JP7113683B2 - field work machine - Google Patents

Description

TECHNICAL FIELD The present invention relates to a field working machine such as a riding rice transplanter, a riding direct seeder, a tractor equipped with a rotary tillage device, and the like, which travels while working on a field.

A riding-type rice transplanter, which is an example of a field working machine, sometimes travels for work as shown in FIGS.
In the field, the vehicle first travels along the edge of the ridge without performing any work. In this case, the vehicle travels while forming an index on the field with a marker (see LA1 in FIG. 7 of Patent Document 1).

When the traveling along the ridge without performing the work is completed, it turns at the edge of the ridge (see LL1 in FIG. 7 of Patent Document 1) and follows the index formed in the field when traveling without performing the previous work. From this work travel, the work (planting of seedlings) to the field is started (see L01 in FIG. 7 of Patent Document 1).

By performing the above-mentioned work traveling (see L01 to L05 in FIG. 7 of Patent Document 1) and turning at the edge of a ridge (see LL1 to LL5 in FIG. 7 of Patent Document 1) multiple times, finish the work. As a result, an unworked area remains at the edge of the ridge.
After that, the robot travels along the edge of the ridge so as to make one round of the field (see LB1 to LB4 in FIG. 8 of Patent Document 1), and leaves the field.

In the riding-type rice transplanter, if the machine travels again in the area where the work has been traveled (the area where the seedlings have been planted), the already planted seedlings will be knocked over. Always need to drive in unworked areas. As a result, as shown in FIGS. 7 and 8 of Patent Document 1, the vehicle first travels along the ridge without performing work, and then travels for work.

JP 2011-30579 A

The field working machine of Patent Document 1 first travels along the edge of the ridge without performing any work. As a result, when the field work machine finally travels around the field along the ridge along the ridge, it travels again in the area where it traveled without performing work (Patent Document 1). (see LA1 in FIG. 7 and LB3 in FIG. 8), there is room for improvement in terms of work efficiency.

For example, in a paddy field, which is an example of a farm field, there is a surface paddy field and a plowing bed underneath the paddy field. easy. As a result, when the field implement travels again in an area where it has traveled once, it will travel on a plowed ground that has been roughed in the previous run, so the posture of the field implement will not be stable, which can lead to a decrease in work accuracy. have a nature.

SUMMARY OF THE INVENTION An object of the present invention is to provide a farm working machine that is less likely to travel without performing work and less likely to travel again in an area where it has traveled once.

The field working machine of the present invention is
a positioning unit that detects the position of the aircraft;
By performing the first work process in which the machine body travels along the ridge of the farm field, based on the detection of the positioning unit, from the work area of the first work process to the center of the field a travel route acquisition unit that acquires a travel route of the second work stroke set along the work area of the first work stroke with a width that allows the machine body to travel ,
The width set from the work area of the first work stroke to the center side of the field is the unworked area in which the machine body is not running and left around the second work stroke after the end of the second work stroke. It is generated based on the lateral width of the machine body traveling when the third work stroke is performed in which the machine body travels in the region.

According to the present invention, if the first work stroke is performed in which the machine travels along the ridge while working along the ridge, a width that allows the machine to travel is opened from the work area of the first work stroke to the center of the field. Since the traveling route of the second work stroke set along the work area of the first work stroke is obtained, the second work stroke can be performed along the traveling route of the second work stroke while performing the work. .
In this case, in the first work stroke and the second work stroke, there are few states in which the vehicle travels without performing work, and there are few states in which the robot travels again in an area where it traveled once.

When the second work stroke is completed, an unworked area remains between the work area of the first work stroke and the work area of the second work stroke (surrounding the work area of the second work stroke). Between the work area of the stroke and the work area of the second work stroke, the third work stroke in which the robot travels while performing the work may be performed, and then the field may be left.
In this case, in the third work stroke, there are few situations in which the vehicle travels without performing work, and there are few situations in which the vehicle travels again in a region where it traveled once.

As described above, in one farm field, it is possible to reduce the number of times the robot travels without working and the number of times it travels again in the area where it has traveled once. can be improved.
For example, in a paddy field, which is an example of an agricultural field, it is possible to avoid a decrease in work accuracy caused by traveling on a rough plowing plate by reducing the number of times the robot travels again in a region where it has traveled once.

In the present invention,
The travel route acquisition unit is
It is preferable to acquire a plurality of travel routes of the second work stroke set so as to be lined up with a width that allows the machine body to travel.

According to the present invention, since the traveling routes of a plurality of second work strokes are acquired, it is possible to perform an operation of acquiring the traveling system of the next second work stroke after one second work stroke is completed. This is advantageous in terms of improving work efficiency.

In the present invention,
The travel route acquisition unit is
It is preferable to acquire the traveling route of the second work stroke, which is set such that the width is an integral multiple of the width of the working device mounted on the machine body.

According to the present invention, if the width between the work area of the first work stroke and the work area of the second work stroke is the same as, for example, the width of the work device mounted on the machine body, in the third work stroke, the It suffices to travel once between the working area of one work stroke and the working area of the second work stroke.
If the width between the work area for the first work stroke and the work area for the second work stroke is, for example, twice the width of the work device installed on the machine body, in the third work stroke, the width of the work area for the first work stroke It suffices to travel twice between the work area and the work area for the second work stroke, and the width between the work area for the first work stroke and the work area for the second work stroke is, for example, the working area equipped on the aircraft. If the width is three times the width of the device, it suffices to travel between the working area of the first working stroke and the working area of the second working stroke three times in the third working stroke.

In the present invention,
It is preferable that a guide section for causing the machine body to travel is provided on the acquired travel route of the second work stroke after the first work stroke is completed.

When the first work stroke is completed and the vehicle travels to the travel route of the second work stroke, the travel routes of the first work stroke and the second work stroke are slightly separated.
According to the present invention, after the first work stroke is completed, the machine body can be smoothly moved along the travel route of the second work stroke by the guide section, which is advantageous in terms of improving work efficiency.

