JP6705686B2 - Work vehicle - Google Patents

Description

The present invention relates to a work vehicle including a route setting unit that sets a target straight traveling route, a positioning unit that measures the position and orientation of a traveling vehicle body, and a direction control unit that controls the traveling direction of the traveling vehicle body.

In a passenger rice transplanter, which is an example of a work vehicle, a teaching route generation unit generates a teaching route and a target route parallel to the teaching route based on position information measured by a GPS device, and a traveling vehicle body is targeted. There is a vehicle that travels autonomously on a route (for example, see Patent Document 1).
A passenger rice transplanter, which is an example of a work vehicle, has an auto-up control means that automatically raises the paddy field working device in conjunction with the steering operation of the traveling machine body, and the gear shift lever is linked to the reverse gear shift operation path. Then, there is a backup control means for automatically raising the paddy field working device (see, for example, Patent Document 2).
A passenger rice transplanter, which is an example of a work vehicle, is equipped with a main speed change lever that enables a speed change operation and a forward/reverse speed change operation of a main speed change device, and is equipped with a guide groove for guiding the operation of the main speed change lever. The guide plate is equipped with a switch that sets the lateral outside on the forward shift path side of the switching path to the engine stop position and detects the operation of the main shift lever to the engine stop position.The main shift lever is based on the output of the switch. There is a configuration in which the engine is stopped when a holding operation for a predetermined time at the engine stop position is detected (for example, refer to Patent Document 3).

JP, 2008-131880, A JP2012-85646A JP 2006-94553 A

With the configuration described in Patent Document 1, the riding rice transplanter can be driven autonomously on the target route. However, when the riding rice transplanter reaches the turning area (headland), the traveling of the machine is stopped automatically or by the operation of the driver (operator). Then, the driver raises the ground work device (planting part) and operates the autonomous traveling switch to automatically turn the riding rice transplanter in a desired direction, and after completing the automatic turning, , Autonomously travels on the next target route. Then, when the planting start position is reached, the traveling of the aircraft is stopped automatically or by the operation of the driver. After that, the ground work device is lowered by the driver's operation to continue autonomously traveling on the target route.
That is, in the configuration described in Patent Document 1, when switching the ground work device between the working state and the non-working state, the driver temporarily stops the traveling of the riding rice transplanter, and then the driver operates the ground work device to move up and down. And so on. As a result, work efficiency is reduced, and there is room for improvement in reducing the labor of the driver required during work traveling.

In the configuration described in Patent Document 2, when one-stroke work traveling by the riding rice transplanter is completed and the aircraft is largely steered for the direction change in the direction change area (edge), the automatic up control works. As a result, the ground work device (paddy work device) is automatically raised and the transmission to the ground work device is cut off. In addition, when one-stroke work traveling by the riding rice transplanter is completed and the aircraft is moved backward for a direction change (switch turn) in the direction change area, backup control works and the ground work device automatically raises. And, the transmission to the ground work device is cut off. However, after changing the direction of the riding rice transplanter, the driver operates the operation lever to lower the ground work device to contact the work site (field), and then the driver operates the operation lever again. Then, the transmission to the ground work device is restarted.
That is, in the configuration described in Patent Document 2, the ground work device automatically switches from the working state to the non-working state in association with the direction changing operation of the riding rice transplanter, but the ground work device is changed from the non-working state to the working state. When switching to, the driver must operate the operation lever. Further, in the configuration described in Patent Document 2, since the riding rice transplanter cannot automatically run on the target route, the driver needs to steer the riding rice transplanter so as not to deviate from the target route. is there. As a result, there is room for improvement in reducing the effort of the driver required for work traveling.

In the configuration described in Patent Document 3, when it is necessary to perform seedling replenishment work during work traveling, the driver operates the main shift lever to the forward/backward switching path to operate the rice transplanter for riding. The running can be stopped, and then the engine can be stopped by operating the main shift lever to the engine stop position. After the seedling replenishment work is completed, the driver can restart the engine by operating the main speed change lever from the engine stop position to the forward/reverse switching path, and then move the main speed change lever forward. By operating the route, the passenger rice transplanter can be moved forward. However, in the configuration described in Patent Document 3, since the riding rice transplanter cannot be automatically driven on the target route, the driver needs to steer the riding rice transplanter so as not to deviate from the target route. is there.
That is, with the configuration described in Patent Document 3, it is possible to suppress unnecessary fuel consumption due to the operation of the engine during seedling replenishment work, but to reduce the labor of the driver required during work traveling. There is room for improvement in.

In other words, there is a demand for the development of a work vehicle that can reduce the labor of the driver required for work traveling without lowering work efficiency or suppressing wasteful fuel consumption.

As a means for solving the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight traveling route, a positioning unit that measures a position and an orientation of a traveling vehicle body, a direction control unit that controls a traveling direction of the traveling vehicle body, and A transition detection unit that detects a transition of the traveling state, and a work control unit that switches the ground work device connected to the traveling vehicle body so as to be able to move up and down between a working state and a non-working state,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
The work control unit, in conjunction with the transition detection unit detecting a transition from a straight traveling state of the traveling vehicle body to a direction changing state by a manual operation , switches the ground work device to the non-working state in a non-working state. Working state switching control for switching the ground working device to the working state is performed in conjunction with executing the switching control and detecting the transition of the traveling vehicle body from the turning state to the straight traveling state. Run and
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start end position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. The reference azimuth, which is the extension direction, is determined.

According to this means, in the control target area of the target straight traveling route, the traveling vehicle body automatically travels on the target straight traveling route by the control operation of the direction control unit, so that the driver does not separate the traveling vehicle body from the target straight traveling route. There is no need to steer to avoid.
Then, when the traveling vehicle body deviates from the control target area of the target straight traveling route, the driver steers the traveling vehicle body, and as the traveling vehicle body reaches the turning area of the work site, the driver moves the traveling vehicle body at present. When the direction change operation to move from the target straight ahead route to the next target straight ahead route is started, the transition detection unit detects the transition of the traveling vehicle body from the straight ahead state to the direction change state, and the control operation of the work control unit based on this detection. As a result, the ground work device is switched from the working state to the non-working state in conjunction with the traveling vehicle body shifting from the straight traveling state to the direction changing state.
After that, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight traveling route, the transition detection unit detects the transition of the traveling vehicle body from the direction changing state to the straight traveling state. By the control operation of the work control unit based on the above, the ground work device switches from the non-working state to the working state in conjunction with the traveling vehicle body changing from the direction changing state to the straight traveling state.
In other words, in the control target area of the target straight-ahead route, the automatic straight-ahead control is executed so that the traveling vehicle body automatically travels on the target straight-ahead route, and in the direction change area, work is performed in conjunction with the driver's direction change operation. The state switching control and the non-working state switching control are appropriately executed, and the ground work device switches between the working state and the non-working state at appropriate timing.
As a result, it is possible to effectively reduce the labor of the driver required during work traveling without lowering work efficiency.

As another means for solving the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight traveling route, a positioning unit that measures a position and a direction of a traveling vehicle body, a direction control unit that controls a traveling direction of the traveling vehicle body, and an engine operation. An engine control unit for controlling, and a condition determination unit for determining whether or not the temporary stop condition and the restart condition of the engine are satisfied,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
When the condition determination unit determines that the temporary stop condition is satisfied, the engine control unit executes engine temporary stop control for temporarily stopping the engine, and the condition determination unit satisfies the restart condition. When it is determined, the engine restart control for restarting the engine is executed,
The restart condition is that the speed change operation tool is operated from the work interruption position to the neutral position in a state where the brake operation tool is operated to the braking position,
The direction control unit interrupts the automatic straight-ahead control when the engine temporary stop control is executed during the execution of the automatic straight-ahead control, and executes the engine restart control while the automatic straight-ahead control is interrupted. Then, the automatic straight ahead control is restarted,
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start end position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. The reference azimuth, which is the extension direction, is determined.

According to this means, in the control target area of the target straight traveling route, the traveling vehicle body automatically travels on the target straight traveling route by the control operation of the direction control unit, so that the driver does not separate the traveling vehicle body from the target straight traveling route. There is no need to steer to avoid.
Here, for example, the work vehicle includes a storage unit that stores the supply material to be supplied to the work site, and the engine temporary stop condition is set to operate from the neutral position of the main transmission lever to the engine stop position, and , It is assumed that the engine restart condition is set to operate the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when it is necessary to replenish the supply to the storage portion during execution of the automatic straight ahead control, for example, when the driver operates the main speed change lever to the neutral position, transmission to the traveling device is performed. Is cut and the traveling vehicle body stops traveling. After that, when the driver operates the main shift lever to the engine stop position, the condition determination unit determines that the temporary stop condition of the engine is satisfied, and the engine is temporarily stopped by the control operation of the engine control unit based on this determination. As a result, the driver can promptly replenish the supply portion to the storage portion while preventing the fuel from being unnecessarily consumed during the replenishment work. Further, at this time, since the direction control unit interrupts the automatic straight-ahead control, it is possible to prevent unnecessary power consumption due to the automatic straight-ahead control being continued while the engine is temporarily stopped.
After that, when the driver finishes supplying the supply portion to the storage portion and operates the main transmission lever from the engine stop position to the neutral position, the condition determination portion determines that the engine restart condition is satisfied, and based on this determination The engine is restarted by the control operation of the engine control unit. Then, when the driver operates the main shift lever from the neutral position to the shift position on the forward side, forward power is transmitted to the traveling device and the traveling vehicle body advances. During the forward traveling, the traveling vehicle body automatically travels on the target straight traveling route because the directional control unit restarts the automatic straight traveling control with the restart of the engine.
As a result, it is possible to reduce wasteful fuel consumption and power consumption while reducing the labor of the driver required during work traveling.

As another means for solving the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight traveling route, a positioning unit that measures a position and an orientation of a traveling vehicle body, a direction control unit that controls a traveling direction of the traveling vehicle body, and A transition detection unit that detects a transition of the traveling state, a work control unit that switches the ground work device that is vertically movable to the traveling vehicle body between a working state and a non-working state, and an engine control unit that controls the operation of the engine. A condition determination unit that determines whether or not the temporary stop condition and the restart condition of the engine are satisfied,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
The work control unit, in conjunction with the transition detection unit detecting a transition from a straight traveling state of the traveling vehicle body to a direction changing state by a manual operation , switches the ground work device to the non-working state in a non-working state. Working state switching control for switching the ground working device to the working state is performed in conjunction with executing the switching control and detecting the transition of the traveling vehicle body from the turning state to the straight traveling state. Run and
When the condition determination unit determines that the temporary stop condition is satisfied, the engine control unit executes engine temporary stop control for temporarily stopping the engine, and the condition determination unit satisfies the restart condition. When it is determined, the engine restart control for restarting the engine is executed,
The direction control unit suspends the automatic straight ahead control when the engine temporary stop control is executed during the execution of the automatic straight ahead control, and executes the engine restart control while the automatic straight ahead control is suspended. If the automatic rectilinear control is restarted,
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start end position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. The reference azimuth, which is the extension direction, is determined.

According to this means, in the control target area of the target straight traveling route, the traveling vehicle body automatically travels on the target straight traveling route by the control operation of the direction control unit, so that the driver does not separate the traveling vehicle body from the target straight traveling route. There is no need to steer to avoid.
Then, when the traveling vehicle body deviates from the control target area of the target straight traveling route, the driver steers the traveling vehicle body, and as the traveling vehicle body reaches the turning area of the work site, the driver moves the traveling vehicle body at present. When the direction change operation to move from the target straight ahead route to the next target straight ahead route is started, the transition detection unit detects the transition of the traveling vehicle body from the straight ahead state to the direction change state, and the control operation of the work control unit based on this detection. As a result, the ground work device is switched from the working state to the non-working state in conjunction with the traveling vehicle body shifting from the straight traveling state to the direction changing state.
After that, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight traveling route, the transition detection unit detects the transition of the traveling vehicle body from the direction changing state to the straight traveling state. By the control operation of the work control unit based on the above, the ground work device switches from the non-working state to the working state in conjunction with the traveling vehicle body changing from the direction changing state to the straight traveling state.
In other words, in the control target area of the target straight-ahead route, the automatic straight-ahead control is executed so that the traveling vehicle body automatically travels on the target straight-ahead route, and in the direction change area, work is performed in conjunction with the driver's direction change operation. The state switching control and the non-working state switching control are appropriately executed, and the ground work device switches between the working state and the non-working state at appropriate timing.
Here, for example, the work vehicle includes a storage unit that stores the supply material to be supplied to the work site, and the engine temporary stop condition is set to operate from the neutral position of the main transmission lever to the engine stop position, and , It is assumed that the engine restart condition is set to operate the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when it is necessary to replenish the supply to the storage portion during execution of the automatic straight ahead control, for example, when the driver operates the main speed change lever to the neutral position, transmission to the traveling device is performed. Is cut and the traveling vehicle body stops traveling. After that, when the driver operates the main shift lever to the engine stop position, the condition determination unit determines that the temporary stop condition of the engine is satisfied, and the engine is temporarily stopped by the control operation of the engine control unit based on this determination. As a result, the driver can promptly replenish the supply portion to the storage portion while preventing the fuel from being unnecessarily consumed during the replenishment work. Further, at this time, since the direction control unit interrupts the automatic straight-ahead control, it is possible to prevent unnecessary power consumption due to the automatic straight-ahead control being continued while the engine is temporarily stopped.
After that, when the driver finishes supplying the supply portion to the storage portion and operates the main transmission lever from the engine stop position to the neutral position, the condition determination portion determines that the engine restart condition is satisfied, and based on this determination The engine is restarted by the control operation of the engine control unit. Then, when the driver operates the main shift lever from the neutral position to the shift position on the forward side, forward power is transmitted to the traveling device and the traveling vehicle body advances. During the forward traveling, the traveling vehicle body automatically travels on the target straight traveling route because the directional control unit restarts the automatic straight traveling control with the restart of the engine.
As a result, it is possible to effectively reduce the labor of the driver required for work traveling without causing a reduction in work efficiency and preventing wasteful fuel consumption and power consumption.

As one of means for making the present invention more preferable,
The positioning unit includes a satellite navigation device and an inertial measurement device.

According to this means, it is possible to correct the accumulated error included in the relative position of the work vehicle obtained from the inertial measurement device, for example, by the absolute position of the work vehicle obtained from the satellite navigation device.
Further, for example, it is possible to correct the positioning error of the satellite navigation device due to the positional deviation of the GPS antenna due to the inclination of the traveling vehicle body by using a three-axis gyroscope equipped in the inertial measurement device.
As a result, the position and azimuth of the traveling vehicle body can be accurately measured, and the traveling vehicle body can be accurately traveled on the target straight traveling route by the control operation of the direction control unit in the control target region of the target straight traveling route.

As one of means for making the present invention more preferable,
A manual main switch that connects and disconnects electricity from the battery to each electrical component, and an electricity holding unit that enables electricity to be supplied from the battery bypassing the main switch to the satellite navigation device,
The energization holding unit switches to an energization holding state in which the battery is energized to the satellite navigation device in conjunction with a disconnection operation of the main switch, and the battery energizes from the battery in conjunction with a connection operation of the main switch. Switch to the power-off state in which power to the satellite navigation system is stopped.

In order to prevent unnecessary fuel consumption during work interruptions such as breaks, the driver shuts off the engine by shutting off the main switch to shut off the power supply from the battery to each electrical component. There is. At this time, the power supply to the satellite navigation device is also normally stopped so that the satellite navigation device also stops operating.
Here, it is known that the satellite navigation device requires a long start-up time from the start of energization to the satellite navigation device until the positioning using the satellite becomes possible. Therefore, for example, if the driver shuts down the main switch to stop the engine in order to prevent wasteful fuel consumption during a break, the satellite navigation device also operates along with the shutoff operation at this time. Even if the driver operates the main switch to start the engine when the driver finishes a break, etc., the vehicle will continue to work using automatic straight ahead control until the satellite navigation device starts up. It cannot be restarted. As a result, the work efficiency will be reduced when waiting for the satellite navigation device to start up, and if the work traveling is resumed without waiting for the satellite navigation device to start up, the passenger rice transplanter will start from the target route. This will force the driver to steer the vehicle so that it will not come off.

Therefore, in this means, for example, in order to prevent unnecessary fuel consumption during a break, when the driver stops the engine by shutting off the main switch, the shutoff operation of the main switch at that time is performed. The energization holding unit is switched to the energization holding state to keep the satellite navigation device in the operating state. Accordingly, when the driver operates the main switch to start the engine after finishing a break or the like, it is possible to restart the engine and the work traveling using the automatic straight ahead control.
As a result, it is possible to prevent wasteful fuel consumption during a break or the like without lowering work efficiency or increasing labor required for the driver.

As one of means for making the present invention more preferable,
A manual-type main switch that connects and disconnects electricity from the battery to each electrical component, and an electricity holding unit that enables electricity to be supplied to the inertial measurement device from the battery that bypasses the main switch,
The energization holding unit switches to an energization holding state in which the battery is energized to the inertial measurement device in conjunction with a disconnection operation of the main switch, and is coupled to an operation of connecting the main switch in association with the battery. Switch to the power-off state in which power to the inertial measurement device is stopped.

In order to prevent unnecessary fuel consumption during work interruptions such as breaks, the driver shuts off the engine by shutting off the main switch to shut off the power supply from the battery to each electrical component. There is. At this time, normally, the energization of the inertial measurement device is also stopped, so that the inertial measurement device also stops operating.
Here, it is known that the gyroscope included in the inertial measurement device has unstable measurement accuracy unless warm-up operation is performed. Therefore, for example, when the driver stops the engine by shutting off the main switch in order to prevent wasteful fuel consumption during a break, the inertial measurement device also stops operating along with the shutoff operation at this time. Therefore, even if the driver operates the main switch to start the engine when the driver finishes a break, etc., work traveling using automatic straight ahead control is continued until the warm-up operation of the gyroscope ends. Cannot be restarted. As a result, when waiting for the warm-up operation of the gyroscope to end, the work efficiency will be reduced, and when restarting the work without waiting for the end of the warm-up operation, the riding rice transplanter will This will force the driver to make efforts to steer the vehicle off the target route.

Therefore, in this means, for example, when the driver stops the engine by shutting off the main switch in order to prevent wasteful fuel consumption during a break, the shutoff operation of the main switch at that time is performed. The energization holding unit is switched to the energization holding state to maintain the inertial measuring device in the operating state in conjunction with the. Accordingly, when the driver operates the main switch to start the engine after finishing a break or the like, it is possible to restart the engine and the work traveling using the automatic straight ahead control.
As a result, it is possible to prevent wasteful fuel consumption during a break or the like without lowering work efficiency or increasing labor required for the driver.

