit determines to emit a warning sound. For example, in the case of this configuration, if the vehicle speed is 1.0 m / sec, the predetermined distance of the second criterion is 1 m. If the vehicle speed is 1.5 m / sec, the predetermined distance of the second criterion is 1. 5 m. By changing the distance as the second criterion according to the vehicle speed, the automatic straight-ahead control can be cut at a more appropriate timing, and the accuracy is improved.

  Further, in the above-described embodiment, when it is determined that the actual distance from the ridge of the riding rice transplanter 1 has reached the predetermined criterion distance, a warning sound is generated. When the control unit determines that the vehicle has traveled straight and approached a predetermined distance (for example, approximately 1 m) in front of the ridge as a second determination criterion, the control unit forcibly releases the automatic straight traveling mode and stops. However, the present invention is not limited to this. For example, the control of generating a warning sound when it is determined that the distance reaches a predetermined determination criterion is maintained, but the automatic straight-ahead control is forcibly performed by the second determination criterion. It may be configured to selectively switch in advance whether to execute the control mode of cutting off and stopping. In the case of this configuration, for example, the control mode may be turned on and off in a checker of the machine or in a check mode of the machine. Thus, straight running control can be performed in the automatic straight running mode until just before the ridge.

  Further, in the above embodiment, the criterion for determining whether or not the riding rice transplanter 1 emits a warning sound for notifying that it is approaching the front ridge is changed according to the vehicle speed of the riding rice transplanter 1. Although the configuration has been described, the present invention is not limited to this. For example, the distance between the riding rice transplanter 1 and the ridge as a criterion may be uniformly fixed to a predetermined value (for example, 8 m). In the case of this configuration, a warning sound is emitted when the control unit determines that the actual distance from the ridge of the riding rice transplanter 1 has uniformly reached a predetermined value (for example, 8 m). You can turn off straight control. In addition, when the worker does not turn off the automatic straight-ahead control while the warning sound is issued, the control unit determines that the riding rice transplanter 1 further approaches the ridge and reaches a certain distance (for example, 1 m) before the ridge. Is determined, the control unit is forcibly cut off the automatic straight-ahead control. In addition, in the case of this configuration, the control unit may change the interval at which the intermittent warning sound is generated in accordance with the actual distance from the ridge after the riding rice transplanter 1 exceeds the above-described determination criterion. . In the case of this configuration, for example, when the actual distance from the ridge after the riding rice transplanter 1 exceeds the above-described determination criterion is (1) 6 m to 8 m, the warning sound generation cycle is set to 500 ms, and the on-time is set to 100 ms. (2) In the case of 4 m to 6 m, the alarm sound generation cycle is 400 ms and the on-time is 100 ms. (3) In the case of 2 m to 4 m, the alarm sound generation cycle is 300 ms and the on-time is 100 ms. If it is less than 2 m, the alarm sound generation cycle may be 200 ms, and the on-time may be 100 ms. Thus, by changing the interval of the intermittent warning sound according to the distance, the operator can know how long the automatic straight-ahead control is automatically cut off. Further, as the distance from the ridge becomes shorter, a warning sound is frequently sounded, so that the operator can be prompted to manually turn off the automatic straight-ahead control.

  In the above-described embodiment, the configuration has been described in which the control unit changes the generation interval of the intermittent warning sound in accordance with the actual distance from the ridge after the riding rice transplanter 1 exceeds the determination criterion. However, the present invention is not limited to this. For example, after the riding rice transplanter 1 exceeds the above-described determination criterion, the control unit causes the control unit to forcibly turn off the automatic straight-ahead control. May be changed. In the case of this configuration, for example, if the time until the automatic straight-ahead control is forcibly turned off after the riding rice transplanter 1 exceeds the above-described determination criterion is (1) 10 seconds or more, the warning sound generation cycle is set to 500 ms. The on-time is set to 100 ms, (2) When 6 to 10 seconds, the alarm sound generation cycle is 400 ms, and the on-time is 100 ms. (3) When the on-time is 2 to 6 seconds, the alarm sound generation cycle is 300 ms. If the time is 100 ms and (4) the time is less than 2 seconds, the alarm sound generation cycle may be 200 ms and the on-time may be 100 ms. Thus, by changing the intermittent warning sound generation interval in accordance with the time until the automatic straight-ahead control is forcibly cut off, the operator can know how long the automatic straight-ahead control is automatically cut off. In addition, as the above-mentioned time becomes shorter, a warning sound is frequently emitted, so that the operator can be urged to manually turn off the automatic straight-ahead control.