In the present invention,
Right and left markers for forming indicators for performing the second work stroke on the field as the machine body advances are provided so as to be able to move up and down,
The guide part is preferably the marker.

Riding-type rice transplanters and riding-type direct seeders, which are examples of field work machines, are often provided with right and left markers that can be moved up and down.
According to the present invention, by using the right and left markers, which can be said to be an existing device, as guides, it is advantageous in terms of structural simplification.

In the present invention,
It is preferable that the marker on the front side supported by the front part of the machine body and the marker on the rear side supported by a working device mounted on the rear part of the machine body are provided.

According to the invention, for example, the front marker can be used as a guide and the rear marker can be used to form a field index, or vice versa. It is possible to selectively use the front and rear markers according to the state of the field, the working conditions, etc., such as using it to form indicators of the field, which is advantageous in terms of improving work efficiency. become a thing.

In the present invention,
It is preferable that an automatic travel control unit is provided that steers the aircraft so that the aircraft travels along the travel route of the second work stroke based on the detection by the positioning unit.

According to the present invention, the machine body can be automatically traveled along the traveling route of the second work stroke, so that the burden on the driver is reduced and workability is improved.

In the present invention,
It is preferable that the automatic travel control unit be in an operating state when the second work stroke is started, and be in a stopped state when the second work stroke is finished.

According to the present invention, based on the start and end of the second work stroke, the state of automatically running the machine body along the travel route of the second work stroke is automatically started and automatically ended. The burden on the driver is reduced, and workability is improved.

In the present invention,
The start of the second work stroke is
a working clutch that transmits power to a working device mounted on the machine body is operated to a transmission state;
The working device is lowered to the farm field by an elevating mechanism;
the front wheels supporting the aircraft body are operated from the turning side to the straight traveling side;
At least one of the right and left markers that forms an index for performing the second work stroke on the field as the machine body moves forward contacts the field and forms an index on the field. that it has been operated down to a position;
is preferably at least one of

In a field work machine, operating the work clutch to the transmission state and lowering the work device to the field are the start of work. Ending a turn or the like, operating the front wheels from the turning side to the straight traveling side, and lowering the marker to the work position are operations performed at the start of work.

According to the present invention, at least one of operating the work clutch to the transmission state, lowering the working device to the farm field, operating the front wheels to the straight traveling side, and lowering the marker to the working position. is set as the start of the second work stroke, the state in which the machine body automatically travels along the travel route of the second work stroke is appropriately started.

In the present invention,
The end of the second work process is
A work clutch that transmits power to a work device mounted on the machine body is operated to be in a disengaged state;
The working device is lifted from the field by an elevating mechanism;
the front wheels supporting the fuselage are operated from the straight side to the turning side;
Both the right and left markers, which form the index for performing the second work stroke on the field as the machine advances, are raised from the field to a retracted position;
is preferably at least one of

In the agricultural field work machine, operating the work clutch to the disengaged state and raising the working device from the field site are the end of the work. Operating the front wheels from the straight traveling side to the turning side for turning and raising the marker to the retracted position are operations performed upon completion of the work.

According to the present invention, at least one of operating the work clutch to the disengaged state, raising the working device from the field, operating the front wheels to the turning side, and raising the marker to the retracted position. as the end of the second work stroke, the state in which the machine body automatically travels along the travel route of the second work stroke is appropriately terminated.

It is a left side view of a riding type rice transplanter. It is a left front view of a riding-type rice transplanter. 4 is a schematic diagram showing a state of linkage between the control device and each unit; FIG. It is a top view which shows the state of a 1st work process. FIG. 4 is a plan view showing a state after a first work stroke; FIG. 11 is a plan view showing a state of a second work stroke; FIG. 11 is a plan view showing a state of a second work stroke; FIG. 11 is a plan view showing a state of a second work stroke; FIG. 11 is a plan view showing a state of a second work stroke; FIG. 11 is a plan view showing a state of a second work stroke; FIG. 11 is a plan view showing a state after finishing the second work stroke; It is a top view which shows the state of a 3rd work process. FIG. 11 is a plan view showing a state after completing a third work stroke; It is a top view which shows the state which completed the 1st work process in the 1st alternative form of implementation of invention. It is a top view which shows the state which completed the 2nd work process in the 1st alternative form of implementation of invention. FIG. 11 is a plan view showing a state in which the first working stroke is completed in the second alternative embodiment of the invention; FIG. 11 is a plan view showing a state after a second work stroke in the second alternative embodiment of the invention; FIG. 11 is a plan view showing a state after the first work stroke is completed in the third alternative embodiment of the invention; FIG. 12 is a plan view showing a state after the second work stroke is completed in the third alternative embodiment of the invention;

A ride-on rice transplanter, which is an example of a field work machine, will be described below.
Regarding the front-rear direction and left-right direction in the embodiment of the present invention, unless otherwise specified, the advancing direction of the fuselage 11 is "forward" and the advancing direction thereof is "rear". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with reference to the front-back posture.

(Overall configuration of ride-on rice transplanter)
As shown in FIG. 1, the riding-type rice transplanter has a link mechanism 3 and a hydraulic cylinder 4 for driving the link mechanism 3 up and down at the rear of a machine body 11 having right and left front wheels 1 and right and left rear wheels 2. (corresponding to an elevating mechanism) is provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3 . Right and left spare seedling trays 18 are provided on the right and left front parts of the machine body 11 .

The seedling planting device 5 includes four planting transmission cases 6 arranged at predetermined intervals in the left-right direction, and a rotary case 7 rotatably supported on the rear right and left parts of the planting transmission case 6. , a planting arm 8, a float 9, a seedling platform 10, etc. provided at both ends of a rotating case 7, and are constructed in an eight-row type.

An eight-row type fertilizing device 12 (corresponding to a working device) is supported over the machine body 11 and the seedling planting device 5, and the fertilizing device 12 includes a hopper 13, a feeding unit 14, a blower 15, and a grooving device 16. and a hose 17 and the like.