As one of means for making the present invention more preferable,
The energization holding unit switches to the energization holding state in synchronization with the shutoff operation of the main switch, starts timekeeping, and connects the main switch until the set time elapses after switching to the energization holding state. When an operation is performed, the connection operation of the main switch is not performed until the set time elapses after switching from the energization holding state to the energization stop state in conjunction with the connection operation. In this case, the energization holding state is switched to the energization stop state as the set time elapses.

According to this means, when the driver performs the shutoff operation of the main switch with the completion of the work, the energization holding unit automatically switches from the energization holding state to the energization stop state with the lapse of the set time. Then, stop energizing the satellite navigation system or inertial measurement system. Thereby, for example, if the set time is set to a time longer than the longest time assumed as the interruption time of the work traveling, the satellite navigation device or the inertial measurement device is sent to the satellite navigation device or the inertial measurement device while the work traveling is interrupted due to a break or the like. It is possible to prevent the energization of the satellite navigation device or the inertial measurement device from being unnecessarily continued even after the work is completed, while avoiding the interruption of the energization of.
As a result, it is possible to prevent wasteful fuel consumption during breaks and to suppress wasteful power consumption after completion of work.

As one of means for making the present invention more preferable,
The set time is set to a longer time for an electrical component having a higher degree of importance, depending on the importance of energization retention set for each electrical component that is energized and retained by the energization retainer.

According to this means, compared with the case where the energization holding time of the electrical component with high importance of energization retention and the energization retention time of the electrical component with low importance of energization retention are the same, the break with the engine stopped It is possible to suppress the consumption of the battery in the inside.

As one of means for making the present invention more preferable,
Equipped with a notification device that informs the driver of various information,
The energization holding unit energizes the notification device from the battery in the energization holding state, and stops energization to the notification device in the energization stop state,
The notification device notifies the driver of information regarding the energized holding state during operation in the energized holding state.

According to this means, for example, the driver can determine whether the satellite navigation device or the inertial measurement device is in the energization holding state by the energization holding part, or the remaining time until the energization holding part switches from the energization holding state to the energization stop state. Can be informed.

As one of means for making the present invention more preferable,
A vehicle speed control unit that controls the vehicle speed, and a transition estimation unit that estimates the transition from the driving state of the driver to another work state other than driving,
The vehicle speed control unit executes deceleration control for reducing the vehicle speed when the transition estimating unit estimates the transition of the driver to the other work state.

According to this means, the vehicle speed can be reduced by the deceleration control of the vehicle speed control unit from the stage where the transition estimating unit estimates the transition from the driving state of the driver to the work state other than driving. As a result, it is possible to shorten the time required for the traveling vehicle body to stop traveling in the traveling stop operation of the traveling vehicle body performed before the driver shifts from the driving state to another work state.
As a result, the transition from the operating state to another work state can be performed efficiently.

As one of means for making the present invention more preferable,
It is equipped with a first seat sensor that detects changes in the load on the driver's seat,
The shift estimating unit estimates the shift of the driver to the other work state when a decrease in the load is detected based on the detection by the first seat sensor.

According to this means, when the driver forgets to stop the traveling vehicle body and makes a transition from the driving state to another working state, the transition estimating unit detects the driver based on the detection by the first seat sensor. Estimate the transition from the operating state of to another working state. Then, the vehicle speed is reduced by the deceleration control of the vehicle speed control unit based on this estimation.
As a result, the driver can be made aware that he/she has forgotten to stop traveling of the traveling vehicle body, and can be prompted to perform a traveling stop operation of the traveling vehicle body. Then, it is possible to shorten the time required from the traveling stop operation of the traveling vehicle body by the driver until the traveling vehicle body stops traveling.

As one of means for making the present invention more preferable,
A second seat sensor for detecting a turning movement of a driving seat capable of turning around a vertical axis from a forward reference position,
The shift estimating unit estimates the shift of the driver to the other work state when the turning movement of the driver's seat from the reference position is detected based on the detection of the second seat sensor.

According to this means, when the driver forgets to stop the traveling vehicle body and shifts from the driving state to another working state, the shift estimating unit detects the driver based on the detection of the second seat sensor. Estimate the transition from the operating state to another work state. Then, the vehicle speed is reduced by the deceleration control of the vehicle speed control unit based on this estimation.
As a result, the driver can be made aware that he/she has forgotten to stop traveling of the traveling vehicle body, and can be prompted to perform a traveling stop operation of the traveling vehicle body. Then, it is possible to shorten the time required from the traveling stop operation of the traveling vehicle body by the driver until the traveling vehicle body stops traveling.

As one of means for making the present invention more preferable,
A storage unit that stores the supply material to be supplied to the work site, a remaining amount detection unit that detects the remaining amount in the storage unit, and an operation that the detected value of the remaining amount detection unit has decreased to a set value for replenishment Equipped with a notification unit to inform the person
The transition estimation unit estimates the transition of the driver to the other work state when the detection value of the remaining amount detection unit decreases to the set value.

According to this means, the transition estimation unit can estimate the transition from the driving state of the driver to the replenishment work state in which the supply is replenished to the storage unit as another work state based on the detection by the remaining amount detection unit. it can. Then, the vehicle speed is reduced by the deceleration control of the vehicle speed control unit based on this estimation. As a result, the time required for the traveling vehicle body to stop traveling can be shortened in the traveling stop operation of the traveling vehicle body performed by the driver before shifting from the driving state to the supply work state.
As a result, it is possible to efficiently shift from the operating state to the replenishing work state.

As one of means for making the present invention more preferable,
The remaining amount detection unit detects the remaining amount in the storage unit by a calculation process based on the positioning result of the positioning unit.

According to this means, the remaining amount detection unit, for example, the storage amount of the supply in the storage unit, the supply amount of the supply per unit distance, and the travel distance at the work site obtained as the positioning result of the positioning unit, Based on the above, the remaining amount in the storage unit is detected.
That is, it is possible to detect the remaining amount in the storage unit without providing a dedicated sensor for detecting the remaining amount of the supply as the remaining amount detecting unit.
As a result, it is possible to simplify the configuration by reducing the number of parts.

As one of means for making the present invention more preferable,
A malfunction sensor that detects the occurrence of a malfunction related to the work, and a notification unit that notifies the driver of the occurrence of the malfunction,
The shift estimation unit estimates the shift of the driver to the other work state when the malfunction sensor detects the occurrence of a malfunction.

According to this means, the transition estimating unit estimates the transition from the driving state of the driver to the maintenance work state for eliminating the fault detected by the fault sensor as another work state based on the detection of the fault sensor. You can Then, the vehicle speed is reduced by the deceleration control of the vehicle speed control unit based on this estimation. As a result, in the traveling stop operation of the traveling vehicle body performed by the driver before shifting from the driving state to the maintenance work state, the time required for the traveling vehicle body to stop traveling can be shortened.
As a result, the transition from the operating state to the maintenance work state can be performed efficiently.

As one of means for making the present invention more preferable,
A manual changeover switch is provided for switching the transition estimating unit between an operating state and a stopped state.

According to this means, for example, when it is determined that the driver does not need to perform other work such as replenishment of the supply to the storage unit near the end of work traveling, the transition estimation unit is switched to the stopped state. As a result, it is possible to avoid a decrease in vehicle speed due to the deceleration control of the vehicle speed control unit.
As a result, when it is not necessary to perform other work, it is possible to avoid a decrease in work efficiency due to a decrease in vehicle speed due to the deceleration control of the vehicle speed control unit.

As one of means for making the present invention more preferable,
It is equipped with a transition detection unit that detects the transition from the driving state of the driver to another work state other than driving,
The vehicle speed control unit reduces the vehicle speed to zero by executing deceleration control for reducing the vehicle speed when the transition detection unit detects the driver's transition to the other work state.

According to this means, when the transition detection unit detects the transition from the driving state of the driver to a work state other than driving, the traveling vehicle body can be stopped by the deceleration control of the vehicle speed control unit.
As a result, it is possible to prevent the driver from performing work other than driving while the traveling state of the traveling vehicle body is maintained.

As one of means for making the present invention more preferable,
A spare storage unit for storing a spare of the supply supplied to the work site, and a spare remaining amount sensor for detecting a decrease in the remaining amount in the spare storage unit,
The shift detection unit detects the shift of the driver to the other work state when the spare remaining amount sensor detects a decrease in the remaining amount.

According to this means, the shift detection unit can detect the shift from the driving state of the driver to the replenishment work state in which the supply is replenished to the storage unit as another work state based on the detection of the spare remaining amount sensor. it can. Then, the traveling vehicle body can be stopped by the deceleration control of the vehicle speed control unit based on this detection.
As a result, it is possible to prevent the replenishment work from being performed by the driver while the traveling state of the traveling vehicle body is maintained.

As one of means for making the present invention more preferable,
A manual-type changeover switch is provided for switching the shift detecting section between an operating state and a stopped state.

According to this means, it is possible to switch between a state where the automatic stop of the traveling vehicle body is adopted and a state where it is not adopted by the deceleration control of the vehicle speed control section based on the detection of the transition detection section.

As one of means for making the present invention more preferable,
An informing unit is provided to inform the driver of the execution of the deceleration control.

According to this means, when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit, the notification unit can notify the driver of this.
As a result, it is possible to avoid the driver from feeling uncomfortable when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit.

As one of means for making the present invention more preferable,
A point storage unit that stores a conversion start point where the traveling vehicle body shifts from a straight traveling state to a direction changing state, and an arrival determination unit that determines whether the traveling vehicle body has reached the conversion starting point,
The direction control unit automatically directs the traveling vehicle body from the current target straight traveling route toward the next target straight traveling route when the arrival determining unit determines that the traveling vehicle body has reached the conversion start point. Executes automatic turn control to change direction.

According to this means, when the traveling vehicle body reaches the conversion start point, the traveling vehicle body automatically changes its direction from the current target straight-ahead route to the next target straight-ahead route by the control operation of the direction control unit. Does not require steering to turn the traveling vehicle.
As a result, it is possible to further reduce the labor of the driver required during work traveling.

As one of means for making the present invention more preferable,
The direction control unit is provided with a manual changeover switch for switching between an execution state in which the automatic direction change control is executed and a non-execution state in which the automatic direction change control is not executed,
When the direction control unit is switched to the execution state in a state where the conversion start point is not stored in the point storage unit, the driver is notified that the conversion start point is not stored in the point storage unit. It is equipped with a notification unit.

According to this means, even if the direction control unit is switched to the execution state in which the automatic direction change control is executed by the changeover switch, if the change start point is not stored in the point storage unit, the arrival determining unit changes the traveling vehicle body. Since the arrival at the start point cannot be determined, and even if the traveling vehicle body reaches the change start point, the direction control unit does not execute the automatic direction change control. Can inform the person.
As a result, the driver determines that the vehicle body has reached the conversion start point, and when the vehicle body reaches the conversion start point, the driver manually moves the vehicle body from the current target straight route to the next straight path. The driver can be made aware that it is necessary to move toward the target straight ahead route.
As a result, the driver misunderstands that the turning start point is already stored in the point storage unit, and the automatic turning control is executed by the direction control unit when the traveling vehicle reaches the turning start point. Due to this, even if the traveling vehicle body reaches the conversion start point, it is possible to avoid the risk that the manual direction change operation will not be performed.

It is a left side view of a riding rice transplanter. It is a schematic plan view which shows the transmission structure, steering structure, etc. of a riding rice transplanter. It is a schematic plan view showing a power transmission configuration for traveling. It is a schematic plan view which shows the power transmission structure for work. FIG. 6 is a cross-sectional plan view of a main part showing an operation path of a main shift lever and the like. It is a block diagram which shows a control structure. FIG. 6 is a schematic circuit diagram showing a circuit configuration relating to an engine starting operation, an engine stopping operation, and the like. It is a top view which shows the preparation traveling stage of the riding rice transplanter which secures each work traveling route for rotation planting. It is a top view which shows the state just before the turning movement from the working traveling route for rotation planting of the riding rice transplanter to the working traveling route for reciprocating planting. It is a top view which shows the traveling state in the work traveling route for reciprocating planting of a riding rice transplanter. It is a top view which shows the state just before the turning movement from the working traveling route for reciprocating planting of the riding rice transplanter to the working traveling route for rotation planting.

Hereinafter, as an example of a mode for carrying out the present invention, an embodiment in which the present invention is applied to a passenger rice transplanter which is an example of a work vehicle will be described based on the drawings.

The direction indicated by the arrow F in FIG. 1 is the front side of the riding rice transplanter, and the direction indicated by the arrow U is the upper side of the riding rice transplanter.
The direction indicated by the arrow F in FIG. 2 is the front side of the riding rice transplanter, and the direction indicated by the arrow R is the right side of the riding rice transplanter.

As shown in FIG. 1, the riding rice transplanter illustrated in the present embodiment is a riding type traveling vehicle body 1 of a four-wheel drive type, and a parallel four-link type which is connected to a rear portion of the traveling vehicle body 1 so as to be vertically swingable. Link mechanism 2, hydraulic lifting cylinder 3 for swinging and driving link mechanism 2, and 8-row seedling planting device (an example of ground work device Z) 4 which is rollably connected to the rear end of link mechanism 2. , And a fertilizer application device (an example of a ground work device) 5 for eight rows from the rear end of the traveling vehicle body 1 to the seedling planting device 4.
As a result, the riding rice transplanter is configured with a mid-mount fertilizer specification capable of planting and fertilizing up to 8 rows of seedlings. Further, the riding rice transplanter can drive the seedling planting device 4 and a part of the fertilizer application device 5 up and down by operating the lifting cylinder 3.

As shown in FIGS. 1 to 4, the traveling vehicle body 1 includes, as a traveling device 6, left and right front wheels 6A as steerable drive wheels and left and right rear wheels 6B as unsteerable drive wheels. An engine 7 is mounted on the front portion of the traveling vehicle body 1 to prevent vibration. The power from the engine 7 is transmitted to the main transmission 8 by a belt, and the power after shifting by the main transmission 8 is used for traveling and working inside a transmission case (hereinafter referred to as T/M case) 9. Branched. The motive power for traveling is transmitted to the front wheel differential device 11 via the auxiliary transmission device 10 inside the T/M case 9. Then, the power for driving the front wheels of the power for traveling is transmitted from the differential device 11 for the front wheels to the left and right front wheels 6A via the left and right differential shafts 12 and the like. Further, the power for driving the rear wheels of the power for traveling includes the transmission gear 13 that rotates integrally with the differential device 11 for the front wheels, the first external transmission shaft 15 extending from the T/M case 9 to the rear axle case 14, Also, it is transmitted to the left and right rear wheels 6B via the rear wheel transmission mechanism 16 incorporated in the rear axle case 14, and the like. The rear wheel transmission mechanism 16 includes left and right side clutches 17 that intermittently transmit power to the left and right rear wheels 6B, and a reduction unit 18 that decelerates and transmits rear wheel drive power to the left and right rear wheels 6B. ing. On the other hand, the working power is the one-way clutch 19 built in the T/M case 9, the inter-strain transmission 20, the first working clutch 21, and the second external transmission from the T/M case 9 to the seedling planting device 4. It is transmitted to the seedling planting device 4 via the shaft 22 and the like.

The engine 7 is a water-cooled gasoline engine. The main transmission 8 is a hydrostatic stepless transmission. The sub-transmission 10 employs a gear-type transmission that is capable of shifting in two stages, a low speed state for work traveling and a high speed state for mobile traveling. A multi-plate friction clutch is adopted for each of the left and right side clutches 17, and a spring (not shown) for urging each side clutch 17 to return to the connected state is provided. The inter-stock transmission 20 employs a gear-type transmission that enables six-speed gear shifting.

As shown in FIG. 1, FIG. 4 and FIG. 6, the seedling planting device 4 is operated by the intermittent operation of the first work clutch 21. Switch to a non-operational state where it is cut off and deactivated. The seedling planting device 4 includes five leveled floats 23, eight-row seedling placement table (an example of a storage unit) 24, a lateral feed mechanism (not shown), a belt-type vertical feed mechanism 25, and eight units. The planting mechanism 26 and the like are provided. The leveling floats 23 slide on the mud surface of the paddy field as the traveling vehicle body 1 travels in a state where they are grounded, and level the mud surface such as the planned seedling planting site. The seedling placing table 24 is formed so that mat-like seedlings for 8 rows can be placed. The lateral feed mechanism reciprocally drives the seedling placement table 24 in the left-right direction with a constant stroke corresponding to the left-right width of the mat-shaped seedling by the power from the traveling vehicle body 1. The vertical feed mechanism 25 vertically feeds each mat-shaped seedling on the seedling placing table toward the lower end of the seedling placing table 24 at a predetermined pitch every time the seedling placing table 24 reaches the left and right stroke ends. Each of the planting mechanisms 26 is a rotary type and is arranged in the left-right direction at a constant interval corresponding to the planting strip. Then, each planting mechanism 26 cuts a predetermined amount of seedlings from the lower end of each mat-shaped seedling placed on the seedling placing table 24 by the power from the traveling vehicle body 1 and plantes it in the mud portion after leveling.
As a result, in the operating state of the seedling planting device 4, the seedlings can be taken out from the mat-shaped seedlings placed on the seedling placing table 24 by a predetermined amount and planted in the mud portion of the paddy field. The working width W of the seedling planting apparatus 4 is a length obtained by multiplying the number of planting rows of the seedling planting apparatus 4 by the row distance.

As shown in FIG. 1, the seedling planting device 4 is provided with a float fulcrum shaft 27 extending over the left and right ends thereof so as to be relatively rotatable. The rear sides of the leveling floats 23 are vertically swingably supported by the free ends of five sets of support arms 28 extending rearward and downward from the float fulcrum shaft 27.

As shown in FIG. 1, FIG. 6 and FIGS. 8 to 11, the seedling planting device 4 vertically swings the left and right markers 29 and the left and right markers 29 that form a traveling reference line on the mud surface of the paddy field. An electric marker motor 30 for driving is provided. The left and right markers 29 are undulated and swung by the operation of the marker motor 30 between a retracted posture that stands up along the seedling planting device 4 and an action posture that projects laterally outward from the seedling planting device 4. Then, in the left and right markers 29, the rotating body 29A for forming the traveling reference line provided at the free end portion of the marker 29 separates from the mud surface in the retracted posture. In addition, the left and right markers 29, in the working posture, the traveling reference line L used on the traveling route adjacent to the current traveling route along with traveling on the current traveling route with the rotating body 29A plunging into the mud surface. Form on the mud surface.