  In the above-described embodiment, when the control unit 400 detects the headland planting after acquiring the position information of the first reference point Pa and the second reference point Pb, the first unit recorded in the memory unit 410. The configuration may be such that the position information of the reference point Pa and the second reference point Pb is deleted. Further, in the case of this configuration, it may be possible to selectively switch in advance whether or not to execute the control mode of deleting the position information of the first reference point Pa and the second reference point Pb. In the case of this configuration, for example, the control mode may be turned on and off in a checker of the machine or in a check mode of the machine. Thereby, it is possible to prevent the position information of the first reference point Pa and the second reference point Pb from being automatically deleted in the deformed field.

Further, in the above-described embodiment, the riding rice transplanter 1 in which the planting device 52 is provided as a working device is described as an example of the seedling transplanter of the present invention. However, the present invention is not limited thereto. Alternatively, a seedling transplanter provided with a rotary or the like may be used.

Further, in the above embodiment, the eight-row riding rice transplanter 1 has been described as an example of the seedling transplanter of the present invention. However, the present invention is not limited to this, and may be a four-row or six-row planting configuration. , Is not limited to the number of articles.

ADVANTAGE OF THE INVENTION According to this invention, the seedling transplanter which can prevent that the precision of position information falls is provided, for example, it is useful as a riding rice transplanter etc.

DESCRIPTION OF SYMBOLS 1 Riding rice transplanter 2 Traveling car body 3 Elevating link device 10 Front wheel 11 Rear wheel 12 Transmission case 15 Main frame 18 Rear wheel gear case 34 Handle 36 Work operation lever 52 Planting device 60 Automatic straight mode on / off switch 65 Finger up lever 80 Buzzer 90 display lamp 100 ridge clutch mechanism 110 first ridge clutch device 120 second ridge clutch device 130 third ridge clutch device 140 fourth ridge clutch device 180 solenoid 200 automatic steering device 210 steering motor 220 handle potentiometer 300 position information acquisition device 310 reception Antenna 400 control circuit 410 memory unit 510 rear wheel rotation sensor

Claims (2)

A traveling body (2), a planting device (52) connected to the traveling body (2), and having a plurality of planting tools (55-1) for planting seedlings in a field; A position information acquisition device (300) including a receiving antenna (310) for receiving a signal from an artificial satellite of the traveling vehicle body (2) and acquiring position information; and a position information acquisition device (300) acquired by the position information acquisition device (300). A control unit (400) for automatically driving the traveling vehicle body based on the position information and predetermined traveling route information;
A vehicle speed detection unit (510) for detecting a vehicle speed of the traveling vehicle body (2).
The reference position information for obtaining the predetermined travel route information is obtained by operating the operation lever (65), and as a condition for obtaining the reference position information, the seedling is being planted, and the vehicle speed detection unit The vehicle speed detected by (510) is equal to or higher than a first threshold,
Further, the reference position information is acquired when the turning angle detected by the turning angle detection unit (220) that detects the turning angle of the operation handle (34) for steering the traveling vehicle body (2) is equal to or smaller than a second threshold value. age,
The operation start point (Pa) and the operation end point (Pb) are acquired only by two operations of the operation lever (65), and the control unit (400) proceeds straight as a straight line passing through the two points. A configuration for calculating a reference line (Ls);
If the vehicle speed and the turning angle of the operation handle (34) do not satisfy the above conditions when the operation lever (65) is operated, the vehicle speed and the operation handle ( If the cutting angle of 34) does not satisfy the above condition, the control unit (400) notifies the worker of the position information unacquired state, and also starts the work start point (Pa) or the work end point (Pb). A seedling transplanter is notified to operate the operation lever (65) again to obtain the reference position information of (1) . And a mechanism (100) for turning on and off the transmission of the driving force to all or a part of the plurality of planting tools (55-1). When the control unit (400) receives a signal indicating that the driving force is transmitted or not transmitted to the implanting tool (55-1), the vehicle speed of the traveling vehicle body is equal to or less than a third threshold. When it is determined that, the cutting mechanism entering cutting mechanism (100) is operated,
When the headland planting is detected by the position information acquisition device (300) in a state where the position information of the work start point (Pa) and the work end point (Pb) is obtained, the headland planting is recorded in the memory unit (410). Whether to execute the control of deleting the position information of the work start point (Pa) and the work end point (Pb) and deleting the position information of the work start point (Pa) and the work end point (Pb). The seedling transplanter according to claim 1, wherein the seedling can be selectively switched in advance .

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