(Construction of transmission system for traveling, seedling planting device and fertilizing device)
As shown in FIG. 1, the power of an engine (not shown) supported in the front part of the machine body 11 is changed by a hydrostatic type continuously variable transmission (not shown) to drive front wheels 1 and rear wheels 2. has been communicated to

A steering handle 25 is provided on the front side of the driver's seat 34, and the front wheels 1 are steered by the steering handle 25. - 特許庁A gear shift lever 26 is provided on the left lateral side of the steering handle 25, and the gear shift lever 26 allows stepless operation of the continuously variable transmission from the neutral position to the forward side and the reverse side.

The power from the continuously variable transmission is branched, and the branched power is transmitted to the seedling planting device 5 via a planting clutch 27 (corresponding to a working clutch) as shown in FIG. 28 (corresponding to a work clutch) to the fertilizer applicator 12 (feeding unit 14). The planting clutch 27 and the fertilizing clutch 28 are operated by an electric motor 29 into a transmission state and a cut-off state.

When the planting clutch 27 is operated to the transmission state, in the seedling planting device 5, the seedling tray 10 is driven to reciprocate and laterally feed, and the rotary case 7 is rotationally driven to rotate the seedling tray 10. A planting arm 8 alternately picks up the seedlings from the lower part of the planter and plants them in the field. When the planting clutch 27 is disengaged, the seedling tray 10 and the rotating case 7 are stopped.

When the fertilizing clutch 28 is operated to the transmission state, in the fertilizing device 12, the fertilizer from the hopper 13 is fed out by the feeding portion 14 and supplied to the grooving device 16 through the hose 17 by the blower 15 conveying air. The fertilizer is supplied from the ditching device 16 to the ditch of the field while the ditch is being formed in the field by the ditching device 16 . When the fertilizing clutch 28 is operated to the disengaged state, the delivery portion 14 stops.

(Automatic lifting control of seedling planting device)
As shown in FIG. 3, the rear part of the float 9 is supported so as to be vertically swingable around the lateral axis P2 of the seedling planting device 5. As shown in FIG. A potentiometer-type height sensor 31 for detecting the height of the central float 9 with respect to the seedling planting device 5 is provided, and the detected value of the height sensor 31 is input to the control device 30 .

As the machine body 11 advances, the center float 9 touches and follows the field, and the height from the field (the center float 9) to the seedling planting device 5 is detected from the detected value of the height sensor 31. can do.

The control device 30 includes an automatic elevation control section 51 as software, and a control valve 32 for supplying and discharging hydraulic oil to and from the hydraulic cylinder 4 . The control valve 32 is operated by the automatic elevation control section 51 .

When the control valve 32 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the control valve 32 is operated to the lowered position, hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

In the operation state of the automatic elevation control unit 51, the automatic elevation control unit 51 is adjusted so that the seedling planting device 5 is maintained at the set height from the field based on the height from the field to the seedling planting device 5. , the control valve 32 is operated, the hydraulic cylinder 4 is expanded and contracted, and the seedling planting device 5 is automatically raised and lowered. Thereby, the seedling planting depth by the seedling planting device 5 (planting arm 8) is maintained at the set planting depth.

(Configuration of Right and Left Markers)
As shown in FIGS. 1 and 2, right and left markers 19 (corresponding to guide portions) are provided on the right and left front portions of the fuselage 11 .

A support frame 20 extends outward from the body 11, and an arm 21 is supported around an axis P1 in the front-rear direction of the support frame 20 so as to be vertically swingable. An arm 22 is supported at the end of the arm 21, and a rotor 23 is supported at the end 22a of the arm 22 so as to be freely rotatable.

As described above, the marker 19 includes the support frame 20, the arms 21 and 22, and the rotor 23. As shown in FIG. The marker 19 can be moved up and down between an operating position where the rotating body 23 touches the field and a retracted position where the rotating body 23 is lifted from the field. An electric motor 33 ( 3) is provided.

When the machine body 11 is moved forward while the marker 19 is operated to the operating position, the rotating body 23 rotates as the machine body 11 moves forward, and the rotating body 23 marks the field with the indicators L1, L2, and L3 (FIGS. 4 to 4). 10) are formed.

When the marker 19 is operated to the operating position, the length from the left-right central portion of the machine body 11 to the rotating body 23 corresponds to the lateral width of the seedling planting device 5 .
As a result, the indicators L1, L2, and L3 are positioned at a length corresponding to the lateral width of the seedling planting device 5 from the left-right central portion of the machine body 11 (from the right (left) end of the seedling planting device 5 to the seedling planting position). It is formed at a length corresponding to 1/2 of the lateral width of the attachment device 5).

(Elevation operation of seedling planting device and marker)
As shown in FIGS. 1 and 3, an operating lever 35 is provided on the lower right lateral side portion of the steering handle 25, and the operating lever 35 extends laterally outward on the right side.

The operation lever 35 is operably supported from the neutral position N to the upper raised position UP, the lower lowered position DW, the rear right marker position RM, and the front left marker position LM, and biased to the neutral position N. , and the operating position of the operating lever 35 is input to the control device 30 . Based on the operation of the operating lever 35, the control valve 32 and the electric motors 29 and 33 are operated by the control device 30 as described below.

When the operating lever 35 is operated to the raised position UP, the planting clutch 27 and the fertilizing clutch 28 are operated to be disconnected by the electric motor 29, the automatic elevation control unit 51 is stopped, and the electric motor 33 raises the right and left markers. 19 is operated to the retracted position, the control valve 32 is operated to the raised position, and the seedling planting device 5 is raised. When the seedling planting device 5 reaches the upper limit position, the control valve 32 is operated to the neutral position and the hydraulic cylinder 4 automatically stops.

When the operating lever 35 is operated to the lowered position DW, the planting clutch 27 and the fertilizing clutch 28 are operated to be disconnected by the electric motor 29, the automatic elevation control section 51 is stopped, and the control valve 32 is operated to the lowered position. Then, the seedling planting device 5 descends. When the central float 9 touches the field, the automatic elevation control unit 51 is activated, and the seedling planting device 5 stops in contact with the field.