As shown in FIGS. 1 and 6, the fertilizer applicator 5 includes a horizontally long hopper (an example of a storage unit) 31, four feeding mechanisms 32, an electric blower 33, eight fertilizer hoses 34, and eight fertilizer hoses 34. The grooving device 35 of FIG. The hopper 31 stores granular or powdered fertilizer. Each feeding mechanism 32 operates by the power transmitted via the fertilizing transmission mechanism 36. Then, each feeding mechanism 32 feeds two fertilizers of a predetermined amount from the hopper 31 by its operation. The blower 33 operates with electric power from a battery 37 mounted on the traveling vehicle body 1. And the blower 33 produces|generates the conveyance wind which conveys the fertilizer delivered by each delivery mechanism 32 toward the mud surface of a paddy field by the operation|movement. Each fertilizer application hose 34 guides the fertilizer conveyed by the conveyance wind to each groove making device 35. Each grooving device 35 is provided in each leveling float 23. Then, each grooving device 35 moves up and down together with each leveling float 23, and guides fertilizer into the fertilizing groove by forming a fertilization groove in the mud portion of the paddy field during work traveling in which each leveling float 23 is grounded.

In the fertilizer application device 5, an operating state in which the respective feeding mechanisms 32 and the blower 33 are operated by the intermittent operation of the second work clutch 38 provided in the fertilizer transmission mechanism 36 and the intermittent operation of the blower relay 39 provided in the electric circuit, The feeding mechanism 32 and the blower 33 are switched to a non-operating state in which they stop operating. Then, in the operating state of the fertilizer application device 5, the fertilizer stored in the hopper 31 can be taken out by a predetermined amount and buried and supplied in the mud of the paddy field.

As shown in FIGS. 1 to 3 and 6, the traveling vehicle body 1 includes a driving section 40 on the rear side thereof. The driving unit 40 includes a steering wheel 41 for steering front wheels, a main shift lever 42 that enables a shift operation of the main transmission device 8, an auxiliary shift lever 43 that enables a shift operation of the auxiliary transmission device 10, and a braking of the braking device 100. Various information such as the brake pedal 44 that enables the operation, the first work lever 45 and the second work lever 46 that enable the raising and lowering operation of the seedling planting device 4 and the switching of the operating state, the engine speed, etc. And a driver's seat 48 which can turn around the vertical axis from the forward reference position and is biased to return to the reference position.

The brake pedal 44 automatically returns to the release position. The first work lever 45 is a swinging type capable of swinging operation to each of the planting, descending, neutral, raising, and automatic operating positions, and is configured as a position holding type capable of holding the position at each operating position. Has been done. The second work lever 46 is of a cross swing type and is capable of swinging in the up-down direction and the front-back direction, and is of a neutral return type.

The notification device 47 is provided in the front portion of the steering wheel 41 in the driving unit 40. The notification device 47 includes a liquid crystal display unit 47A and a plurality of notification units 47B to 47H including LEDs or buzzers.

As shown in FIG. 2, the steering wheel 41 includes a steering gear 50 that rotates integrally with the steering wheel 41 via a steering shaft 49, a sector gear 51 that meshes with the steering gear 50, and a steering member 52 that swings integrally with the sector gear 51. , And the left and right tie rods 54 extending over the steering member 52 and the operation arms 53 of the left and right front wheels 6A, and the like, and are linked to the left and right front wheels 6A.

The traveling vehicle body 1 is provided with a side clutch operation mechanism 55 that interlocks with the operation of the steering wheel 41 to intermittently operate the left and right side clutches 17. The side clutch operating mechanism 55 includes left and right linking rods 57 that link the steering member 52 and the operating arms 56 of the left and right side clutches 17 in an interlockable manner. The left and right linking rods 57 are provided with elongated holes 57a at positions where they are linked to the operating arm 56, for setting the relationship between the operating angle θ of the steering member 52 and the intermittent operation of the left and right side clutches 17.

With the above configuration, when the driver turns the steering wheel 41 leftward from the straight-ahead position, the steering member 52 swings rightward from the straight-ahead position (reference angle) θo according to the turning operation amount. As a result, the left and right front wheels 6A are steered in the left turning direction from the straight-ahead position according to the turning operation amount of the steering wheel 41. Further, the left and right side clutches 17 are operated by the springs of the side clutches 17 and the long holes 57a of the linking rods 57 until the steering member 52 reaches the first set angle θa on the right side from the straight traveling position θo. Stay connected. After that, when the steering member 52 swings from the first set angle θa on the right side to the second set angle θb, the left side clutch 17 interlocks with the swing and the left side clutch 17 and the left operation arm 56. Is switched from the connected state to the disconnected state. On the other hand, the right side clutch 17 is maintained in the connected state by the action of the spring of the right side clutch 17 and the elongated hole 57a of the right connecting rod 57. As a result, as a direction change state of the traveling vehicle body 1, it is possible to obtain a small left turning state in which the transmission to the rear wheel 6B on the left side located inside the turning is blocked and the turning radius of the traveling vehicle body 1 becomes smaller.

In this small left turn state, when the driver turns the steering wheel 41 rightward toward the straight ahead position, the steering member 52 swings leftward toward the straight ahead position θo according to the turning operation amount. To do. As a result, the left and right front wheels 6A are steered toward the straight-ahead position according to the turning operation amount of the steering wheel 41. Then, when the steering member 52 swings from the second set angle θb on the right side to the first set angle θa, the left side clutch 17 interlocks with the swing and the left side clutch 17 and the left side clutch 17 are linked. The action of the spring changes the state from the disconnected state to the connected state. On the other hand, the right side clutch 17 is maintained in the connected state by the action of the spring of the right side clutch 17 and the elongated hole 57a of the right connecting rod 57. After that, the left and right side clutches 17 are operated by the springs of the side clutches 17 and the long holes 57a of the linkage rods 57 until the steering member 52 reaches the straight traveling position θo from the first set angle θa on the right side. Stay connected.

On the contrary, when the driver turns the steering wheel 41 rightward from the straight-ahead position, the steering member 52 swings leftward from the straight-ahead position (reference angle) θo according to the turning operation amount. As a result, the left and right front wheels 6A are steered in the right turning direction from the straight-ahead position according to the turning operation amount of the steering wheel 41. Further, the left and right side clutches 17 are operated by the springs of the side clutches 17 and the long holes 57a of the linking rods 57 until the steering member 52 reaches the first set angle θa on the left side from the straight traveling position θo. Stay connected. After that, when the steering member 52 swings from the first set angle θa on the left side to the second set angle θb, the side clutch 17 on the right side interlocks with the swing and the right side clutch 17 and the operation arm 56 on the right side. Is switched from the connected state to the disconnected state. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the elongated hole 57a of the left link rod 57. As a result, it is possible to obtain a small right-turn state in which the traveling vehicle body 1 is changed in direction, in which the transmission to the rear wheel 6B on the right side located inside the turning is blocked and the turning radius of the traveling vehicle body 1 is reduced.

In this small right turn state, when the driver turns the steering wheel 41 leftward toward the straight ahead position, the steering member 52 swings rightward toward the straight ahead position θo according to the turning operation amount. To do. As a result, the left and right front wheels 6A are steered toward the straight-ahead position according to the turning operation amount of the steering wheel 41. When the steering member 52 swings from the second set angle θb on the left side to the first set angle θa, the side clutch 17 on the right side interlocks with the swing and the right side clutch 17 and the side clutch 17 on the right side. The action of the spring changes the state from the disconnected state to the connected state. On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the elongated hole 57a of the left link rod 57. After that, the left and right side clutches 17 are operated by the springs of the side clutches 17 and the long holes 57a of the linkage rods 57 until the steering member 52 reaches the straight traveling position θo from the left first set angle θa. Stay connected.

As shown in FIGS. 8 to 11, in this riding rice transplanter, as a turning radius in the above-described left and right small turning states, basically, a half of the working width W of the seedling planting device 4 can be obtained. Is set. Thereby, for example, in the seedling planting work by reciprocal planting, the planting traveling on the current work traveling routes R1a to R1d is completed, and the traveling vehicle body 1 is moved to the current working traveling routes R1a to R1d in the direction change area at the edge of the ridge. In the case of performing a so-called edge turn in which the direction is changed toward the next adjacent work travel route R1b to R1e, the driver can obtain either the left or right small turn state as the direction change state of the traveling vehicle body 1. By steering in such a manner, it is possible to easily make a sharp turn.

As shown in FIGS. 1, 5, and 6, the main shift lever 42 is disposed adjacent to the left side of the steering wheel 41. The main shift lever 42 is configured to be swingable along a guide groove 58A of the guide plate 58 so as to be swingable. The main shift lever 42 is configured as a position holding type that can hold a position in a neutral position by a detent mechanism (not shown), each shift position of 5 forward gears, and each shift position of 3 reverse gears.

The guide groove 58A is provided in the left/right forward/reverse switching path 58a, which is the neutral position of the main speed changer 42, the forward transmission path 58b extending forward from the right end of the forward/reverse switching path 58a, and the left end of the forward/reverse switching path 58a. A reverse shift path 58c extending to the left and an auxiliary path 58d extending leftward from the left end of the forward/reverse switching path 58a. The left end of the auxiliary path 58d is set to the work interruption position 58e.

The guide plate 58 includes an interruption switch 58B that detects an operation of the main shift lever 42 to the work interruption position 58e, and a holder 58C that enables the main transmission lever 42 to be held at the work interruption position 58e. .. A limit switch, a proximity switch, or the like can be adopted as the interruption switch 58B.

The main shift lever 42 is linked to an operation shaft (not shown) of the main transmission 8 via a mechanical linkage mechanism (not shown) for main shift. The main transmission 8 is switched to the neutral state when the main transmission lever 42 is operated to the forward/reverse switching path 58a. When the main shift lever 42 is operated to an arbitrary shift position on the forward shift path 58b, the main transmission 8 switches to the forward shift state according to the shift position of the main shift lever 42. When the main shift lever 42 is operated to an arbitrary shift position on the reverse shift path 58c, the main transmission 8 is switched to the reverse shift state according to the operation position of the main shift lever 42.

As shown in FIG. 1, the auxiliary shift lever 43 is provided adjacent to the left side of the driver's seat 48. The sub-transmission lever 43 is a front-back swing type, and is configured to be a position holding type capable of switching and holding the position between a low speed position for work traveling and a high speed position for traveling traveling. The sub-transmission lever 43 is linked to an operation shaft (not shown) of the sub-transmission device 10 via a mechanical linkage mechanism (not shown) for sub-shifting. The subtransmission device 10 switches to a low speed state for work traveling when the subtransmission lever 43 is operated to a low speed position, and switches to a high speed state for moving traveling when the subtransmission lever 43 is operated to a high speed position.

The traveling vehicle body 1 is provided with a preliminary storage part 59 for storing a preliminary mat-shaped seedling. The preliminary storage section 59 includes a support frame 59A having an inverted U-shape in a front view that extends upward from both left and right ends of a front portion of the traveling vehicle body 1, and four left and right support frames supported by both left and right side portions of the support frame 59A. It is equipped with a spare seedling stand 59B.
As a result, in the preliminary storage unit 59, eight mat-shaped seedlings can be separately stored as left and right four seedlings as spare mat-shaped seedlings.

As shown in FIGS. 6 and 7, the traveling vehicle body 1 includes an electronic control unit (hereinafter, referred to as an ECU) 60 that controls electric components mounted on the vehicle. The ECU 60 is composed of a microprocessor including a CPU and an EEPROM. The ECU 60 and each electric component are communicably or power-transmittable connected via in-vehicle communication such as CAN (Controller Area Network) or a power line.

As shown in FIG. 7, this passenger rice transplanter includes a manual main switch 61 that connects and disconnects electricity from the battery 37 to each electrical component such as the ECU 60. The main switch 61 is a key-operated type provided in the driving unit 40 and can be switched among an “OFF” position, an “ON” position, and a “START” position, and an “OFF” position and an “ON” position. It is possible to hold the position at, and is urged to return from the "START" position to the "ON" position.

As shown in FIG. 6 and FIG. 7, the ECU 60 is activated by energization from the battery 37 obtained by connecting the main switch 61 from the OFF position to the ON position. When the main switch 61 is turned off from the ON position to cut off the power supply from the battery 37, the ECU 60 maintains the power supply state by the self-holding circuit 60A provided therein. Then, the ECU 60 writes the total operating time of the engine 7 at the stage when the shutoff operation of the main switch 61 is performed, various setting information, and the like in the nonvolatile storage unit 60B. In addition, the ECU 60 starts timing by the timing unit 60C provided therein in association with the shutoff operation of the main switch 61, and within a period from the shutoff operation of the main switch 61 until the set time elapses. When the connection operation of the main switch 61 is not performed, the energization by the self-holding circuit 60A is stopped and the operation is stopped.

The main switch 61 is connected to a starter unit 63 for starting an engine via a brake switch 62 which is an open/close switch. The brake switch 62 switches from the open state to the closed state in conjunction with the depression operation of the brake pedal 44 to the braking position, and switches from the closed state to the open state in conjunction with the depression release operation of the brake pedal 44 from the braking position.
Accordingly, when the engine 7 is started, the driver can energize the starter unit 63 from the battery 37 via the main switch 61 by depressing the brake pedal 44 to the braking position. In this state, the engine 7 can be started by the operation of the starter unit 63 by performing an engine starting operation of the main switch 61 to the START position.

As shown in FIGS. 1, 2, and 6, the traveling vehicle body 1 includes a first lever sensor 64 that detects an operation position of the first work lever 45 in the front-rear direction, and a vertical direction and a front-rear direction of the second work lever 46. Second lever sensor 65 for detecting the operation of the main shift lever 42, a third lever sensor 66 for detecting the operation position of the main shift lever 42 in the front-rear direction, and the vertical swing angle of the link mechanism 2 as the height position of the seedling planting device 4. A height sensor 67 for detecting, a float sensor 68 for detecting a vertical swing angle of a leveled float (hereinafter referred to as a center float) 23 in the center of the left and right, and a left and right for detecting switching of the left and right markers 29 to a storage posture and an action posture. The marker sensor 69, the steering angle sensor 70 that detects the swinging operation angle of the steering member 52 from the straight traveling position θo as the steering angle of the front wheels 6A, the rotation sensor 71 that detects the output rotation speed of the engine 7, and the voltage of the battery 37. A voltage detector 72 for detecting, a water temperature sensor 73 for detecting the temperature of the engine cooling water, and the like are provided.

As the first lever sensor 64, the third lever sensor 66, the height sensor 67, the float sensor 68, and the rudder angle sensor 70, rotary potentiometers or rotary encoders can be adopted. As the second lever sensor 65, a multi-contact switch or a limit switch unit including a plurality of limit switches can be adopted. The left and right marker sensors 69 include a limit switch unit that includes a limit switch that detects switching of the marker 29 to the storage posture and a limit switch that detects switching of the marker 29 to the working posture, or a storage posture of the marker 29. It is possible to employ a proximity switch unit including a proximity switch that detects a switch to the action posture of the marker 29, a proximity switch unit that includes a proximity switch that detects a switch to the action posture of the marker 29, and the like. The rotation sensor 71 may be of an electromagnetic pickup type or the like.

As shown in FIG. 6, the ECU 60 includes an elevating control unit 60D that controls the operation of the elevating cylinder 3 to elevate the seedling planting device 4. The lift control unit 60D controls the operation of the lift cylinder 3 by controlling the operation of the lift valve unit 74 that controls the flow of oil to the lift cylinder 3.

As shown in FIGS. 1 and 6, when the first working lever 45 is manually operated, the raising/lowering control unit 60D is based on the outputs of the first lever sensor 64 and the height sensor 67, and is a seedling planting device. The first elevating control for elevating 4 is executed.

Hereinafter, the control operation of the lift control unit 60D in the first lift control will be described.
When the lifting control unit 60D detects the operation of the first work lever 45 to the raised position based on the output of the first lever sensor 64, the raising/lowering control unit 60D performs a raising process of raising the seedling planting device 4. In the raising process, the raising/lowering control unit 60D switches the valve unit 74 to a supply state in which oil is supplied to the raising/lowering cylinder 3, thereby causing the raising/lowering cylinder 3 to contract and raise the seedling planting device 4.
When detecting the operation of the first work lever 45 to the lowered position based on the output of the first lever sensor 64, the raising/lowering control unit 60D performs the lowering process of lowering the seedling planting device 4. In the lowering process, the lifting control unit 60D switches the valve unit 74 to a discharge state in which oil is discharged from the lifting cylinder 3, thereby extending the lifting cylinder 3 and lowering the seedling planting device 4.
When the lifting control unit 60D detects the operation of the first work lever 45 to the neutral position based on the output of the first lever sensor 64, the lifting control process of stopping the seedling planting device 4 at the height position at that time. I do. In the raising/lowering stop process, the raising/lowering control unit 60D switches the valve unit 74 to a supply/discharge stop state in which the supply/discharge of oil to/from the raising/lowering cylinder 3 is stopped, thereby stopping the expansion/contraction operation of the raising/lowering cylinder 3 to stop the seedling planting device 4. To stop.
The elevating/lowering control unit 60D detects the reaching of the upper limit position of the seedling planting device 4 based on the output of the height sensor 67 during the execution of the elevating process described above, and then performs the elevating stop process described above to The planting device 4 is stopped at the upper limit position.
The elevating/lowering control unit 60D detects the arrival at the lower limit position of the seedling planting device 4 based on the output of the height sensor 67 during the above-described descending process, and then performs the above-described elevating/stopping process to thereby obtain the seedlings. The planting device 4 is stopped at the lower limit position.
That is, the driver operates the first work lever 45 by the control operation of the elevation control unit 60D based on the output of the first lever sensor 64, so that the seedling planting device 4 is moved between the upper limit position and the lower limit position. Can be moved up and down to any height position.

The elevating controller 60D detects the operation of the second lever sensor 65, the height sensor 67, and the float sensor 68 when the operation of the first working lever 45 to the automatic position is detected based on the output of the first lever sensor 64. The second raising/lowering control for raising/lowering the seedling planting device 4 is executed based on the output.