When the operation lever 35 is operated to the lowered position DW, operated to the neutral position N, and then operated to the lowered position DW again, the planting clutch 27 and the fertilizing clutch 28 are operated by the electric motor 29 while the automatic elevation control unit 51 is operating. Operated in a transmission state.

When the operation lever 35 is operated to the right marker position RM in a state in which the right marker 19 is operated to the retracted position, the electric motor 33 operates the right marker 19 to the operating position. When the operation lever 35 is operated to the right marker position RM in a state where the right marker 19 is operated to the operating position, the electric motor 33 operates the right marker 19 to the retracted position.

When the operating lever 35 is operated to the left marker position LM with the left marker 19 operated to the retracted position, the electric motor 33 operates the left marker 19 to the operating position. When the operating lever 35 is operated to the left marker position LM while the left marker 19 is operated to the operating position, the electric motor 33 operates the left marker 19 to the retracted position.

(Structure for detection of aircraft position and aircraft orientation)
As shown in FIGS. 1 and 3 , a support frame 36 is connected over the upper portions of the right and left spare seedling trays 18 , and the portion of the support frame 36 located at the center of the body 11 on the left and right sides , a measuring device 37 (corresponding to a positioning unit) is attached.

The measuring device 37 includes a receiving device (not shown) that acquires position information from a satellite positioning system, and an inertial measuring device (not shown) that detects the inclination (pitch angle, roll angle) of the airframe 11. The measuring device 37 outputs position data indicating the position of the airframe 11 .

Inertial measurement devices 38 for measuring inertial information are provided in the left and right central portions of the airframe 11 . The inertial measurement of the inertial measurement device 38 and the measurement device 37 is configured by an IMU (Inertial Measurement Unit).

The above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) includes GPS (Global Positioning System) as a typical example. GPS uses a plurality of GPS satellites orbiting the earth, a control station that tracks and controls the GPS satellites, and a receiving device provided in an object (airframe 11) for positioning. It measures the position of

The inertial measurement device 38 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the airframe 11 (the turning angle of the airframe 11), and an acceleration sensor (not shown) detecting acceleration in three mutually orthogonal directions. ). The inertial information measured by the inertial measurement device 38 includes orientation change information detected by the gyro sensor and position change information detected by the acceleration sensor.
Thereby, the position of the airframe 11 and the orientation of the airframe 11 are detected by the measurement device 37 and the inertial measurement device 38 .

(Configuration related to automatic driving of the aircraft)
As shown in FIGS. 1 and 3, a center mascot 24 is provided at the center of the front portion of the body 11 in the left-right direction. A steering motor 39 for operating the steering handle 25 is provided. A push-button type setting switch 40 is provided on the handle of the shift lever 26 . A main switch 41 for automatic travel is provided.

In addition to the automatic elevation control unit 51 described in (Automatic elevation control of the seedling planting device) described above, a travel route setting unit 52, a travel route acquisition unit 53, and an automatic travel control unit 54 are included in the control device 30 as software. It is

In the riding-type rice transplanter as described above, the work traveling state in the field will be described below with reference to (first work process) to (third work process).
As shown in FIG. 4, a farm field having a rectangular shape in a plan view having four ridges A1, A2, A3, and A4 and one entrance/exit B is assumed.

(First work process)
As shown in FIGS. 3 and 4, with the main switch 41 turned to the OFF position, the driver operates the control handle 25 and the shift lever 26 to drive the machine 11 into the field through the entrance B and to the position K1. move.

At position K1, the driver operates the control lever 35 to move the left marker 19 to the working position (the right marker 19 is to the retracted position), and lowers the seedling planting device 5 to the field. The seedling planting device 5 and the fertilizing device 12 are operated to move the machine body 11 forward to perform the first work stroke S11. Make the machine body 11 run.

Simultaneously with the above operation, the driver presses the setting switch 40 at the position K1, the position of the airframe 11 is measured by the measuring device 37, and the position data of the position K1 is input to the control device 30. .

Thus, in the first work process S11, seedlings are planted by the seedling planting device 5 and fertilizer is supplied by the fertilizing device 12, and the left marker 19 forms an index L1 in the field.

When the machine body 11 (seedling planting device 5) reaches a position K2 having a length corresponding to the lateral width of the seedling planting device 5 from the ridge A2, the driver operates the operation lever 35 to plant the seedling planting device 5. By performing the upward operation (right and left markers 19 are operated to the retracted position), the first work stroke S11 is completed.

At the same time, the driver presses the setting switch 40 at the position K2, the position of the machine body 11 is measured by the measuring device 37, and the position data of the position K2 is input to the control device 30.

(Setting of travel route for second work process)
When the position data of the positions K1 and K2 are obtained, the travel route setting unit 52 sets the travel routes L21 to L25 of the second work steps S21 to S25 as described below. L25 is acquired and stored in the travel route acquisition unit 53 .

As shown in FIG. 5, the travel route (work area) of the first work stroke S11 is recognized by connecting the positions K1 and K2 with a straight line. A traveling path L21 extends along the work area of the first work process S11 from the work area of the first work process S11 toward the center of the field at a position with a length corresponding to twice the width of the seedling planting device 5. set.

When the travel route L21 is set, a plurality of travel routes L22, L23, L24, and L25 are formed in the region opposite to the work region of the first work stroke S11 with respect to the travel route L21. The seedlings are set so as to be aligned along the region and with a width corresponding to the width of the seedling planting device 5 opened.

As a result, from the work area of the first work process S11 to the center side of the field, a width that allows the machine body 11 (seedling planting device 5) to travel is opened, and along the work area of the first work process S11, the second Traveling routes L21 to L25 of two work steps S21 to S25 are set.

In FIG. 4, when the ridge A1 is not linear in plan view but is bent or has an arc shape, in the first work step S11, while the aircraft 11 is traveling along the ridge A1, the driver must: Three or more pieces of position data may be acquired by pressing the setting switch 40 at each portion of the ridge.