Hereinafter, the control operation of the elevation control unit 60D in the second elevation control will be described.
When the lifting control unit 60D detects the downward operation of the second work lever 46 based on the output of the second lever sensor 65, the raising/lowering control unit 60D sets the seedling planting device 4 to the working height corresponding to the control target angle of the center float 23. When the automatic lowering process for lowering the seedling planting device 4 is performed and the arrival of the seedling planting device 4 at the working height position is detected based on the output of the float sensor 68, the automatic raising/lowering process keeps the seedling planting device 4 at the working height position. Start processing. In the automatic lowering process, the elevation control unit 60D causes the vertical swing angle of the center float 23 to match the control target angle based on the output of the float sensor 68 (the output of the float sensor 68 falls within the dead band width of the control target angle. The above descending process is performed until it is detected. In the automatic raising/lowering process, the raising/lowering control unit 60D controls the operation of the valve unit 74 to extend/contract the raising/lowering cylinder 3 so that the output of the float sensor 68 matches the control target angle. The seedling planting device 4 is maintained at the working height position.
When the lifting control unit 60D detects the upward operation of the second work lever 46 based on the output of the second lever sensor 65, the lifting control unit 60D ends the automatic lifting process and automatically lifts the planting device 4 to the upper limit position. I do. In the automatic raising process, the raising/lowering control unit 60D performs the above-described raising process until the arrival of the seedling planting device 4 at the upper limit position is detected based on the output of the height sensor 67, and the seedling planting device 4 upper limit position is reached. When the arrival at the position is detected, the raising/lowering stop process is performed to stop the seedling planting device 4 at the upper limit position.
That is, in the state where the first work lever 45 is located at the automatic position, the driver operates the second work lever 46 by the control operation of the lift control unit 60D based on the output of the second lever sensor 65. The seedling planting device 4 can be automatically moved up and down to the upper limit position or the working height position, and the seedling planting device 4 can be maintained at the upper limit position or the working height position.
As a result, during work traveling in which the seedling planting device 4 is located at the working height position, the seedling planting device 4 is set to the center float 23 regardless of the pitching of the traveling vehicle body 1 caused by the ups and downs of the tiller of the paddy field. The work height position corresponding to the control target angle of can be maintained.

The working height position of the seedling planting device 4 (control target angle of the center float 23) can be arbitrarily changed by manipulating the working height setting device 75 provided in the operation unit 40. .. A rotary potentiometer or the like can be adopted as the setting device 75.

As shown in FIG. 6, the ECU 60 includes an operation control unit 60E that switches the seedling planting device 4 and the fertilizer application device 5 between an operating state and a stopped state. The operation control unit 60E controls the operation of the electric first clutch motor 76 that intermittently operates the first work clutch 21, the electric second clutch motor 77 that intermittently operates the second work clutch 38, and the blower relay 39. By doing so, the seedling planting device 4 and the fertilizer application device 5 are switched between the operating state and the stopped state.

As shown in FIG. 1 and FIG. 6, the operation control unit 60E, based on the outputs of the first lever sensor 64 and the float sensor 68, when the first work lever 45 is manually operated, the seedling planting device 4 is operated. Also, the first operation switching control for switching the fertilizer application device 5 between the operating state and the stopped state is executed.

Hereinafter, the control operation of the operation control unit 60E in the first operation switching control will be described.
The operation control unit 60E detects the operation of the first working lever 45 from the neutral position to the lowered position based on the output of the first lever sensor 64, and then detects the ground contact of the center float 23 based on the output of the float sensor 68. Then, a blower starting process for starting the blower 33 is performed. In the blower start process, the operation control unit 60E starts the blower 33 by energizing the blower relay 39 and switching the blower relay 39 to a closed state that allows energization of the battery 37 to the blower 33.
After that, when the operation control unit 60E detects the operation of the first working lever 45 to the planting position based on the output of the first lever sensor 64, the seedling planting device 4 and the fertilizer applying device 5 are changed from the stopped state to the activated state. The operation start processing for switching is performed. In the operation start process, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the disengaged state to the engaged state, The seedling planting device 4 and the fertilizer application device 5 are switched from the stopped state to the operating state.
After that, when the operation control unit 60E detects the operation of the first working lever 45 from the planting position to the descending position based on the output of the first lever sensor 64 in the operating state of the seedling planting device 4 and the fertilizer application device 5. , A blower stop process for stopping the blower 33, and an operation stop process for switching the seedling planting device 4 and the fertilizer application device 5 from the operating state to the stopped state. In the blower stop processing, the operation control unit 60E stops the blower 33 by stopping energization of the blower relay 39 and switching the blower relay 39 to an open state that blocks energization of the battery 37 to the blower 33. In the operation stop process, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the on state to the off state, The seedling planting device 4 and the fertilizer application device 5 are switched from the operating state to the stopped state.
In other words, the driver operates the first work lever 45 by the control operation of the operation control unit 60E based on the output of the first lever sensor 64, so that the seedling planting device 4 and the fertilizer application device 5 are in the operating state and stopped. You can switch to the state and.

When the operation control unit 60E detects the operation of the first work lever 45 to the automatic position based on the output of the first lever sensor 64, the operation control unit 60E outputs the seedling planting device 4 and the seedling planting device 4 based on the output of the second lever sensor 65. The second operation switching control for switching the fertilizer application device 5 between the operating state and the stopped state is executed.

Hereinafter, the control operation of the operation control unit 60E in the second operation switching control will be described.
The operation control unit 60E detects the operation of the first work lever 45 to the automatic position on the basis of the output of the first lever sensor 64, or detects the operation of the second work lever 46 on the basis of the output of the second lever sensor 65. After detecting the upward operation, when the first downward operation of the second work lever 46 is detected based on the output of the second lever sensor 65, the blower starting process described above is performed. Then, when the second downward operation of the second work lever 46 is detected based on the output of the second lever sensor 65, the work height position of the seedling planting device 4 is reached based on the output of the float sensor 68. When the above is detected, the above-described operation start processing is performed.
When the operation control unit 60E detects the upward operation of the second work lever 46 based on the output of the second lever sensor 65 in the operating state of the seedling planting device 4 and the fertilizer application device 5, the above-described blower stop processing and Perform deactivation processing.
That is, when the first work lever 45 is in the automatic position, the driver operates the second work lever 46 by the control operation of the operation control unit 60E based on the output of the second lever sensor 65. The seedling planting device 4 and the fertilizer application device 5 can be switched between an operating state and a stopped state.

As shown in FIG. 6, the ECU 60 includes a marker control unit 60F that switches the left and right markers 29 between the stored posture and the working posture. The marker control unit 60F controls the operation of the left and right marker motors 30 to switch the left and right markers 29 between the stored posture and the working posture.

As shown in FIGS. 1 and 6, the marker control unit 60F outputs the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69 when the second work lever 46 is manually operated. The marker switching control for switching the left and right markers 29 between the storage posture and the working posture is performed based on the above.

Hereinafter, the control operation of the marker control unit 60F in the marker switching control will be described.
When the marker control unit 60F detects an operation from the neutral position of the second work lever 46 to the left based on the output of the second lever sensor 65, the work height of the seedling planting device 4 is determined based on the output of the float sensor 68. It is determined whether or not it is descending to the position. Then, when the seedling planting device 4 is lowered to the working height position, the marker control unit 60F immediately performs the left marker overhanging process of switching the left marker 29 to the working posture. When the seedling planting device 4 has not descended to the working height position, the marker control unit 60F detects the descending of the seedling planting device 4 to the working height position, and then carries out the left marker extension processing. I do. In the left marker overhanging process, the marker control unit 60F operates the left marker motor 30 in the normal direction until the left marker sensor 69 detects the switching of the left marker 29 to the working posture.
When the marker control unit 60F detects an operation from the neutral position of the second work lever 46 to the right based on the output of the second lever sensor 65, the seedling planting device 4 operates based on the output of the float sensor 68. It is determined whether or not it is descending to the position. Then, when the seedling planting device 4 is lowered to the working height position, the marker control unit 60F immediately performs the right marker overhanging process of switching the right marker 29 to the working posture. When the seedling planting device 4 has not descended to the working height position, the marker control unit 60F detects the descending of the seedling planting device 4 to the working height position, and then carries out the right marker extension processing. I do. In the right marker overhanging process, the marker control unit 60F operates the right marker motor 30 in the normal direction until the right marker sensor 69 detects the switching of the right marker 29 to the working posture.
When the marker control unit 60F detects the floating of the seedling planting device 4 based on the output of the float sensor 68 in a state in which one of the left and right markers 29 is switched to the working posture, the marker control unit 60F switches the marker 29 in the working posture to the storage posture. Performs marker storage processing. In the marker storage process, the marker control unit 60F reversely operates the marker motor 30 corresponding to the marker 29 in the working posture until the marker sensor 69 corresponding to the marker 29 in the working posture detects switching of the marker 29 to the storing posture. .
In other words, the driver operates the second work lever 46 by the control operation of the marker control unit 60F based on the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69, whereby the seedling planting operation is performed. The left and right markers 29 can be switched to the working posture in the grounded state of the attachment device 4. Further, the marker 29 of the working posture is automatically switched to the storage posture as the seedling planting device 4 floats by the control operation of the marker control unit 60F based on the outputs of the float sensor 68 and the left and right marker sensors 69. be able to.

As shown in FIG. 2, FIG. 5 and FIG. 6, the ECU 60 performs work control for switching the seedling planting device 4 and the fertilizer application device 5 between a working state and a non-working state based on the detection of the interruption switch 58B or the steering angle sensor 70. The section 60G is provided. The work control unit 60G outputs control commands to the elevating control unit 60D, the operation control unit 60E, and the marker control unit 60F to put the seedling planting device 4 and the fertilizer application device 5 into a working state and a non-working state. Switch.

The work control unit 60G switches the seedling planting device 4 and the fertilizer application device 5 to the non-working state in synchronization with the interruption switch 58B detecting the movement of the main transmission lever 42 to the work interruption position 58e. First to switch the seedling planting device 4 and the fertilizer applying device 5 to the working state in synchronization with the state switch control being executed and the interruption switch 58B detecting the movement of the main transmission lever 42 from the work interruption position 58e. Execute work state switching control.

First, the control operation of the work control unit 60G in the first non-working state switching control will be described.
When the work control unit 60G detects the movement of the main shift lever 42 to the work interruption position 58e based on the detection of the interruption switch 58B in the working state of the seedling planting device 4 and the fertilizer application device 5, the left and right marker sensors 69 of the marker sensors 69 are detected. Based on the output, it is determined which of the left and right markers 29 is the working posture, and the determination result is stored in the storage unit 60B. Further, based on the output of the first lever sensor 64, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position.
If the operation position of the first work lever 45 is the planting position, the lifting control unit 60D is instructed to execute the automatic raising process described above, and the operation control unit 60E is instructed to execute the blower stop process and the operation stop process described above. Then, the marker control unit 60F is instructed to execute the above-described marker storage processing.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position described above, the lifting control unit 60D is instructed to end the automatic lifting process described above.
As a result, the seedling planting device 4 and the fertilizer application device 5 are located at the upper limit position of the seedling planting device 4 and the fertilizer application device 5 in conjunction with the swing operation of the main transmission lever 42 to the work interruption position 58e. Also, the fertilizer application device 5 is stopped and the left and right markers 29 are in the retracted posture, and the fertilizer application device 5 can be automatically switched to the non-working state.

Next, the control operation of the work control unit 60G in the first work state switching control will be described.
When the work control unit 60G detects the movement of the main shift lever 42 from the work interruption position 58e based on the detection of the interruption switch 58B in the non-working state of the seedling planting device 4 and the fertilizer application device 5, the first lever sensor 64 It is determined whether the operation position of the first work lever 45 is the planting position or the automatic position based on the output of
When the operation position of the first work lever 45 is the planting position, the elevating control unit 60D is instructed to execute the above-described automatic lowering process, and then, the ground contact of the center float 23 is detected based on the output of the float sensor 68. , And instructs the operation control unit 60E to execute the above-described blower starting process. After that, when the arrival of the seedling planting device 4 at the working height position is detected based on the output of the float sensor 68, the operation control unit 60E is instructed to execute the above-described operation start process, and the storage unit 60B is operated. The marker control unit 60F is instructed to execute the above-described right marker overhang processing or left marker overhang processing for returning one of the left and right markers 29 stored as the attitude to the working attitude.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position described above, the automatic raising/lowering described above when the arrival of the seedling planting device 4 at the working height position is detected. The elevation control unit 60D is instructed to execute the processing.
As a result, the seedling planting device 4 and the fertilizer application device 5 are moved to the working height position in synchronization with the swing operation of the main shift lever 42 from the work interruption position 58e. The device 4 and the fertilizer application device 5 are in the operating state, and the marker 29 on the same side as either the left or right marker 29 that was in the working posture during the work traveling before the work interruption is in the working posture, and is automatically switched to the working state. You can

That is, when it becomes necessary to perform auxiliary work such as seedling replenishment to the seedling planting device 4 or fertilizer replenishment to the fertilizer application device 5 during the seedling planting work, the driver moves to the neutral position of the main transmission lever 42. The traveling vehicle body 1 can be stopped traveling by operating the main speed change lever 42 to the work interruption position 58e while performing the traveling stop operation such as the operation of or the depression operation of the brake pedal 44 and the seedling planting device 4 Also, the fertilizer application device 5 can be switched from the working state to the non-working state.
As a result, the driver can quickly shift from an operating state to an auxiliary work state in which an auxiliary work such as seedling replenishment or fertilizer replenishment is performed. Then, in the non-working state of the seedling planting device 4, the seedling planting device 4 rises to the upper limit position and the seedling mounting table 24 approaches the operating unit 40. It becomes easy to supply seedlings to 24.
When the auxiliary work is completed, the driver operates the main speed change lever 42 from the work interruption position 58e to the forward speed change path 58b via the neutral position, and then from the work interruption position 58e of the main speed change lever 42 to the neutral position. The seedling planting device 4 and the fertilizer application device 5 can be switched from the non-working state to the same working state as before the work is interrupted in conjunction with the operation of, and the operation from the neutral position of the main shift lever 42 to the forward shift path 58b can be performed. In conjunction with this, the traveling vehicle body 1 can be moved forward and the seedling planting device 4 and fertilizer application device 5 can be driven.
Thereby, the driver can quickly restart the seedling planting work after the work is interrupted by the auxiliary work by a simple operation.

The work control unit 60G switches between an execution state in which the control operation based on the detection of the steering angle sensor 70 is executed and a non-execution state in which the control operation is not executed based on the operation of the manual first changeover switch 78 provided in the operation unit 40. Switch. As the first changeover switch 78, a toggle switch or a push button switch can be adopted.

The steering angle sensor 70 detects the swinging of the steering member 52 from the straight traveling position θo to the second set angle θb on the right side as a transition from the straight traveling state of the traveling vehicle body 1 to a small left turning state (an example of a direction changing state). Then, the swinging of the steering member 52 from the second set angle θb to the first set angle θa on the right side is detected as the transition of the traveling vehicle body 1 from the small left turn state to the straight advance state. In addition, the steering angle sensor 70 shifts the steering member 52 from the straight traveling position θo to the second set angle θb on the left side, and shifts the traveling vehicle body 1 from the straight traveling state to the small right turning state (an example of a direction changing state). Then, the swing of the steering member 52 from the second set angle θb on the left side to the first set angle θa is detected as the transition of the traveling vehicle body 1 from the small right turn state to the straight advance state.
That is, the steering angle sensor 70 functions as a transition detection unit that detects the transition of the traveling state of the traveling vehicle body 1.

In its execution state, the work control unit 60G interlocks with the steering angle sensor 70 to detect the transition of the traveling vehicle body 1 from the straight-ahead state to the small turning state, so that the seedling planting device 4 and the fertilizer application device 5 do not work. The second non-working state switching control for switching to the state is executed, and in conjunction with the steering angle sensor 70 detecting the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, the seedling planting device 4 and fertilizer application. The second work state switching control for switching the device 5 to the work state is executed.

First, the control operation of the work control unit 60G in the second non-working state switching control will be described.
The work control unit 60G shifts the traveling vehicle body 1 from the straight traveling state to the left small turning state or the right small turning state based on the detection of the steering angle sensor 70 in the working state of the seedling planting device 4 and the fertilizer application device 5 and the like. When detected, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position based on the output of the first lever sensor 64.
If the operation position of the first work lever 45 is the planting position, the lifting control unit 60D is instructed to execute the automatic raising process described above, and the operation control unit 60E is instructed to execute the blower stop process and the operation stop process described above. Then, the marker control unit 60F is instructed to execute the above-described marker storage processing.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position described above, the lifting control unit 60D is instructed to end the automatic lifting process described above.
Accordingly, the seedling planting device 4 and the fertilizer application device 5 can be automatically switched to the non-working state described above in association with the transition from the straight traveling state of the traveling vehicle body 1 to the small left turning state or the small right turning state. ..

Next, the control operation of the work control unit 60G in the second work state switching control will be described.
In the non-working state of the seedling planting device 4 and the fertilizer application device 5, the work control unit 60G shifts the traveling vehicle body 1 from the left small turning state or the right small turning state to the straight running state based on the detection of the steering angle sensor 70. When detected, it is determined whether the operation position of the first work lever 45 is the planting position or the automatic position based on the output of the first lever sensor 64.
When the operation position of the first work lever 45 is the planting position, the elevating control unit 60D is instructed to execute the above-described automatic lowering process, and then, the ground contact of the center float 23 is detected based on the output of the float sensor 68. , And instructs the operation control unit 60E to execute the above-described blower starting process. After that, when the arrival of the seedling planting device 4 at the working height position is detected based on the output of the float sensor 68, the operation control unit 60E is instructed to execute the above-described operation start process, and the traveling direction of the traveling vehicle body 1 is changed. Instructs the marker control unit 60F to execute the above-described right marker overhang processing or left marker overhang processing for switching the marker 29 on the opposite side to the action posture.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position described above, the automatic raising/lowering described above when the arrival of the seedling planting device 4 at the working height position is detected. The elevation control unit 60D is instructed to execute the processing.
As a result, the seedling planting device 4 and the fertilizer application device 5 are moved to the working height position in conjunction with the transition of the traveling vehicle body 1 from the small left turn state or the small right turn state to the straight traveling state. Then, the seedling planting device 4 and the fertilizer application device 5 are in the operating state, and the marker 29 on the opposite side to either the left or right marker 29, which was the working posture when the work traveling before the ridge turning, becomes the working posture. You can switch to the state automatically.

That is, when performing seedling planting work by reciprocal planting, if the driver operates the first changeover switch 78 to switch the work control unit 60G to the execution state, the driver can drive the traveling vehicle body 1 on the ridgeline. By only performing the steering for making a sharp turn, the seedling planting device 4 and the fertilizer application device 5 can be switched from the working state to the non-working state with the start of the sharp turn, and also at the end of the sharp turn. Accordingly, the seedling planting device 4 and the fertilizer application device 5 can be switched from the non-working state to a working state suitable for working on the next work traveling routes R1a to R1e.