As a result, the travel route (work area) of the first work process S11 is certified by connecting three or more pieces of position data. area) can be obtained.

(Transition from 1st work process to 2nd work process)
As shown in FIGS. 4 and 5, from the position K2, the driver operates the steering handle 25 and the shift lever 26 to perform left turning C1 and backward traveling D1, and the machine body 11 (seedling planting Place device 5) in position K3.

As shown in FIGS. 5 and 6, the driver lowers the seedling planting device 5 to the farm field while the right and left markers 19 are moved to the retracted position, and the seedling planting device 5 and fertilization The device 12 is operated to move the machine body 11 forward to perform a fourth work step S41 in which seedlings are planted by the seedling planting device 5 and fertilizer is supplied by the fertilizing device 12 .

When the machine body 11 (seedling planting device 5) reaches a position corresponding to the width of the work area of the first work process S11 from the ridge A1, the driver operates the operation lever 35 to raise the seedling planting device 5. By operating it, the fourth work process S41 is terminated.

After completing the fourth work stroke S41, the driver operates the steering wheel 25 and the shift lever 26 to perform left turning C2.
In the left turn C2, the driver operates the operation lever 35 to move the left marker 19 to the operating position, thereby visually observing the rotating body 23 of the left marker 19 and the index L1. A left turn C2 is performed so that the rotor 23 of the left marker 19 is positioned at the index L1. As a result, the machine body 11 (center mascot 24) can be positioned on the traveling path L21 of the second work stroke S21.

The rotating body 23 of the left marker 19 is positioned at the index L1, and the body 11 (seedling planting device 5) is at a position K4, which is a position corresponding to the width of the seedling planting device 5 from the ridge A2. When positioned, the main switch 41 is operated to the ON position.

(Initial state of the second work process)
As shown in FIGS. 6 and 7, at position K4, the operator operates the control lever 35 to lower the seedling planting device 5 to the field, thereby operating the seedling planting device 5 and the fertilizing device 12. Then, the right marker 19 is operated to the working position, and the machine body 11 is moved forward from the position K4 with the right and left markers 19 being operated to the working position, and the second work stroke S21 is started.

In a state where the main switch 41 is operated to the ON position, operating the planting clutch 27 and the fertilizing clutch 28 to the transmission state by the operation lever 35 is the start of the second work process S21. 54 are automatically activated.

As a result, based on the detections of the measurement device 37 and the inertial measurement device 38, the automatic travel control unit 54 causes the steering motor 39 is actuated to steer the front wheel 1 . An index L2 is formed in the field by the rotating body 23 of the right marker 19, and the position of the index L2 is the position of the travel route L22 (see FIG. 5) of the second work step S22.

Since the rotating body 23 of the left marker 19 moves along the indicator L1, the driver can see the rotating body 23 of the left marker 19 and the indicator L1 so that the machine body 11 moves along the travel route of the second work stroke S21. It can be confirmed that it is traveling along L21.

As shown in FIGS. 7 and 8, when the machine body 11 (seedling planting device 5) reaches a position corresponding to the width of the seedling planting device 5 from the ridge A4, the driver operates the operation lever 35. Then, the seedling planting device 5 is lifted, and the second work step S21 is completed.

Since the operation of the planting clutch 27 and the fertilizing clutch 28 by the operating lever 35 to the disconnecting state is the end of the second work process S21, the automatic travel control unit 54 is automatically stopped.

(Next state after the first state of the second work stroke)
As shown in FIGS. 8 and 9, after completing the second work process S21, the driver then operates the control handle 25 and the gear shift lever 26 to perform a right turn C3 to drive the machine body 11. Position at position K5.

In this case, the driver moves the position where the center mascot 24 is positioned at the index L2 and where the machine body 11 (seedling planting device 5) is adjacent to the end position of the second work process S21 (from the ridge A4 to the seedling planting device 5 The machine body 11 (seedling planting device 5) is positioned at the position K5, which is the position of the length corresponding to the width of .

At position K5, the driver operates the control lever 35 to lower the seedling planting device 5 to the field, operates the seedling planting device 5 and the fertilizing device 12, and moves the left marker 19 to the operating position. Operate to move the machine body 11 forward and start the second work stroke S22.

In a state where the main switch 41 is operated to the ON position, operating the planting clutch 27 and the fertilizing clutch 28 to the transmission state by the operation lever 35 is the start of the second work process S22. 54 are automatically activated.

As a result, based on the detections of the measurement device 37 and the inertia measurement device 38, the automatic travel control unit 54 causes the steering motor 39 is actuated to steer the front wheel 1 . An index L3 is formed in the field by the rotating body 23 of the left marker 19, and the position of the index L3 is the position of the travel route L23 (see FIG. 5) of the second work step S23.

Since the center mascot 24 moves to a position right above the index L2, the driver can see the center mascot 24 and the index L2 so that the machine body 11 travels along the traveling route L22 of the second work stroke S22. can confirm that there is

(State in the middle to the latter half of the second work process)
As shown in FIGS. 9 and 10, the body 11 (seedling planting device 5) is positioned at a length corresponding to the width of the seedling planting device 5 from the ridge A2 (a position adjacent to the start position of the second work process S21). ), the driver operates the control lever 35 to raise the seedling planting device 5, thereby ending the second work step S22.

Since the operation of the planting clutch 27 and the fertilizing clutch 28 to the disengaged state by the operation lever 35 is the end of the second work process S22, the automatic travel control unit 54 is automatically stopped.

Next, the driver operates the control handle 25 and the shift lever 26 to perform a left turn C4 and position the body 11 at the position K6.
In this case, the driver moves the position where the center mascot 24 is positioned at the index L3 and the position where the machine body 11 (seedling planting device 5) is adjacent to the end position of the second work process S22 (from the ridge A2 to the seedling planting device 5 The machine body 11 (seedling planting device 5) is positioned at the position K6, which is the position of the length corresponding to the width of .

As shown in FIGS. 10 and 11, at position K6, the driver operates the operation lever 35 to lower the seedling planting device 5 to the field, thereby operating the seedling planting device 5 and the fertilizing device 12. Then, the right marker 19 is operated to the working position to advance the machine body 11 and start the second work stroke S23.

In a state where the main switch 41 is operated to the ON position, operating the planting clutch 27 and the fertilizing clutch 28 to the transmission state by the operation lever 35 is the start of the second work process S23. 54 are automatically activated.

As a result, based on the detections of the measurement device 37 and the inertia measurement device 38, the automatic travel control unit 54 causes the steering motor 39 is actuated to steer the front wheel 1 . An index is formed in the field by the rotating body 23 of the right marker 19, and the position of the index is the position of the travel route L24 (see FIG. 5) of the second work step S24.

Since the center mascot 24 moves to a position directly above the index L3, the driver can see the center mascot 24 and the index L3 so that the machine body 11 travels along the traveling route L23 of the second work stroke S23. can confirm that there is

As described above, the second work steps S21, S22, S23, S24, and S25 are performed. The state in which the worker travels while performing the work and the state in which the worker travels while performing the work in the direction opposite to the one direction along the work area of the first work stroke S11 are alternately performed.

In this case, the right and left markers 19 do not need to be moved to the working position in the last second work step S25.
A part of the rotating case 7 on the right side of the seedling planting device 5 is left so that an area corresponding to the width of the machine body 11 (seedling planting device 5) remains between the ridge A3 and the work area of the second work process S25. and the planting arm 8 may be stopped.

(State after completion of the second work process)
As shown in FIG. 11, when the second work steps S21 to S25 are completed, the machine body 11 (seedling planting device 5) is placed between the work area of the first work step S11 and the work area of the second work step S21. A region R1 having a width is formed along the ridge A1.

A region R2 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A2 between the ridge A2 and the edge of the work area of the second work steps S21 to S25 on the ridge A2 side. .
Between the ridge A3 and the work area of the second work process S25, an area R3 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A3.
A region R4 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A4 between the ridge A4 and the edge of the work area of the second work steps S21 to S25 on the ridge A4 side. .

(Third work process)
As shown in FIGS. 11 and 12, when the driver operates the control lever 35 to raise the seedling planting device 5 to end the second work process S25, the automatic travel control unit 54 automatically Therefore, the driver turns the main switch 41 to the OFF position.

Next, the driver operates the control handle 25 and the speed change lever 26 to perform a right turn C5 to position the body 11 (seedling planting device 5) at the position K7.
Position K7 is a position (ridge A4 to the position of the length corresponding to the width of the seedling planting device 5).

At position K7, the driver operates the control lever 35 to lower the seedling planting device 5 to the field, operates the seedling planting device 5 and the fertilizing device 12, and advances the machine body 11. The third work process S31 is started.

In the third work step S31, the driver operates the steering handle 25 and the speed change lever 26 in a state in which the right and left markers 19 are operated to the retracted positions to move the right and left ends of the seedling planting device 5. However, the fuselage 11 travels along the area R3 so as to be adjacent to the work area of the second work process S25 and the ridge A3.

When the machine body 11 (seedling planting device 5) reaches a position (a position adjacent to the start position of the second work process S25) having a length corresponding to the width of the seedling planting device 5 from the ridge A2, the driver performs the operation By operating the lever 35 to raise the seedling planting device 5, the third work step S31 is completed.

Next, the driver operates the control handle 25 and the speed change lever 26 to perform a turning run C6 to the right and a backward run D2 to position the machine body 11 (seedling planting device 5) at the position K8. At the position K8, the driver operates the control lever 35 to lower the seedling planting device 5 to the farm field, thereby activating the seedling planting device 5 and the fertilizing device 12 .

In the third work step S32, the driver operates the steering handle 25 and the speed change lever 26 in a state in which the right and left markers 19 are operated to the retracted positions to move the right and left ends of the seedling planting device 5. However, the fuselage 11 is driven along the area R2 so as to be adjacent to the edge of the ridge A2 side of the work area of the second work steps S21 to S25 and the ridge A2.

After completing the third work process S32, the machine body 11 is moved forward while the right and left markers 19 are operated to the retracted position, and the right turning C7 and the backward traveling D3 are performed in the same manner as described above. 3 Work process S33 is performed. In the third work process S33, the machine body 11 is moved to the area R1 so that the right and left ends of the seedling planting device 5 are adjacent to the work area of the second work process S21 and the work area of the first work process S11. run along.

When the third work stroke S33 is completed, a turning run C8 to the right and a backward run D4 are performed, the machine body 11 is moved forward while the right and left markers 19 are operated to the retracted positions, and the third work stroke S34 is performed. . In the third work process S34, the machine body 11 is moved so that the right and left ends of the seedling planting device 5 are adjacent to the ridge A4 side end of the work area of the second work processes S21 to S25 and the ridge A4. It is caused to travel along the region R4.

As shown in FIG. 13, when the final third work step S34 is completed, the machine body 11 reaches the doorway B, so the driver operates the control handle 25 and the shift lever 26 to get the machine body 11 out of the doorway B. As described above, the planting work of one field by the riding-type rice transplanter is completed.

(First alternative embodiment of the invention)
When the first work steps S11 and S12 are performed twice, the state is as described below.
As shown in FIGS. 14 and 15, the first work process S11 is performed from the position K11 along the ridge A1 while the right and left markers 19 are operated to the retracted positions.

When the first work process S11 is completed, the left marker 19 is operated to the working position (the right marker is the retracted position), and the first work process S12 is performed along the ridge A2. An index L1 is formed on the surface.

In the first work stroke S12, when the setting switch 40 is pressed at positions K12 and K13, the position data of the positions K12 and K13 are input to the control device 30. FIG.
The position K12 and the position K13 are connected by a straight line, and the travel route (work area) of the first work process S12 is certified. A travel path L21 is set along the work area of the first work stroke S12 at a position with a length corresponding to twice the width.