As shown in FIGS. 5 to 7, the ECU 60 includes an engine control unit 60H that controls the operation of the engine 7 and a condition determination unit 60K that determines whether or not the temporary stop condition and the restart condition of the engine 7 are satisfied. I have it.

The engine control unit 60H executes engine temporary stop control for temporarily stopping the engine 7 when the condition determination unit 60K determines that the temporary stop condition for the engine 7 is satisfied. Further, the engine control unit 60H executes engine restart control for restarting the engine 7 when the condition determination unit 60K determines that the restart condition of the engine 7 is satisfied.

In the engine temporary stop control and the engine restart control, the engine control unit 60H includes a starter relay 80 that enables the energization of the starter unit 63 from the battery 37 bypassing the main switch 61, and the igniter 7A of the engine 7 from the battery 37. By controlling the operation of the igniter relay 81 that intermittently energizes the engine 7, the engine 7 is temporarily stopped or restarted.

The starter relay 80, like the main switch 61, is connected to the starter unit 63 via the brake switch 62. As a result, similarly to the starting operation of the engine 7 by the main switch 61, even when the engine 7 is restarted based on the engine restart control of the engine control unit 60H, the driver can depress the brake pedal 44 to the braking position. Mandatory.

The condition determination unit 60K detects that the interruption switch 58B has moved to the work interruption position 58e of the main transmission lever 42 and, for example, the output rotation speed of the engine 7 is equal to or lower than the set rotation speed (for example, idling rotation speed). If the conditions suitable for restarting the engine 7 such as the voltage of the battery 37 being equal to or higher than the set value and the temperature of the engine cooling water being equal to or higher than the set value (for example, 55 degrees) are secured. , It is determined that the temporary stop condition of the engine 7 is satisfied, and otherwise, it is determined that the temporary stop condition of the engine 7 is not satisfied. The condition determination unit 60K determines that the restart condition of the engine 7 is not satisfied while the interruption switch 58B does not detect the movement of the main speed change lever 42 from the work interruption position 58e, and the interruption switch 58B causes the main speed change to occur. When the movement of the lever 42 from the work interruption position 58e is detected, it is determined that the restart condition of the engine 7 is satisfied.

The condition determination unit 60K determines whether the output rotation speed of the engine 7 is equal to or lower than the set rotation speed based on the output of the rotation sensor 71. The condition determination unit 60K determines whether the voltage of the battery 37 is equal to or higher than a set value based on the output of the voltage detector 72. The condition determination unit 60K determines whether the temperature of the engine cooling water is equal to or higher than a set value based on the output of the water temperature sensor 73.

The control operation of the engine control unit 60H in the engine temporary stop control will be described below.
When the engine control unit 60H detects the establishment of the temporary stop condition of the engine 7 based on the determination of the condition determination unit 60K, the engine control unit 60H turns on the first notification unit 47B including the LED mounted on the notification device 47, and the igniter relay 81. The engine 7 is temporarily stopped by energizing the igniter relay 81 and switching the igniter relay 81 to an open state where the energization of the igniter 7A from the battery 37 is stopped.
As a result, when the driver stops traveling of the traveling vehicle body 1 in order to perform supplementary work such as seedling replenishment and fertilizer replenishment, for example, operation of the main gearshift lever 42 to the neutral position and depression of the brake pedal 44 are performed. It is possible to temporarily stop the engine 7 by operating the main speed change lever 42 to the work interruption position 58e while performing the traveling stop operation by, and as a result, perform auxiliary work such as seedling supply and fertilizer supply. It is possible to prevent wasteful fuel consumption due to the engine 7 continuing to operate while the engine is running.
Further, even if the main shift lever 42 is operated to the work interruption position 58e, if the above-described temporary stop condition is not satisfied, the temporary stop operation of the engine 7 is not performed. To avoid the possibility of inconvenience such as time-consuming restart operation of the engine 7 due to the engine 7 being temporarily stopped when the temperature is below the set value or when the temperature of the engine cooling water is below the set value. You can
Then, the driver can easily determine whether or not the engine 7 is temporarily stopped from the state of the first notification portion 47B by operating the main transmission lever 42 to the work interruption position 58e.

Next, the control operation of the engine control unit 60H in the engine restart control will be described.
When the engine control unit 60H detects that the restart condition of the engine 7 is satisfied based on the determination of the condition determination unit 60K, the engine control unit 60H performs the engine restart process according to the detection.
In the engine restart processing, first, the energization of the igniter relay 81 is stopped, and the igniter relay 81 is switched to the closed state in which the igniter 7A is energized from the battery 37, thereby allowing the engine 7 to be started. Next, by energizing the starter relay 80 and switching the starter relay 80 to the closed state in which the power is supplied from the battery 37 to the starter unit 63, the starter unit 63 is energized from the battery 37 bypassing the main switch 61. Is operated to restart the engine 7.
After performing the engine restart process, it is determined based on the output of the rotation sensor 71 whether or not the output rotation speed of the engine 7 is equal to or higher than the set rotation speed. If the output rotation speed is less than the set rotation speed, the engine 7 is restarted. If it is determined that it has not occurred, engine restart processing is performed again. If it is equal to or higher than the set number of revolutions, it is determined that the restart of the engine 7 is completed, and the first notification unit 47B is turned off.
As a result, the driver can easily operate the engine 7 by operating the main speed change lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position after finishing the auxiliary work. Can be restarted.
Then, the driver can easily determine whether or not the engine 7 has been restarted by operating the main transmission lever 42 from the work interruption position 58e to the neutral position from the state of the first notification portion 47B.

As shown in FIGS. 2 and 6, the traveling vehicle body 1 includes an automatic steering unit 83 that enables automatic steering of the left and right front wheels 6A. The automatic steering unit 83 includes an electric steering motor 84, a gear mechanism 85 that transmits power from the steering motor 84 to the steering shaft 49, and the like.

As shown in FIGS. 1 and 6, the traveling vehicle body 1 includes a positioning unit 86 that measures the position and orientation of the traveling vehicle body 1. The positioning unit 86 uses a well-known GPS (Global Positioning System) which is an example of a Global Navigation Satellite System (GNSS) to measure the position and orientation of the traveling vehicle body 1, and a satellite navigation device 87. An inertial measurement device (IMU: Inertial) having a triaxial gyroscope (not shown) and a three-direction acceleration sensor (not shown) to measure the roll angle, pitch angle, and yaw angle of the traveling vehicle body 1. Measurement Unit) 88.

The satellite navigation device 87 is supported by the upper end portion 59C of the reserve reservoir 59 located at the uppermost portion of the traveling vehicle body 1 so that the GPS antenna 87A has high reception sensitivity of radio waves from the satellite. Therefore, the positioning result by the satellite navigation device 87 includes a positioning error caused by the positional deviation of the GPS antenna 87A due to the inclination of the traveling vehicle body 1. Therefore, this riding rice transplanter is provided with an inertial measuring device 88 to correct a positioning error of the satellite navigation device 87 caused by a positional deviation of the GPS antenna 87A due to the inclination of the traveling vehicle body 1.
Further, by including the satellite navigation device 87 and the inertial measurement device, for example, the absolute position of the traveling vehicle body 1 obtained from the satellite navigation device 87 is included in the relative position of the traveling vehicle body 1 obtained from the inertial measurement device 88. It is also possible to correct the error.
That is, by providing the satellite navigation device 87 and the inertial measurement device, the position and azimuth of the traveling vehicle body 1 can be accurately measured.

It should be noted that the inertial measurement device 88 is provided at the left and right central portions of the rear axle case 14 having high rigidity.

As shown in FIGS. 6 and 8 to 11, the ECU 60 includes a route setting unit 60L that sets the target straight traveling route Rs, and a direction control unit 60M that controls the traveling direction of the traveling vehicle body 1.

When the pressing operation of the first switch 89 and the second switch 90 for teaching provided in the driving unit 40 is performed, the route setting unit 60L, based on the operation, the traveling vehicle body 1 when reciprocating planting in a paddy field. The teaching control for determining the reference azimuth is executed.

The control operation of the route setting unit 60L in teaching control will be described below.
When the path setting unit 60L detects the pressing operation of the first switch 89 during traveling, the measurement result of the positioning unit 86 obtained at this time is registered as the teaching start end position Pta.
Next, when the pressing operation of the second switch 90 is detected during traveling, the measurement result of the positioning unit 86 obtained at this time is registered as the teaching end position Ptb.
Then, the extending direction of the straight line passing through the registered teaching start end position Pta and teaching end position Ptb is determined as the above-mentioned reference azimuth Ro and is written in the storage unit 60B.
As a result, for example, in the preparatory traveling stage before the start of the work traveling that is performed to secure the respective work traveling routes R2a to R2d for planting around the ridge, the driver selects the work traveling routes R1a to R1e for reciprocating planting. When the vehicle travels straight along the work traveling routes R2a and R2c for planting along, the pressing operation of the first switch 89 and the second switch 90 is performed to cause the route setting unit 60L to perform the teaching control, whereby the paddy field to be operated is It is possible to easily obtain the reference orientation Ro suitable for

A momentary switch or the like can be used as the first switch 89 and the second switch 90.

The route setting unit 60L executes the target route setting control for setting the target straight traveling route Rs on the basis of the operation of the manual second changeover switch 91 provided on the main shift lever 42, and the non-execution state. Switch to. As the second changeover switch 91, a momentary switch, a two-position changeover type toggle switch, or the like can be adopted.

When the rudder angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state in the execution state of the target route setting control, the route setting unit 60L makes an orthogonal change from the straight traveling route immediately before turning based on this detection. The target straight-ahead route Rs along the reference azimuth Ro written in the storage unit 60B is set at a position on the turning direction side that is separated by a set distance (for example, a distance corresponding to the working width W of the seedling planting device 4) in the direction. ..

In the control target area Rsa of the target straight traveling route Rs set by the route setting unit 60L, the direction control unit 60M automatically moves the traveling vehicle body 1 to the target straight traveling route based on the target straight traveling route Rs and the positioning result of the positioning unit 86. The automatic straight ahead control for traveling on Rs is executed.

Hereinafter, the control operation of the direction control unit 60M in the automatic straight ahead control will be described.
Based on the target straight traveling route Rs and the positioning result of the positioning unit 86, the direction control unit 60M first travels the target straight traveling route Rs with respect to the amount and direction of the current position of the traveling vehicle body 1 relative to the target straight traveling route Rs. The deviation angle and the deviation direction of the current azimuth of the vehicle body 1 are obtained as deviation information.
Next, based on the calculated deviation information, the output of the vehicle speed sensor 92 that detects the output speed of the auxiliary transmission 10 as the vehicle speed, and the correction data for the automatic straight ahead control stored in the storage unit 60B, the left and right The control target rudder angle of the front wheel 6A is determined.
Then, based on the determined control target steering angle and the output of the steering angle sensor 70, the operation of the steering motor 84 is controlled so that the steering angles of the left and right front wheels 6A become the control target steering angle.
That is, in the control target region Rsa of the target straight traveling route Rs, the traveling vehicle body 1 automatically travels on the target straight traveling route Rs by the automatic straight traveling control of the direction control unit 60M. It is not necessary to steer the vehicle so that it does not deviate from the route Rs. As a result, it is possible to reduce the effort of the driver required for traveling during work.

The direction control unit 60M switches to a functional state in which the automatic straight ahead control can be executed as the route setting unit 60L switches to the execution state of the target route setting control based on the operation of the second changeover switch 91, and informs The second notification unit 47C, which is an LED mounted on the device 47, is caused to blink. Further, the direction control unit 60M switches to the stop state in which the automatic straight ahead control is not executed and the route setting unit 60L switches to the non-execution state of the target route setting control based on the operation of the second changeover switch 91, and 2 Turn off the notification unit 47C.

The vehicle speed sensor 92 may be of an electromagnetic pickup type or the like. The correction data for automatic straight ahead control shows the relationship between the amount and direction of deviation of the current position of the traveling vehicle body 1 with respect to the target straight traveling route Rs, the vehicle speed of the traveling vehicle body 1, and the control target steering angles of the left and right front wheels 6A. Map data or a relational expression, and map data showing the relationship between the deviation angle and the deviation direction of the current azimuth of the traveling vehicle body 1 with respect to the target straight traveling route Rs, the vehicle speed of the traveling vehicle body 1, and the control target steering angles of the left and right front wheels 6A. Alternatively, a relational expression or the like can be adopted.

As shown in FIGS. 6 and 11, the control target region Rsa of the target straight traveling route Rs in which the direction control unit 60M executes the automatic straight traveling control is the automatic straight traveling control from the traveling start point Pa of the traveling vehicle body 1 on the target straight traveling route Rs. The manual traveling region Rsb that has traveled until the execution condition is satisfied is excluded from the actual traveling region Rsc extending from the traveling start point Pa to the traveling end point Pb on the target straight traveling route Rs. The traveling start point Pa is a point where the direction control unit 60M detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state based on the detection of the steering angle sensor 70. The traveling end point Pb is a point where the direction control unit 60M detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state based on the detection of the steering angle sensor 70. The direction control unit 60M, based on the target straight traveling route Rs set by the route setting unit 60L and the measurement result of the positioning unit 86, the deviation amount of the current position of the traveling vehicle body 1 from the target straight traveling route Rs and the target straight traveling route Rs. When it is detected that the deviation angle of the current azimuth of the traveling vehicle body 1 with respect to is changed from outside the allowable range to within the allowable range, it is determined that the execution condition of the automatic straight ahead control is satisfied.

For this reason, the driver, after turning around the ridge, causes the position of the center mascot 93 arranged at the left and right center positions of the front end portion of the traveling vehicle body 1 to be largely displaced with respect to the traveling reference line L formed by the marker 29. If so, it is determined that the above-described deviation amount and deviation angle are outside the permissible range, and that the above-mentioned deviation amount and deviation angle are within the permissible range in order to satisfy the execution condition of the automatic straight ahead control. Specifically, the manual correction steering for operating the steering wheel 41 to steer the left and right front wheels 6A so that the traveling reference line L extends straight ahead of the line of sight looking at the center mascot 93 from the seated position. Need to do.

Therefore, in order to facilitate such a correction operation by the driver, in the functional state, the direction control unit 60M starts traveling of the traveling vehicle body 1 based on information from the operation control unit 60E or the work control unit 60G. When the arrival at the point Pa is detected, based on the target straight traveling route Rs set by the route setting unit 60L and the measurement result of the positioning unit 86, the determination control is performed to determine whether or not the execution condition of the automatic straight traveling control is satisfied. To do. Then, in this determination control, when it is determined that the execution condition is not satisfied, the second notification unit 47C is maintained in the blinking state to notify the driver that the execution condition of the automatic straight ahead control is not satisfied. When it is determined that the execution condition is satisfied, the second notification unit 47C is switched from the blinking state to the lighting state, and the direction control unit 60M notifies the driver that the automatic straight ahead control is in the execution state.
As a result, when the second notification unit 47C is switched from the blinking state to the lighting state with the end of the edge turn, the driver knows that the automatic straight ahead control has been executed with the end of the edge turn. can do. In addition, when the second notification unit 47C continues to blink even after the end of the ridge turning, the driver determines that the above-described deviation amount and deviation angle are out of the allowable range, and the above-described manual correction steering is performed. Can be understood to be necessary. Then, when the second notification unit 47C is switched from the blinking state to the lighting state by the manual correction steering, it can be understood that the above-described shift amount and shift angle are within the allowable range and the automatic straight ahead control is executed.

Next, based on FIGS. 6 and 8 to 11, when performing seedling planting work in a rectangular paddy field using control operations of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, and the like. An example will be described.