When the travel route L21 is set, a plurality of travel routes L22, L23, and L24 are set in the work region of the first work stroke S12 in the region opposite to the work region of the first work stroke S12 with respect to the travel route L21. It is set so as to follow the seedling planting device 5 and to be lined up with a width corresponding to the width of the seedling planting device 5. - 特許庁

As described above, the travel routes L21 to L24 of the second work steps S21 to S24 are set by the travel route setting unit 52, and the set travel routes L21 to L24 are acquired and stored in the travel route acquisition unit 53. be.

After completing the first work process S12, the fourth work process S41 is performed, the left marker 19 is operated to the operating position, the body 11 (seedling planting device 5) is moved to the position K14, and the right marker 19 is moved. The second work stroke S21 is performed from the position K14 by operating to the working position.

Thereafter, the left marker 19 is operated to the working position to perform the second work stroke S22, the right marker 19 is operated to the working position to perform the second work stroke S23, and the right and left markers 19 are moved to the retracted position. to perform the second work step S24.

When the second work steps S21 to S24 are completed, the machine body 11 (seedling planting device 5 ) is formed along the ridge A1.
A region R2 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A2 between the work region of the first work process S12 and the work region of the second work process S21.

A region R3 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A3 between the ridge A3 and the edge of the work area of the second work steps S21 to S24 on the ridge A3 side. .
Between the ridge A4 and the work area of the second work process S24, an area R4 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A4.

After completing the last second work stroke S24, a third work stroke S31 is performed along the region R4 from the position K15, a third work stroke S32 is performed along the region R1, and a third work stroke S33 is performed along the region R2. , the third work process S34 along the region R3 is performed, and the worker exits through the doorway B.

(Second alternative embodiment of the invention)
When the first work steps S11, S12, and S13 are performed three times, the state is as described below.

As shown in FIGS. 16 and 17, the first work process S11 is performed from the position K21 along the ridge A1 while the right and left markers 19 are operated to the retracted positions. After completing the first work process S11, the first work process S12 is performed along the ridge A2 while the right and left markers 19 are operated to the retracted positions.

After completing the first work process S12, the left marker 19 is operated to the working position (the right marker is the retracted position), and the first work process S13 is performed along the ridge A3. An index L1 is formed on the surface.

In the first work stroke S13, when the setting switch 40 is pressed at positions K22 and K23, the position data of the positions K22 and K23 are input to the control device 30. FIG.
The position K22 and the position K23 are connected by a straight line, and the travel route (work area) of the first work process S13 is certified. A travel path L21 is set along the work area of the first work stroke S13 at a position with a length corresponding to twice the width.

When the travel route L21 is set, a plurality of travel routes L22, L23, and L24 are set in the work area of the first work process S13 in the area opposite to the work area of the first work process S13 with respect to the travel path L21. It is set so as to follow the seedling planting device 5 and to be lined up with a width corresponding to the width of the seedling planting device 5.例文帳に追加

As described above, the travel routes L21 to L24 of the second work steps S21 to S24 are set by the travel route setting unit 52, and the set travel routes L21 to L24 are acquired and stored in the travel route acquisition unit 53. be.

When the first work process S13 is completed, the fourth work process S41 is performed, the machine body 11 (seedling planting device 5) is moved to the position K24, the right and left markers 19 are operated to the operating position, and from the position K24. A second work process S21 is performed.

Thereafter, the left marker 19 is operated to the working position to perform the second work stroke S22, the right marker 19 is operated to the working position to perform the second work stroke S23, and the right and left markers 19 are moved to the retracted position. to perform the second work step S24.

When the second work steps S21 to S24 are finished, a region R1 having the width of the machine body 11 (seedling planting device 5) is provided between the work region of the first work step S11 and the work region of the second work step S24. It is formed along the ridge A1.
Between the work area of the first work process S12 and the edge of the work area of the second work processes S21 to S24 on the side of the ridge A2, the area R2 having the width of the machine body 11 (seedling planting device 5) is the ridge A2. formed along

Between the work area of the first work process S13 and the work area of the second work process S21, an area R3 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A3.
An area R4 having the width of the body 11 (seedling planting device 5) is formed along the ridge A4 between the ridge A4 and the edge of the work area of the second work steps S21 to S24 on the ridge A4 side. .

When the final second work stroke S24 is completed, a third work stroke S31 along the region R1 is performed from the position K25, a third work stroke S32 along the region R2 is performed, and a third work stroke S33 along the region R3 is performed. , the third work process S34 along the region R4 is performed, and the worker exits through the doorway B.

(Third alternative embodiment of the invention)
When the first work steps S11, S12, S13, and S14 are performed four times, the state is as described below.

As shown in FIGS. 18 and 19, the first work process S11 is performed from the position K31 along the ridge A1 while the right and left markers 19 are operated to the retracted positions. After completing the first work process S11, the first work process S12 is performed along the ridge A2 while the right and left markers 19 are operated to the retracted positions.

When the first work process S12 is completed, the fourth work process S41 is performed, and the right and left markers 19 are positioned at a distance corresponding to the lateral width of the seedling planting device 5 from the end position of the fourth work process S41. is operated to the retracted position, the first work process S13 is performed along the ridge A3.

When the first work process S13 is completed, the left marker 19 is operated to the working position (the right marker is the retracted position), and the first work process S14 is performed along the ridge A4. An index L1 is formed on the surface.

In the first work stroke S14, when the setting switch 40 is pressed at positions K32 and K33, the position data of the positions K32 and K33 are input to the control device 30. FIG.
The position K32 and the position K33 are connected by a straight line, and the travel route (work area) of the first work process S14 is certified. A travel path L21 is set along the work area of the first work stroke S14 at a position with a length corresponding to twice the width.

When the travel route L21 is set, a plurality of travel routes L22 and L23 are formed along the work area of the first work process S14 in the area opposite to the work area of the first work process S14 with respect to the travel path L21. In addition, the seedlings are set so as to be lined up with a width corresponding to the width of the seedling planting device 5 .

As described above, the travel routes L21 to L23 of the second work steps S21 to S23 are set by the travel route setting unit 52, and the set travel routes L21 to L23 are acquired and stored in the travel route acquisition unit 53. be.