(1) Before the start of work traveling, the driver performs a preparatory travel for securing the respective work traveling routes R2a to R2d for planting around the ridge. In this preparatory travel, the driver starts the first work lever 45 or the second work lever at the start of straight traveling on the respective work travel routes R2a and R2c for replanting along the respective work travel routes R1a to R1e for reciprocal planting. 46 is operated to lower the seedling planting device 4 to the working height position, and the second work lever 46 is operated to switch the marker 29 on the reciprocating planting area side to the working posture. As a result, it is possible to form a travel reference line L that can be used when traveling on the first work travel route R1a for reciprocating planting and the final work travel route R2e on a mud surface.
(2) The driver first teaches the route setting unit 60L by operating the first switch 89 while traveling straight on the work traveling route R2a for rotation planting adjacent to the first work traveling route R1a for reciprocating planting. The start end position Pta is registered, and after traveling straight for a set distance from this registration, the second end switch 90 is operated to register the teaching end position Ptb by the route setting unit 60L. Then, the route setting unit 60L executes the above-described teaching control, whereby the reference orientation Ro suitable for reciprocating planting in this paddy field can be obtained.
(3) The driver switches the work control unit 60G to the execution state described above by operating the first changeover switch 78 during straight traveling on the work traveling route R2a for planting around. Further, by operating the second changeover switch 91, the route setting unit 60L is switched to the target route setting control execution state, and the direction control unit 60M is switched to the functional state. Then, at this time, since the direction control unit 60M is in the executable state of the above-described automatic straight ahead control, the second notification unit 47C blinks.
(4) When the traveling vehicle body 1 reaches the direction change area at the edge of the road by the straight traveling on the work traveling route R2a for planting around, the driver adjoins the traveling vehicle body 1 from the work traveling route R2a for planting around. A ridge turning operation (180 degree direction changing operation) for moving to the first work traveling route R1a for reciprocating planting is performed. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and the work control unit 60G executes the above-mentioned second non-working state switching control based on the detection, While raising the planting device 4 to the upper limit position, the marker 29 of the working posture is switched to the storage posture. Further, the route setting unit 60L executes the target route setting control, and is separated from the work traveling route R2a for planting by a set distance (here, the distance corresponding to the working width W of the seedling planting device 4) in the orthogonal direction. The target straight-ahead route Rs along the above-described reference azimuth Ro is set at the position on the turning direction side.
(5) When the traveling vehicle body 1 approaches the traveling start point Pa of the first working traveling route R1a (target straight traveling route Rs) for reciprocating planting by this edge turning operation, the driver determines that the traveling vehicle body 1 is for reciprocating planting. The ridge turning operation is completed so that a state of traveling straight ahead on the work traveling route R1a can be obtained. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, and the work control unit 60G executes the above-mentioned second work state switching control based on the detection. As a result, in conjunction with the traveling vehicle body 1 shifting from the edge turning state to the straight traveling state, the seedling planting device 4 and the fertilizer application device 5 are switched from the non-working state described above to the working state described above, and the riding rice transplanter is operated. Switching from the traveling state to the working state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa, and executes the above-described determination control in accordance with this detection.
(6) In this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight ahead control is not satisfied, the second notification unit 47C maintains the blinking state while this determination is continued. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is located on the first working traveling route R1a for reciprocating planting (the above-described deviation amount and deviation angle are within the allowable range).
Further, in this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight ahead control is satisfied, the control target region Rsa described above is reached from here, so that the direction control unit 60M starts the automatic straight ahead control. The second notification unit 47C is switched from the blinking state to the lighting state. Then, based on the automatic straight-ahead control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the first work traveling route R1a (target straight-ahead traveling route Rs) for reciprocating planting. Does not need to be steered so that the traveling vehicle body 1 does not deviate from the first work traveling route R1a for reciprocating planting.
(7) When the traveling vehicle body 1 reaches the direction change area at the edge of the road by the straight traveling on the first working traveling route R1a for reciprocating planting, the driver adjoins the traveling vehicle body 1 from the current working traveling route R1a. A ridge turning operation for moving to the next work traveling route R1b is performed. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and the work control unit 60G executes the above-mentioned second non-working state switching control based on the detection. In addition, the route setting unit 60L executes the target route setting control to set the target straight traveling route Rs along the reference azimuth Ro at a position on the turning direction side that is a set distance in the orthogonal direction from the current work traveling route R1a. Set. Further, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling end point Pb on the current work traveling route R1a and terminates the automatic straight ahead control described above, and the second notification unit 47C is turned on. Switch to blinking state. As a result, in conjunction with the traveling vehicle body 1 shifting from the straight-ahead state to the ridge-turning state, the seedling planting device 4 and the fertilizer application device 5 are switched from the working state described above to the non-working state described above, and the riding rice transplanter is operated. The working traveling state is switched to the traveling traveling state.
(8) When the traveling vehicle body 1 approaches the traveling start point Pa of the next work traveling route R1b by this edge turning operation, the driver will perform the above-described (5) to (7) on the subsequent reciprocating traveling route. The above operations are appropriately performed in that order until the traveling vehicle body 1 reaches the direction-changing region on the edge of the road by straight traveling on the final work traveling route R1e for reciprocating planting.
That is, in the control target region Rsa of the target straight traveling route Rs in the reciprocating traveling route, the automatic straight traveling control is executed and the traveling vehicle body 1 automatically travels on the target straight traveling route Rs. The second non-working state switching control and the second working state switching control are appropriately executed in association with the edge turning operation, and the seedling planting device 4 and the fertilizer applying device 5 are in the non-working state and the working state at appropriate timings. Switch to.
As a result, planting of seedlings and fertilization can be satisfactorily performed on the reciprocating travel route while effectively reducing the labor of the driver required for work traveling without lowering work efficiency.
(9) After that, when the traveling vehicle body 1 reaches the direction change region on the edge of the road by straight traveling on the final work traveling route R1e for reciprocating planting, the driver operates the second changeover switch 91 to set the route setting unit 60L. Is switched to the non-execution state described above, and the direction control unit 60M is switched to the stop state. Further, a ridge turning operation for moving the traveling vehicle body 1 from the final work traveling route R1e for reciprocal planting to the adjacent work traveling route R2c for swiveling is performed. Then, based on the detection of the steering angle sensor 70 at this time, the work control unit 60G executes the above-described second non-working state switching control, whereby the riding rice transplanter switches from the working traveling state to the moving traveling state. Then, the driver switches the work control unit 60G to the non-execution state described above by operating the first changeover switch 78 during the sharp turn at this time. Then, even if the driver finishes the ridge turning operation in order to drive the traveling vehicle body 1 on the work traveling route R2c for planting after that, the passenger rice transplanter maintains the traveling traveling state.
As a result, the driver can quickly move the riding rice transplanter from the final work traveling route R1e for reciprocating planting to the first work traveling route R2a for rotating planting.
(10) After moving to the first work traveling route R2a for planting around, the driver manually drives the traveling vehicle body 1 on each work traveling route R2a to R2d for planting around while performing the first work. By operating the lever 45 or the second work lever 46, the working state and the non-working state of the seedling planting device 4 and the fertilizer application device 5 suitable for planting around are switched.

As shown in FIG. 6, the traveling vehicle body 1 includes a first remaining amount detecting unit 24A that detects the remaining amount of mat-like seedlings on the seedling placing table 24, and a second remaining amount that detects the remaining amount of fertilizer in the hopper 31. The detection unit 31A and a clogging sensor (an example of a malfunction sensor) 35A that detects clogging of fertilizer inside each grooving device 35 as a malfunction related to work are provided. The first remaining amount detecting unit 24A employs eight limit switches that detect that the remaining amount of the corresponding mat-shaped seedling has dropped to the set value for seedling supply. A transmissive photoelectric sensor that detects that the remaining amount of fertilizer has decreased to a set value for fertilizer replenishment is used as the second remaining amount detection unit 31A. The clogging sensor 35A is provided with a pair of electrodes arranged at a predetermined interval in each grooving device, and the fertilizer that has been supplied with water over the pair of electrodes is attached to the clogging sensor 35A to detect the energization between the two electrodes to detect the clogging of the fertilizer. To detect.

The notification device 47 includes a third notification unit 47D, which is an LED that notifies the driver that the remaining amount of one of the mat-shaped seedlings placed on the seedling placing table 24 has decreased to the set amount for seedling supply, the hopper 31. The fourth alarm unit 47E, which is an LED that notifies the driver that the remaining amount of the fertilizer stored in the fertilizer has decreased to the set value for replenishing the fertilizer, and that any of the groovers 35 has clogged the fertilizer. A fifth notification unit 47F including an LED that notifies the driver is provided.

The work control unit 60G detects that the remaining amount of any of the mat-like seedlings placed on the seedling placing table 24 has decreased to the set value for seedling supply based on the output of the first remaining amount detecting unit 24A. Then, the third notification unit 47D for notification of seedling supply is switched from the extinguished state to the blinking state. As a result, the driver can be prompted to replenish the seedling placing table 24 with the mat-like seedlings. After that, in the blinking state of the third notification unit 47D, the remaining amount of all the mat-like seedlings placed on the seedling placing table 24 has the set value for seedling supply based on the output of the first remaining amount detecting unit 24A. When it detects that it has exceeded, the 3rd alerting|reporting part 47D will be switched from a blinking state to a light extinction state.

When the work control unit 60G detects that the remaining amount of the fertilizer stored in the hopper 31 has decreased to the set value for fertilizer replenishment based on the output of the second remaining amount detector 31A, the work control unit 60G notifies the fertilizer replenishment notification first. 4 The notification unit 47E is switched from the extinguished state to the blinking state. As a result, the driver can be prompted to replenish the hopper 31 with fertilizer. Then, when it is detected that the remaining amount of fertilizer stored in the hopper 31 exceeds the set value for fertilizer replenishment based on the output of the second remaining amount detection unit 31A in the blinking state of the fourth notification unit 47E, The fourth notification unit 47E is switched from the blinking state to the extinguished state.

When the work control unit 60G detects that fertilizer clogging has occurred in any of the groovers 35 based on the output of the clogging sensor 35A, the clogging notification fifth notification unit 47F is switched from the unlit state to the blinking state. .. Thereby, the driver can be prompted to remove the fertilizer clogging the grooving device 35. After that, in the blinking state of the fifth notification unit 47F, when it is detected based on the output of the clogging sensor 35A that the fertilizer clogging in each grooving device 35 is cleared, the fifth notification unit 47F is turned off from the blinking state. Switch to.

When the driver visually recognizes the blinking of the third notifying unit 47D, the fourth notifying unit 47E, or the fifth notifying unit 47F during work traveling on each work traveling route R1a to R1e, R2a to R2d, the driver's seat 48 From the driving state in which the operator sits on the steering wheel 41 and operates the steering wheel 41 and the like, the operator separates from the driving seat 48 and supplies seedlings to the seedling table 24, fertilizers to the hopper 31, or removes manure clogged in the grooving device 35. , And so on are transferred to an auxiliary work state (an example of another work state).

Next, based on FIG. 6 and FIG. 7, a case where the driver needs to shift from the driving state to the auxiliary working state during work traveling on each work traveling route R1a to R1e, R2a to R2d will be described. ..

(1) When the driver visually recognizes the blinking of the third notification unit 47D, the fourth notification unit 47E, or the fifth notification unit 47F, first, the operation to the neutral position of the main shift lever 42 or the depression of the brake pedal 44 is performed. The main transmission lever 42 is operated to the work interruption position 58e while the traveling stop operation is performed by an operation or the like. Then, based on these operations, the traveling vehicle body 1 stops traveling, and the work control unit 60G executes the above-described first non-working state switching control. By the first non-working state switching control, the seedling planting device 4 and fertilizer application device 5 are switched from the working state to the non-working state. Further, when the condition determination unit 60K determines whether or not the temporary stop condition of the engine 7 is satisfied, and when it is determined that the temporary stop condition of the engine 7 is satisfied, the engine control unit 60H executes the above-described engine temporary stop control, and by this engine temporary stop control, The engine 7 is temporarily stopped and the first notification unit 47B is turned on.
That is, when it is necessary for the driver to shift from the driving state to the auxiliary work state during the work traveling on each work traveling route R1a to R1e, R2a to R2d, the traveling stop operation and the work of the main transmission lever 42 are performed. The operation of the passenger rice transplanter can be switched from the working traveling state to the traveling stopped state and the engine 7 can be temporarily stopped only by performing the operation to the interruption position 58e.
As a result, the driver can quickly perform the transition from the driving state to the auxiliary work state and can perform the auxiliary work while preventing the fuel from being unnecessarily consumed during the auxiliary work. Then, in the non-working state of the seedling planting device 4, the seedling planting device 24 moves up to the upper limit position to bring the seedling placing table 24 closer to the operating unit 40. It becomes easy to supply seedlings to the stand 24.
(2) After completing supplementary work such as seedling replenishment or fertilizer replenishment, the driver operates the main transmission lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position. Then, based on this operation, the work control unit 60G executes the above-described first work state switching control, and by this first work state switching control, the seedling planting device 4 and the fertilizer applying device 5 are changed from the non-working state to the auxiliary work. Switch to the same work state as before the start. When the engine 7 is temporarily stopped, the engine control unit 60H executes the engine restart control described above, and the engine restart control causes the engine 7 to restart and the first notification unit 47B to be turned off. . After that, when the driver performs an operation of returning the brake pedal 44 to the braking release position and an operation of moving the neutral position of the main speed change lever 42 to the forward speed change path 58b, the traveling vehicle body 1 starts forward travel, The planting device 4 and the fertilizer application device 5 are driven.
That is, when the driver finishes the seedling replenishment or the fertilizer replenishment and restarts the work traveling on the work traveling routes R1a to R1e and R2a to R2d, the driver depresses the brake pedal 44 to the braking position and the main shift lever. After the operation of the work 42 from the work interruption position 58e to the neutral position, the operation of returning the brake pedal 44 to the braking release position and the operation of moving the main shift lever 42 from the neutral position to the forward shift path 58b are performed. , The riding rice transplanter can be switched from the traveling stopped state to the working traveling state.

The direction control unit 60M interrupts the automatic rectilinear control when the engine temporary stop control is executed during the execution of the aforementioned automatic rectilinear control, and automatically when the engine restart control is executed during the suspension of the automatic rectilinear control. Restart straight ahead control.
As a result, it becomes necessary for the driver to perform auxiliary work during the work traveling on the reciprocating planting work traveling routes R1a to R1e using the automatic straight-ahead control of the direction control unit 60M, so that the driver operates the main shift lever 42. When the engine control unit 60H executes the engine temporary stop control based on the operation at the work interruption position 58e, the direction control unit 60M interrupts the automatic straight-ahead control in conjunction with this, so that the auxiliary work is performed. Therefore, it is possible to prevent unnecessary power consumption due to the automatic straight ahead control being continued even in the traveling stopped state in which the engine 7 is temporarily stopped.
After that, when the driver finishes the auxiliary work and operates the main shift lever 42 from the work interruption position 58e to the neutral position, the engine control unit 60H executes the engine restart control based on this operation, and in conjunction with this, Since the direction control unit 60M restarts the automatic straight-ahead control, the traveling vehicle body 1 can be automatically traveled on the target straight-ahead route Rs based on the automatic straight-ahead control of the direction control unit 60M even after the work traveling is restarted. ..

As shown in FIGS. 6 and 8 to 11, the ECU 60 includes a point storage unit 60N that stores a conversion start point P at which the traveling vehicle body 1 shifts from a straight traveling state to a deeply turning state (a 180 degree direction changing state), and An arrival determination unit 60P that determines whether or not the traveling vehicle body 1 has reached the conversion start point P is provided.

The point storage unit 60N detects, based on the output of the steering angle sensor 70 and the positioning result of the positioning unit 86, that the steering angle sensor 70 has transitioned from the straight traveling state of the traveling vehicle body 1 to the small left turning state or the small right turning state. At this time, the transition start point obtained from the positioning result of the positioning unit 86 from the straight traveling state of the traveling vehicle body 1 to the small left turn state or the small right turn state is stored as the left turn start point Pc or the right turn start point Pd. The arrival determination unit 60P determines the conversion start points Pc and Pd on the current work travel routes R1a to R1e for reciprocating planting based on the left conversion start point Pc or the right conversion start point Pd stored in the point storage unit 60N. Whether the traveling vehicle body 1 has reached the conversion start points Pc, Pd on the current work traveling routes R1a to R1e for reciprocating planting, based on the set conversion start points Pc, Pd and the positioning result of the positioning unit 86 that have been set. The setting judgment control for judging whether or not to execute is executed.

When the arrival determination unit 60P determines that the traveling vehicle body 1 has reached the left turning start point Pc or the right turning start point Pd, the direction control unit 60M automatically reciprocates the traveling vehicle body 1 for current work travel. Automatic direction change control is performed to change the direction from the route R1a to R1d (target straight ahead route Rs) to the next work traveling route R1b to R1e (target straight ahead route Rs).

Hereinafter, the control operation of the direction control unit 60M in the automatic turning control will be described.
When the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the left turning start point Pc based on the determination result of the arrival determination unit 60P, the steering motor 84 is operated so that the traveling vehicle body 1 can obtain a small left turn state. A left turn process for controlling the control is performed, and the time counting section 60C starts time counting.
After that, when a predetermined time required for the traveling vehicle body 1 to complete a deep turn (180 degree direction change) from the start of the left turn processing is elapsed, the straight traveling state of the traveling vehicle body 1 is obtained with the passage of time. Thus, the straight-ahead return processing for controlling the operation of the steering motor 84 is performed.
On the contrary, when the arrival of the traveling vehicle body 1 at the right turning start point Pd is detected based on the determination result of the arrival determination unit 60P, the operation of the steering motor 84 is controlled so that the traveling vehicle body 1 can obtain a small right turn state. The right direction change processing is performed, and the timing by the timing unit 60C is started.
After that, when a predetermined time required from the start of the right turn processing to the completion of the turning of the traveling vehicle body 1 has elapsed, the straight-ahead return processing described above is performed along with the elapse of a predetermined time.
That is, in the direction change area at the edge, the traveling vehicle body 1 can be automatically turned by the automatic direction change control of the direction control unit 60M, whereby when seedling planting work by reciprocal planting is performed. The required labor of the driver can be further reduced.

The direction control unit 60M switches between an execution state in which the automatic direction change control is executed and a non-execution state in which the automatic direction change control is not executed, based on the operation of the manual third changeover switch 94 provided in the operation unit 40. The arrival determination unit 60P switches to the execution state of executing the setting determination control as the direction control unit 60M switches to the execution state of the automatic direction change control based on the operation of the third changeover switch 94. Further, the arrival determination unit 60P switches to the non-execution state in which the setting determination control is not executed, as the direction control unit 60M switches to the non-execution state in the automatic direction change control based on the operation of the third changeover switch 94. As the third changeover switch 94, a toggle switch or a push button switch can be adopted.

The direction control unit 60M notifies when the left turning start point Pc and the right turning start point Pd of the traveling vehicle body 1 are not stored in the point storage unit 60N and are switched to the execution state for executing the automatic turning control. The sixth notification unit 47G, which is a buzzer provided in the device 47, is intermittently operated to notify the driver that the left turn start point P and the right turn start point P are not stored in the point storage unit 60N.

Next, when performing seedling planting work using control operations of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the point storage unit 60N, and the arrival determination unit 60P in a rectangular paddy field An example will be described.
Here, the teaching control described above is completed, the work control unit 60G is switched to the execution state described above, the route setting unit 60L is switched to the execution state described above, and the functional state and the execution state of the direction control unit 60M described above are performed. It will be described from the stage where the switching to, the switching of the arrival determination unit 60P to the above-described execution state, and the like are completed.

(1) When traveling straight on the work traveling route R2a for rotation planting adjacent to the first work traveling route R1a for reciprocating planting, the left turning start point Pc and the right turning start point Pd of the traveling vehicle body 1 are the point storage unit 60N. Since it is not stored in the point storage unit 60N, the sixth notification unit 47G operates intermittently to notify the driver that the left turn start point Pc and the right turn start point Pd are not stored in the point storage unit 60N. As a result, when the traveling vehicle body 1 reaches the turning area on the edge of the road while traveling straight on the work traveling route R2a for planting, the traveling vehicle body 1 is moved from the work traveling route R2a for planting to the left side. A ridge turning operation to the left is performed to move to the first work traveling route R1a for adjacent reciprocating planting. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small left turning state, and the work control unit 60G executes the second non-working state switching control based on the detection. While raising the seedling planting device 4 to the upper limit position, the working position marker 29 is switched to the storage position. In addition, the route setting unit 60L executes the target route setting control, and the target straight traveling route along the above-described reference azimuth Ro is located at the position on the turning direction side that is a set distance in the orthogonal direction from the work traveling route R2a for planting around. Set Rs. Then, the point storage unit 60N stores the traveling end point Pb of straight traveling on the work traveling route R2a for planting as a left turning start point Pc.
(2) When the traveling vehicle body 1 approaches the traveling start point Pa of the first working traveling route R1a for reciprocating planting by the turning operation on the left side, the driver determines that the traveling vehicle body 1 has the first working traveling route for reciprocating planting. The turning operation on the left edge is completed so that the vehicle can travel straight on R1a. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the small left turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the above-described second work state switching control and The rice transplanter is switched from the traveling traveling state to the working traveling state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa and executes the above-described determination control.
(3) In this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight ahead control is not satisfied, the second notification unit 47C maintains the blinking state while the determination is continued. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is located on the first work traveling route R1a for reciprocating planting.
Further, in this determination control, when the direction control unit 60M determines that the execution condition of the automatic straight ahead control is satisfied, the control target region Rsa described above is reached from here, so that the direction control unit 60M starts the automatic straight ahead control. The second notification unit 47C is switched from the blinking state to the lighting state. Then, based on the automatic straight ahead control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the first working traveling route R1a for reciprocating planting. It is not necessary to steer the vehicle so that it does not deviate from the first work traveling route R1a for reciprocating planting.
However, in the automatic straight ahead control at this time, since the right turn start point Pd is not stored in the point storage unit 60N, the sixth notification unit 47G continues the intermittent operation, and the right turn start point Pd is stored as the point. Notify the driver that it is not stored in part 60N.
(4) When the traveling vehicle body 1 reaches the direction-changing region on the edge of the straight line in the first working traveling route R1a for reciprocating planting, the driver travels based on the intermittent operation of the sixth notification unit 47G. A right edge turning operation for moving the vehicle body 1 from the current work traveling route R1a to the next work traveling route R1b adjacent to the right side is performed. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small right turning state, and the work control unit 60G executes the above-described second non-working state switching control based on the detection. The passenger rice transplanter is switched from the working traveling state to the traveling traveling state. Further, the route setting unit 60L executes the target route setting control so that the target straight traveling route Rs along the reference azimuth Ro is located at a position on the turning direction side, which is a set distance in the orthogonal direction from the current work traveling route R1a. To set. Further, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling end point Pb on the current work traveling route R1a and terminates the automatic straight ahead control described above, and the second notification unit 47C is turned on. Switch to blinking state. Then, the point storage unit 60N stores the traveling end point Pb in the straight traveling of the present work traveling route R1a as the right-turn start point Pd, whereby the sixth notification unit 47G stops the intermittent operation.
(5) When the traveling vehicle body 1 approaches the traveling start point Pa of the next work traveling route R1b by the turning operation on the right side, the driver obtains a state in which the traveling vehicle body 1 travels straight on the working traveling route R1b. End the turning operation on the right side. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the small right turn state to the straight traveling state, and based on this detection, the work control unit 60G executes the second work state switching control described above, and The rice transplanter is switched from the traveling traveling state to the working traveling state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa and executes the above-described determination control, and based on this determination control or the like. Then, similar to the description in (3) above, the driver performs the manual correction steering, the automatic straight ahead control by the direction control unit 60M, or the like.
(6) Then, in the automatic straight ahead control thereafter, the left turning start point Pc on the work traveling route R2a for planting and the right turning start point Pd on the work traveling route R1a for reciprocating planting are stored in the spot storage unit 60N. Since it is stored, the arrival determination unit 60P executes the above-described setting determination control on the subsequent work travel routes R1b to R1e based on these conversion start points Pc and Pd. Further, the direction control unit 60M ends the above-described automatic straight-ahead control and executes the above-described automatic direction change control each time the arrival determination unit 60P determines that the vehicle body 1 has reached each of the conversion start points Pc and Pd. To do. Then, every time the automatic turning control is executed, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and based on this detection, the work control section 60G causes the second portion described above. The non-working state switching control is executed to switch the passenger rice transplanter from the working traveling state to the moving traveling state, and the route setting unit 60L executes the target route setting control to set the next target straight traveling route Rs, and the second notification unit. 47C is switched from a lighting state to a blinking state. Then, when the above-described predetermined time for the edge turning has passed, the direction control unit 60M ends the edge turning operation by the automatic direction change control so that the traveling vehicle body 1 can obtain the straight traveling state. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, and based on this detection, the work control unit 60G executes the above-described second work state switching control, and the riding rice planting. Switch the machine from the traveling state to the working state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects the arrival of the traveling vehicle body 1 at the traveling start point Pa and executes the above-described determination control, and based on this determination control or the like. Then, similar to the description in (3) above, the driver performs the manual correction steering, the automatic straight ahead control by the direction control unit 60M, or the like.
That is, when performing seedling planting work by reciprocal planting in a rectangular paddy field, control operations of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the point storage unit 60N, the arrival determination unit 60P, and the like. If the left turn start point Pc and the right turn start point Pd are stored in the point storage unit 60N, the execution condition of the automatic straight ahead control described above is not satisfied after the edge turn by the automatic turn control. The driver does not need to operate the riding rice transplanter except during the period and when it is necessary to perform auxiliary work such as seedling supply and fertilizer supply. As a result, it is possible to significantly reduce the labor of the driver required for work traveling.
(7) After that, when the straight traveling is performed by the automatic straight traveling control in the final work traveling route R1e for reciprocating planting, the driver operates the third changeover switch 94 to cause the direction control unit 60M and the arrival determination unit 60P to be described above. Switch to the non-executed state. Then, when the traveling vehicle body 1 reaches the turning area on the edge, the driver operates the second changeover switch 91 to switch the route setting unit 60L to the non-execution state described above, and the direction control unit 60M described above. Switch to the stopped state. Further, a ridge turning operation for moving the traveling vehicle body 1 from the final work traveling route R1e for reciprocal planting to the adjacent work traveling route R2c for swiveling is performed. Then, based on the detection of the steering angle sensor 70 at this time, the work control unit 60G executes the above-described second non-working state switching control to switch the riding rice transplanter from the working traveling state to the moving traveling state. Then, the driver switches the work control unit 60G to the non-execution state described above by operating the first changeover switch 78 during the sharp turn at this time. Then, even if the driver finishes the ridge turning operation in order to drive the traveling vehicle body 1 on the work traveling route R2c for planting after that, the passenger rice transplanter maintains the traveling traveling state.
As a result, the driver can quickly move the riding rice transplanter from the final work traveling route R1e for reciprocating planting to the first work traveling route R2a for rotating planting.
(8) Then, after moving to the first work traveling route R2a for planting around, the driver performs the first work while manually traveling the traveling vehicle body 1 on each work traveling route R2a to R2d for planting around. By operating the lever 45 or the second work lever 46, the working state and the non-working state of the seedling planting device 4 and the fertilizer application device 5, which are suitable for planting around, are switched.

As shown in FIGS. 1 and 6, the traveling vehicle body 1 includes a reserve remaining amount sensor 59D that detects a decrease in the seedling remaining amount in the reserve storage unit 59. As the spare remaining amount sensor 59D, a load sensor for detecting the seedling weight at the spare remaining amount sensor 59D, or a limit switch for detecting the presence or absence of mat-like seedlings at each spare seedling stand 59B can be adopted. .
The direction control unit 60M detects the decrease in the remaining amount of seedlings in the preliminary storage unit 59 based on the detection of the preliminary remaining amount sensor 59D in the execution state of the automatic direction change control, and the first remaining amount detection unit Based on the output of 24A, when it is detected that the remaining amount of any of the mat-shaped seedlings placed on the seedling placing table 24 has decreased to the set value for seedling supply, the third notification unit 47D for seedling supply notification. Is switched from the extinguished state to the blinking state, the automatic turning control is switched from the running state to the stopped state, and the sixth notifying unit 47G is continuously operated to notify the driver that the automatic turning control is not performed.
Thereby, the driver can recognize the necessity of supplying seedlings to the preliminary storage 59 as well as supplying seedlings to the seedling mounting table 24. Then, when the traveling vehicle body 1 reaches the edge-turning region, the driver performs a traveling stop operation by operating the main gearshift lever 42 to the neutral position or depressing the brake pedal 44, thereby traveling. The traveling vehicle body 1 can be stopped while the front end of the vehicle body 1 is brought close to the ridge.
As a result, the seedlings can be quickly supplied from the ridges to the seedling placing table 24 and the preliminary storage portion 59 by using the boarding/alighting steps 95 provided at the left and right end portions on the front end side of the vehicle body.

As shown in FIG. 6, the ECU 60 includes a vehicle speed control unit 60Q that controls the vehicle speed, and a transition estimation unit 60R that estimates the transition from the driving state of the driver to another work state other than driving. When the transition estimation unit 60R estimates the transition of the driver to another work state, the vehicle speed control unit 60Q executes deceleration control to reduce the vehicle speed to the set vehicle speed, and causes the traveling vehicle body 1 to travel at a very low speed.
When the detection value of the first remaining amount detecting unit 24A has decreased to the set amount for seedling supply, the transfer estimating unit 60R estimates the driver's transfer to the seedling supplying state (an example of another work state). The shift estimation unit 60R estimates the shift to the fertilizer replenishment state (an example of another work state) of the driver when the detection value of the second remaining amount detection unit 31A drops to the set value for fertilizer replenishment. When the clogging sensor 35A detects clogging of fertilizer in the grooving device, the shift estimating unit 60R estimates the shift to the clogging removal state (an example of another work state) of the driver.
As a result, the transfer estimation unit 60R detects the seedling supply state, the fertilizer supply state from the driving state of the driver based on the detection of the first remaining amount detection unit 24A, the second remaining amount detection unit 31A, or the clogging sensor 35A. Alternatively, the vehicle speed can be reduced by the deceleration control of the vehicle speed control unit 60Q from the stage when the transition to the clogging removal state is estimated.
As a result, the time required for the traveling vehicle body 1 to stop traveling is shortened in the traveling stop operation of the traveling vehicle body 1 performed before the driver shifts from the driving state to the seedling replenishing state, the fertilizer replenishing state, or the clogging removal state. Therefore, the driver can efficiently make a transition from the operating state to the seedling supply state, the fertilizer supply state, or the clogging removal state.

The driver's seat 48 includes a first seat sensor 48A that detects a change in a load applied to the driver seat 48, and a second seat sensor 48B that detects a turning movement of the driver seat 48 from a reference position.
The transition estimating unit 60R detects a decrease in load based on the detection of the first seat sensor 48A and detects a turning movement of the driver seat 48 from the reference position based on the detection of the second seat sensor 48B. , Estimate the transition from the driving state of the driver to another work state.
As a result, when the driver tries to leave the driving seat 48 without stopping the traveling vehicle body 1 in order to perform work other than seedling replenishment work, fertilizer replenishment work, and clogging removal work, The operation at that time is detected by the first seat sensor 48A and the second seat sensor 48B. Then, the transition estimation unit 60R, based on the detections of the first seat sensor 48A and the second seat sensor 48B, changes from the driving state of the driver to the seedling replenishment state, the fertilizer replenishment state, and the work state other than the clogging removal state. Can be estimated, and the vehicle speed is reduced to the set vehicle speed by the deceleration control of the vehicle speed control unit 60Q based on this estimation, and the traveling vehicle body 1 travels at a very low speed.
Then, due to this decrease in vehicle speed, the driver can be made aware that he/she has forgotten to stop traveling of the traveling vehicle body 1, and can prompt a traveling stop operation of the traveling vehicle body 1. Further, it is possible to shorten the time required from the traveling stop operation of the traveling vehicle body 1 by the driver until the traveling vehicle body 1 stops traveling.
Further, the shift estimating unit 60R detects a decrease in the load based on the detection of the first seat sensor 48A, and detects the turning movement of the driving seat 48 from the reference position based on the detection of the second seat sensor 48B. In this case, since the transition from the driving state of the driver to another work state is estimated, the load is reduced due to the driver re-seating the driver's seat 48, or the driver's seat 48 is in the seated state. It is possible to avoid a reduction in work efficiency due to the vehicle speed control unit 60Q performing deceleration control based on the turning movement.

The shift estimating unit 60R switches between an operating state and a stopped state based on the operation of the manual fourth changeover switch 96 provided in the driving unit 40.
Thus, for example, when it is determined that the driver does not need to perform other work such as seedling replenishment work and fertilizer replenishment work, for example, near the end of work traveling, the transition estimation unit 60R is switched to the stopped state. Thus, it is possible to avoid a decrease in vehicle speed due to the deceleration control of the vehicle speed control unit 60Q.
As a result, when it is not necessary to perform other work, it is possible to avoid a reduction in work efficiency due to a reduction in vehicle speed due to the deceleration control of the vehicle speed control unit 60Q.

The ECU 60 includes a transition detection unit 60S that detects the transition from the driving state of the driver to the seedling replenishment state when the reserve remaining amount sensor 59D detects a decrease in the remaining amount. The vehicle speed control unit 60Q detects the traveling of the traveling vehicle body 1 based on the output of the vehicle speed sensor 92, and when the transition detection unit 60S detects the transition to the driver's seedling supply state, the deceleration described above is performed. The control is executed to reduce the vehicle speed to zero speed.
As a result, it is possible to prevent the driver from performing seedling replenishment work while the traveling state of the traveling vehicle body 1 is maintained.

The transition detecting unit 60S switches between an operating state and a stopped state based on the operation of the manual fifth changeover switch 97 provided in the driving unit 40.
As a result, it is possible to switch between a state in which the automatic stop of the traveling vehicle body 1 by the deceleration control of the vehicle speed control unit 60Q based on the detection of the shift detection unit 60S is adopted and a state in which it is not adopted.

When executing the deceleration control, the vehicle speed control unit 60Q blinks the seventh notification unit 47H, which is an LED equipped in the notification device 47, to notify the driver that the vehicle speed will decrease due to the execution of the deceleration control. .
As a result, it is possible to avoid the driver from feeling uncomfortable when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit 60Q.

As shown in FIGS. 6 and 7, the ECU 60 includes an energization control unit 60T that controls energization from the battery 37 bypassing the main switch 61 to the satellite navigation device 87 and the inertial measurement device 88. The traveling vehicle body 1 includes a first holding relay 98A provided on a power transmission path extending from the battery 37 to the satellite navigation device 87 and a second holding relay 98B provided on a power transmission path extending from the battery 37 to the inertial measurement device 88. I have it. The energization control unit 60T, the first holding relay 98A, and the second holding relay 98B enable energization of the battery 37 bypassing the main switch 61 to the satellite navigation device 87 and the inertial measurement device 88. The part 98 is configured.

The energization holding unit 98 switches to the first energization holding state in which the battery 37 energizes the satellite navigation device 87 by the energization control unit 60T energizing the first holding relay 98A and switching the first holding relay 98A to the closed state. Also, the energization control unit 60T stops energization of the first holding relay 98A and switches the first holding relay 98A to the open state, thereby stopping energization of the battery 37 to the satellite navigation device 87. Switch to the state.

The energization holding unit 98 switches to the second energization holding state in which the battery 37 energizes the inertial measurement device 88 by the energization control unit 60T energizing the second holding relay 98B and switching the second holding relay 98B to the closed state. Also, the energization control unit 60T stops energization of the second holding relay 98B and switches the second holding relay 98B to the open state, thereby stopping energization of the inertia measuring device 88 from the battery 37. Switch to the state.

The energization holding unit 98 switches between the first energization holding state and the second energization holding state in association with the breaking operation of the main switch 61. In addition, the time counting unit 60C starts time counting in accordance with the shutoff operation. Then, the energization holding unit 98 interlocks with the connection operation when the connection operation of the main switch 61 is performed during the period from the switching to the first energization holding state and the second energization holding state until the set time elapses. Then, the connection operation of the main switch 61 was not performed until the set time passed after switching from the first energization holding state and the second energization holding state to the first energization stop state and the second energization stop state. In this case, the first energization hold state and the second energization hold state are switched to the first energization stop state and the second energization stop state as the set time elapses. The set time for holding the energization can be arbitrarily set by operating the time setting device 99 provided in the operating unit 40. As the time setting device 99, a momentary switch or the like can be adopted.

According to this configuration, for example, if the set time is set to a time longer than the maximum time (for example, a break time required for lunch) estimated as the interruption time of the work traveling by the time setter 99, the break can be achieved. In order to prevent wasteful fuel consumption during the interruption of the work traveling due to, for example, even when the driver shuts down the engine 7 by shutting off the main switch 61, the satellite is started after the energization is started. The main switch is energized to the satellite navigation device 87, which requires a long rise time to enable positioning using the GPS, and the inertial measurement device 88 that includes a gyroscope and the like whose measurement accuracy is not stable unless warm-up operation It is possible to prevent the operation from being stopped due to the shutoff operation of 61.
As a result, when the driver starts the engine 7 by operating the main switch 61 after finishing a break or the like, it is possible to restart the work traveling using the automatic straight ahead control together with the start of the engine 7. it can.
Further, for example, if the set time is set to the shortest time (for example, 0 minutes or 1 minute) by the time setting device 99, the driver performs the shutoff operation of the main switch 61 when the work is completed. In this case, the energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped when the main switch 61 is shut off, or the energization is maintained with the lapse of the shortest set time from the shutoff operation of the main switch 61. The section 98 automatically switches from the first energization hold state and the second energization hold state to the first energization stop state and the second energization stop state, and the energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped. Therefore, it is possible to prevent wasteful continuation of energization to the satellite navigation device 87 and the inertial measurement device 88 even after the work is completed.
As a result, it is possible to prevent wasteful fuel consumption during breaks and the like and also to prevent wasteful power consumption after the work is completed without lowering work efficiency.

The energization holding unit 98 includes a third holding relay 98C that is provided on a power transmission path extending from the battery 37 to the notification device 47. Then, the energization control unit 60T energizes the third holding relay 98C to switch the third holding relay 98C to the closed state, thereby switching to the third energization holding state in which the battery 37 energizes the notification device 47 and energization control. When the section 60T stops energizing the third holding relay 98C and switches the third holding relay 98C to the open state, it switches to the third energization stopped state in which the battery 37 stops energizing the notification device 47.
While the notification device 47 is operating in the third energization holding state by the energization holding part 98, the satellite navigation device 87 and the inertial measurement device 88 are in the energization holding state by the energization holding part 98 as information on the energization holding state, The remaining time until the energization holding unit 98 switches from the energization holding state to the energization stop state is displayed on the liquid crystal display unit 47A to notify the driver.
Thereby, the driver can easily confirm whether or not the energization holding unit 98 is in the energization holding state, the remaining time until the energization holding unit 98 is switched to the energization stop state, and the like.

The satellite navigation device 87 and the inertial measurement device 88 are provided with operation lamps 87B and 88A each of which is an LED that lights up in their operating state to notify that they are in an operating state.
The energization control unit 60T uses, as the above-described set time, a first set time for holding the energization to the satellite navigation device 87 and the inertial measurement device 88 and a second set time for holding the energization to the notification device 47. It has and. The first set time is set longer than the second set time.
That is, from the viewpoint of work efficiency, the first set time which is the energization holding time of the satellite navigation device 87 and the inertial measurement device 88, which has higher importance of energization holding than the notification device 47, is the energization holding time of the notification device 47. The time is set longer than the second set time.
As a result, compared with the case where the energization holding time of the satellite navigation device 87 and the inertial measuring device 88, which have a high importance of energization retention, and the energization holding time of the notification device 47, which has a low importance of energization retention, are the same, It is possible to suppress the consumption of the battery 37 during a break or the like without lowering work efficiency.

When the power supply from the battery 37 is cut off by shutting off the main switch 61, the ECU 60 maintains the power supply state by the internal self-holding circuit 60A as described above and starts the timekeeping by the timekeeping unit 60C. Further, the energization holding unit 98 is controlled to maintain the energization state of the satellite navigation device 87 and the inertial measurement device 88 as well as the energization state of the notification device 47. After that, the energization to the notification device 47 is stopped when the second set time elapses without connecting the main switch 61, and the satellite navigation device 87 and the inertial measurement device 88 are energized when the first set time elapses. When the set time for maintaining the energized state in the self-holding circuit 60A elapses, the self-holding circuit 60A stops energizing and the operation is stopped.
That is, the set time for keeping the ECU 60, which has the highest importance of energization holding, in the energized state by the self-holding circuit 60A is set to a time longer than the first set time and the second set time.

[Another embodiment]
The present invention is not limited to the configurations illustrated in the above embodiments, and the following will illustrate other typical embodiments of the present invention.

[1] The work vehicle may be of a semi-crawler type having left and right crawlers instead of the left and right rear wheels 6B.
Further, the work vehicle may be configured as a full crawler specification having left and right crawlers instead of the left and right front wheels 6A and the left and right rear wheels 6B.

[2] The work vehicle is provided with left and right side clutch brakes instead of the left and right side clutches 17, and the side turning clutches on the inside of the turning are actuated as a turning state (small turning state) of the traveling vehicle body 1. It may be configured to the brake turning specification in which the state is revealed.
Further, the work vehicle includes front wheel speed-increasing devices in place of the left and right side clutches 17 to change the direction of the traveling vehicle body 1 (small turning state) to accelerate the front wheels 6A on the outside of the turning direction. It may be configured to the front wheel speed-increasing turning specification in which the state is revealed.
Further, the work vehicle may perform a switch turn using reverse traveling as a direction change.

[3] The work vehicle may be configured to include a rolling control unit that controls the roll angle of the ground work device A.

[4] The work vehicle may be configured such that the work control unit 60G does not perform the non-working state switching control and the working state switching control.

[5] The work vehicle may be configured so as not to perform the engine temporary stop control and the engine restart control by the engine control unit 60H.

[6] The ground work device A may be a direct sowing device, a rotary tiller, a plow, a scraping device, a mowing device, a mowing device, a bucket, or the like.

[7] The route setting unit 60L, for example, according to the previous measurement or the time of the previous work traveling, the respective work traveling routes R2a to R2d for the round planting and the respective work traveling routes R1a to R1e for the reciprocating planting for each work site. The target straight-ahead route Rs may be set based on the work site data or the like in which is set.

[8] The condition determination unit 60K may be configured to determine whether the temporary stop condition of the engine 7 is satisfied when the interruption switch 58B detects the movement of the main transmission lever 42 to the work interruption position 58e. ..
In addition, the condition determination unit 60K uses, for example, a special operation of an existing switch such as a long press operation of the first switch 89 or the second switch 90 for teaching, or a double press operation of the first switch 89 or the second switch 90. When the operation is detected, it may be configured to determine whether the temporary stop condition of the engine 7 is satisfied.
In addition, the condition determination unit 60K detects a special operation of an existing switch and then, for example, the output speed of the engine 7 is equal to or lower than a set speed (for example, idling speed), and the voltage of the battery 37 is equal to or higher than a set value. And the conditions suitable for restarting the engine 7 such as that the temperature of the engine cooling water is equal to or higher than a set value (for example, 55 degrees), the temporary stop condition of the engine 7 is satisfied. It may be configured to make a determination.

[9] The point storage unit 60N may store, for example, the conversion start points Pc and Pd for each work site obtained in advance measurement or previous work traveling.

[10] The point storage unit 60N stores the conversion start points Pc and Pd at which the traveling vehicle body 1 makes a transition from the straight traveling state to the direction changing state, and the conversion end points at which the traveling vehicle body 1 makes a transition from the direction changing state to the straight traveling state. The arrival determination unit 60P determines whether or not the traveling vehicle body 1 has reached the conversion start points Pc and Pd, and also determines whether or not the traveling vehicle body 1 has reached the conversion end point. When the arrival determination unit 60P determines that the traveling vehicle body 1 has reached the conversion start points Pc and Pd, the automatic direction change control is started, and the arrival determination unit 60P has determined that the traveling vehicle body 1 has reached the conversion end point. It may be configured to terminate the automatic turning control at times.

[11] After the end of the corner turn, the deviation amount of the current position of the traveling vehicle body 1 with respect to the target straight traveling route Rs and the deviation angle of the current azimuth of the traveling vehicle body 1 with respect to the target straight traveling route Rs are outside the permissible range or within the permissible range. The center mascot 93 may be equipped with the second notification unit 47C that informs the driver whether the vehicle is inside.

[12] The positioning unit 86 may include, as the satellite navigation device 87, a DGPS (Differential GPS), an RTK-GPS (Real Time Kinematic GPS), or the like.

[13] The positioning unit 86 may include an optical measuring device that measures the position of the vehicle body using, for example, laser light instead of the satellite navigation device 87.

[14] The remaining amount detection units 24A and 31A may be configured to detect the remaining amount in the storage units 24 and 31 by a calculation process based on the positioning result of the positioning unit 86.
Specifically, the remaining amount detecting units 24A and 31A are obtained as, for example, the storage amount of the supply in the storage units 24 and 31, the supply amount of the supply per unit distance, and the positioning result of the positioning unit 86. The remaining amount in the storage units 24 and 31 is detected by calculation processing based on the travel distance at the work site and the like.
That is, it is possible to detect the remaining amount in the storage units 24 and 31 without providing a dedicated sensor for detecting the remaining amount of the supply as the remaining amount detection units 24A and 31A.

[15] The transition detection unit 70 is a rotation sensor that detects a turning operation amount of the steering wheel 41 as a steering angle of the front wheels 6A, or a rotary potentiometer or a rotary encoder that directly detects the steering angles of the left and right front wheels 6A. , Or the like.

[16] The shift estimating unit 60R may be configured to estimate the shift of the driver to another work state when a decrease in load is detected based on the detection of the first seat sensor 48A.

[17] The transition estimating unit 60R estimates the transition of the driver to another work state when detecting the turning movement of the driving seat 48 from the reference position based on the detection of the second seat sensor 48B. It may be configured.

[18] The transition detection unit 60S detects a decrease in load based on the detection of the first seat sensor 48A, and detects the turning movement of the driving seat 48 from the reference position based on the detection of the second seat sensor 48B. In this case, the vehicle speed control unit 60Q detects the transition from the driving state of the driver to another work state, and the vehicle speed control unit 60Q detects the traveling of the traveling vehicle body 1 based on the output of the vehicle speed sensor 92. The unit 60S may be configured to execute the deceleration control described above to reduce the vehicle speed to the zero speed when the driver detects a shift from the driving state to another working state.

[19] The transition detection unit 60S is configured to detect the transition from the driving state of the driver to another work state when the reduction of the load is detected based on the detection of the first seat sensor 48A. Good.
Further, the transition detection unit 60S detects the transition from the driving state of the driver to another work state when the turning movement from the reference position of the driving seat 48 is detected based on the detection of the second seat sensor 48B. It may be configured as follows.

[20] The energization holding unit 98 is composed of a single holding relay interposed in the power transmission path from the battery 37 to the satellite navigation device 87 and the inertial measurement device 88, and an energization control unit 60T that controls the operation of the holding relay. It may have been done.

[21] The notification device 47 may be configured to perform a notification operation for prompting the driver to start the engine 7 by the liquid crystal display unit 47A or the like during the operation of the energization holding unit 98 in the third energization holding state. Good.

[22] The malfunction sensor 35A may be, for example, a clogging sensor that detects clogging of seeds in each grooving device of the direct seeding device.

[23] The preliminary storage part 59 may be one on which a spare fertilizer bag is placed.

The present invention is provided with a ground work device that can be raised and lowered, and a riding rice transplanter, a direct seeding machine, a tilling specification tractor, a scraping specification tractor, a loader specification tractor, a combine, a riding grass mowing that performs work by reciprocating traveling in a work area. It can be applied to work vehicles such as machines and wheel loaders.

1 Running vehicle 7 Engine 24 Storage part (seedling table)
24A remaining amount detector (first remaining amount detector)
31 Storage part (hopper)
31A Remaining amount detection unit (second remaining amount detection unit)
35A Defect sensor (clogging sensor)
37 Battery 47 Notification device 47D Notification unit (third notification unit)
47E Notification unit (4th notification unit)
47F notification unit (fifth notification unit)
47G notification unit (sixth notification unit)
47H notification unit (seventh notification unit)
48 Driver's seat 48A 1st seat sensor 48B 2nd seat sensor 59 Spare storage part 59D Spare remaining amount sensor 60G Work control part 60H Engine control part 60K Condition determination part 60L Route setting part 60M Direction control part 60N Point storage part 60P Arrival determination part 60Q Vehicle speed control unit 60R Transition estimation unit 60S Transition detection unit 61 Main switch 70 Transition detection unit 86 Positioning unit 87 Satellite navigation device 88 Inertial measurement device 94 Changeover switch (third changeover switch)
96 changeover switch (4th changeover switch)
97 Changeover switch (5th changeover switch)
98 energization holding unit A ground work device Pc conversion start point Pd conversion start point Rs target straight path Rsa control target area

Claims (23)

A route setting unit that sets a target straight traveling route, a positioning unit that measures the position and azimuth of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and a transition that detects the transition of the traveling state of the traveling vehicle body. A detection unit; and a work control unit that switches the ground work device connected to the traveling vehicle body so as to be vertically movable between a working state and a non-working state,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
The work control unit, in conjunction with the transition detection unit detecting a transition from a straight traveling state of the traveling vehicle body to a direction changing state by a manual operation , switches the ground work device to the non-working state in a non-working state. Working state switching control for switching the ground working device to the working state is performed in conjunction with executing the switching control and detecting the transition of the traveling vehicle body from the turning state to the straight traveling state. Run and
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. A work vehicle that determines the reference direction that is the extension direction. A route setting unit that sets a target straight traveling route, a positioning unit that measures the position and direction of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, an engine control unit that controls the operation of the engine, and A condition determination unit that determines whether or not the engine temporary stop condition and the engine restart condition are satisfied,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
When the condition determination unit determines that the temporary stop condition is satisfied, the engine control unit executes engine temporary stop control for temporarily stopping the engine, and the condition determination unit satisfies the restart condition. When it is determined, the engine restart control for restarting the engine is executed,
The restart condition is that the speed change operation tool is operated from the work interruption position to the neutral position in a state where the brake operation tool is operated to the braking position,
The direction control unit interrupts the automatic straight-ahead control when the engine temporary stop control is executed during the execution of the automatic straight-ahead control, and executes the engine restart control while the automatic straight-ahead control is interrupted. Then, the automatic straight ahead control is restarted,
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. A work vehicle that determines the reference direction that is the extension direction. A route setting unit that sets a target straight traveling route, a positioning unit that measures the position and azimuth of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and a transition that detects the transition of the traveling state of the traveling vehicle body. A detection unit, a work control unit that switches the ground work device that is vertically movable to the traveling vehicle body between a working state and a non-working state, an engine control unit that controls the operation of the engine, a temporary stop condition of the engine, and A condition determination unit for determining whether or not the restart condition is satisfied,
In the control target area of the target straight-ahead route, the direction control unit automatically drives the traveling vehicle body on the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. Run
The work control unit, in conjunction with the transition detection unit detecting a transition from a straight traveling state of the traveling vehicle body to a direction changing state by a manual operation , switches the ground work device to the non-working state in a non-working state. Working state switching control for switching the ground working device to the working state is performed in conjunction with executing the switching control and detecting the transition of the traveling vehicle body from the turning state to the straight traveling state. Run and
When the condition determination unit determines that the temporary stop condition is satisfied, the engine control unit executes engine temporary stop control for temporarily stopping the engine, and the condition determination unit satisfies the restart condition. When it is determined, the engine restart control for restarting the engine is executed,
The direction control unit suspends the automatic straight ahead control when the engine temporary stop control is executed during the execution of the automatic straight ahead control, and executes the engine restart control while the automatic straight ahead control is suspended. If the automatic rectilinear control is restarted,
The route setting unit, based on the execution of the teaching control consisting of registration of the teaching start position, straight traveling of a preset distance after the registration, and registration of the teaching end position after the straight traveling, of the target straight line route. A work vehicle that determines the reference direction that is the extension direction. The route setting unit is a position on the turning direction side, which is a set distance in the orthogonal direction from the work traveling route based on the target straight route that has been traveling so far, based on the transition of the traveling vehicle body from the straight traveling state to the turning state. The work vehicle according to any one of claims 1 to 3, wherein a next target straight line path along the reference azimuth is set in the. The work vehicle according to any one of claims 1 to 4, wherein the positioning unit includes a satellite navigation device and an inertial measurement device. A manual main switch that connects and disconnects electricity from the battery to each electrical component, and an electricity holding unit that enables electricity to be supplied from the battery bypassing the main switch to the satellite navigation device,
The energization holding unit switches to an energization holding state in which energization of the satellite navigation device is conducted from the battery in conjunction with a shut-off operation of the main switch, and is interlocked with a connection operation of the main switch to energize the battery from the battery. The work vehicle according to claim 5, wherein the work vehicle is switched to a deenergized state in which energization to the satellite navigation device is stopped. A manual-type main switch that connects and disconnects electricity from the battery to each electrical component, and an electricity holding unit that enables electricity to be supplied to the inertial measurement device from the battery that bypasses the main switch,
The energization holding unit switches to an energization holding state in which the battery is energized to the inertial measurement device in conjunction with a disconnection operation of the main switch, and is interlocked with an operation to connect the main switch in association with the battery The work vehicle according to claim 5, wherein the work vehicle is switched to a deenergized state in which energization to the inertial measurement device is stopped. The energization holding unit switches to the energization holding state in conjunction with the shut-off operation of the main switch, starts timekeeping, and connects the main switch until a set time elapses after switching to the energization holding state. When an operation is performed, the connection operation of the main switch is not performed until the set time elapses while the energization holding state is switched to the energization stop state in conjunction with the connection operation. In this case, the work vehicle according to claim 6 or 7, wherein the energization holding state is switched to the energization stop state as the set time elapses. 9. The set time is set to a longer time for an electrical component having a higher degree of importance, according to the degree of importance of holding the electrical conduction set for each electrical component that is energized and retained by the energization retaining unit. Work vehicle. Equipped with a notification device that informs the driver of various information,
The energization holding unit energizes the notification device from the battery in the energization holding state, and stops energization to the notification device in the energization stop state,
The work vehicle according to any one of claims 6 to 9, wherein the notification device notifies a driver of information regarding the energized holding state during operation in the energized holding state. A vehicle speed control unit that controls the vehicle speed, and a transition estimation unit that estimates the transition from the driving state of the driver to another work state other than driving,
The said vehicle speed control part performs the deceleration control which reduces vehicle speed, when the said transfer estimation part estimates the transfer to the said other work state of a driver|operator, The deceleration control of any one of Claims 1-10. Work vehicle. It is equipped with a first seat sensor that detects changes in the load on the driver's seat,
The work vehicle according to claim 11, wherein the shift estimating unit estimates the shift of the driver to the other work state when a decrease in load is detected based on the detection by the first seat sensor. A second seat sensor for detecting a turning movement of a driving seat capable of turning around a vertical axis from a forward reference position,
12. The shift estimating unit estimates the shift of the driver to the other work state when the turning movement of the driver's seat from the reference position is detected based on the detection of the second seat sensor. Alternatively, the work vehicle according to item 12. A storage unit that stores the supply material to be supplied to the work site, a remaining amount detection unit that detects the remaining amount in the storage unit, and an operation that the detected value of the remaining amount detection unit has decreased to a set value for replenishment Equipped with a notification unit to inform the person
The transition estimation unit estimates the transition of the driver to the other work state when the detection value of the remaining amount detection unit decreases to the set value. Work vehicle. The work vehicle according to claim 14, wherein the remaining amount detection unit detects the remaining amount in the storage unit by a calculation process based on the positioning result of the positioning unit. A malfunction sensor that detects the occurrence of a malfunction related to the work, and a notification unit that notifies the driver of the occurrence of the malfunction,
The work vehicle according to any one of claims 11 to 15, wherein the shift estimating unit estimates the shift of the driver to the other work state when the malfunction sensor detects a malfunction. The work vehicle according to any one of claims 11 to 16, further comprising a manual changeover switch that switches the transition estimating unit between an operating state and a stopped state. It is equipped with a transition detection unit that detects the transition from the driving state of the driver to another work state other than driving,
18. The vehicle speed control unit reduces the vehicle speed to zero speed by executing deceleration control for reducing the vehicle speed when the transition detection unit detects the driver's transition to the other work state. The work vehicle according to any one of 1. A spare storage unit for storing a spare of the supply supplied to the work site, and a spare remaining amount sensor for detecting a decrease in the remaining amount in the spare storage unit,
The work vehicle according to claim 18, wherein the shift detection unit detects a shift of the driver to the other work state when the spare remaining amount sensor detects a decrease in the remaining amount. 20. The work vehicle according to claim 18, further comprising a manual changeover switch that switches the transition detection unit between an operating state and a stopped state. The work vehicle according to any one of claims 11 to 20, further comprising: a notification unit that notifies a driver of execution of the deceleration control. A point storage unit that stores a conversion start point where the traveling vehicle body shifts from a straight traveling state to a direction changing state, and an arrival determination unit that determines whether the traveling vehicle body has reached the conversion starting point,
The direction control unit automatically directs the traveling vehicle body from the current target straight traveling route toward the next target straight traveling route when the arrival determining unit determines that the traveling vehicle body has reached the conversion start point. The work vehicle according to any one of claims 1 to 21, wherein the work vehicle performs automatic direction change control. The direction control unit includes a manual changeover switch that switches between an execution state in which the automatic direction change control is executed and a stop state in which the automatic direction change control is not executed,
When the direction control unit is switched to the execution state in a state where the conversion start point is not stored in the point storage unit, the driver is notified that the conversion start point is not stored in the point storage unit. 23. The work vehicle according to claim 22, further comprising an informing unit for informing.

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