When the first work process S14 is completed, the fourth work process S42 is performed, the machine body 11 (seedling planting device 5) is moved to the position K34, the right and left markers 19 are operated to the operating position, and from the position K34. A second work process S21 is performed.
Thereafter, the left marker 19 is operated to the working position to perform the second work stroke S22, and the right and left markers 19 are operated to the retracted position to perform the second work stroke S23.

When the second work steps S21 to S23 are completed, the machine body 11 (seedling planting device 5 ) is formed along the ridge A1.
A region R2 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A2 between the work region of the first work process S12 and the work region of the second work process S23.

Between the work area of the first work process S13 and the edge of the work area of the second work processes S21 to S23 on the side of the ridge A3, the area R3 having the width of the machine body 11 (the seedling planting device 5) is the ridge A3. formed along
Between the work area of the first work process S14 and the work area of the second work process S21, an area R4 having the width of the machine body 11 (seedling planting device 5) is formed along the ridge A4.

When the final second work stroke S23 is completed, a third work stroke S31 along the region R3 is performed from the position K35, a third work stroke S32 along the region R4 is performed, and a third work stroke S33 along the region R1 is performed. , the third work process S34 along the region R2 is performed, and the vehicle exits through the doorway B.

(Fourth alternative embodiment of the invention)
The width of the regions R1 to R4 may be set to be twice (integer multiple) the width of the body 11 (seedling planting device 5).
This state is suitable for a 4-row type riding rice transplanter and a 4-row type riding direct seeder. will do.
As a configuration other than the above, the width of the regions R1 to R4 may be set to be an integral multiple of three times or more the width of the body 11 (seedling planting device 5).

(Fifth alternative embodiment of the invention)
The travel route setting unit 52 may not be provided.
In this configuration, when the position data of the positions K1, K2 to K32, K33 are obtained, the position data of the positions K1, K2 to K32, K33 are transmitted from the controller 30 to an external setting device (computer, etc.) (not shown). , the travel routes L21 to L25 are set by an external setting device, and the set travel routes L21 to L25 are sent to the control device 30, and acquired and stored in the travel route acquisition unit 53. It should be configured.

(Sixth alternative embodiment of the invention)
The right and left markers 19 may be provided on the right and left portions of the seedling planting device 5 instead of the front portion of the machine body 11 so as to be vertically operable.

(Seventh alternative embodiment of the invention)
Right and left front markers 19 are provided on the right and left front parts of the machine body 11 so that they can be moved up and down. You may equip a part and a left part with up-and-down operation freely.

According to this configuration, it suffices to form the indicators L1 to L3 in the field using the markers 19 on the rear side, and as shown in FIG. Then, the front marker 19 should be moved to the active position.
Since the front marker 19 is closer to the index L1 than the rear marker 19, the positional relationship between the front marker 19 (rotating body 23) and the index L1 can be easily grasped, and the body 11 can be moved to the position K4. is easier to do.

(Eighth alternative embodiment of the invention)
An automatic marker device (not shown) that automatically raises and lowers the right and left markers 19 may be provided.

The automatic marker device is, as shown in FIG. 8, when the vehicle turns C3 to the right, the left marker 19 opposite to the turning direction (right) is automatically operated to the operating position, and As shown in , when a left turn C4 is performed, the right (left) marker 19 is automatically moved to the operating position in the direction opposite to the turning direction (left). It is a device that automatically operates to the working position.

If the aforementioned automatic marker device is provided, the automatic marker device may be operated in the second work steps S22-S24 of FIGS. 8-11.
In this case, as shown in FIG. 6, when entering the first second work stroke S21 from left turning C2, the right marker 19 is automatically operated to the operating position by the automatic marker device. In addition, the left marker 19 may also be automatically operated to the active position by the automarker device. Alternatively, the driver can operate the control lever 35 to move the left marker 19 to the active position against the automatic marker device.

(Ninth alternative embodiment of the invention)
The marker 19 and the center mascot 24 may be eliminated, and instead of the marker 19, a liquid crystal display (not shown) may be provided on the front side of the steering handle 25 or the like, and the display may be used as a guide.

According to this configuration, the current position of the machine body 11 and the travel routes L21 to L25 are displayed on the display, and as shown in FIG. The driver can move the aircraft 11 to the position K4 by operating the control handle 25 and the shift lever 26 while viewing the current position of the aircraft 11 and the travel route L21 displayed on the display.

When the automatic travel control unit 54 is activated and the second work steps S21 to S25 are performed, the driver can see the current position of the aircraft 11 and the travel routes L21 to S25 displayed on the display. 11 is traveling along the travel routes L21-S25 of the second work steps S21-S25.

(Tenth alternative embodiment of the invention)
As in the above-described (ninth alternative embodiment of the invention), when a display is provided, the steering motor 39 and the automatic travel control section 54 may be eliminated.

According to this configuration, by displaying the current position of the machine body 11 and the traveling route L21 to L25 on the display, the driver can, in the second work steps S21 to S25, By operating the control handle 25 and the shift lever 26 while viewing L21 to L25, the machine body 11 can travel along the travel routes L21 to L25.

(Eleventh alternative embodiment of the invention)
The following conditions (1) to (4) are assumed as conditions for determining that the second work steps S21 to S25 have started.

(1) The planting clutch 27 (fertilizing clutch 28) has been operated to the transmission state.
(2) The seedling planting device 5 is lowered to the field by the hydraulic cylinder 4 (the float 9 is grounded on the field).
(3) The steering wheel 25 is used to operate the front wheels 1 from the turning side to the straight traveling side.
(4) At least one of the right and left markers 19 has been lowered to the operating position.

In this case, it may be determined that the second work steps S21 to S25 have started when at least one of the conditions (1) to (4) is met.
It may be configured such that it is determined that the second work steps S21 to S25 have started when two (or three) (or all) of the conditions (1) to (4) are satisfied.

(Twelfth alternative embodiment of the invention)
The following conditions (11) to (14) are assumed as conditions for determining that the second work steps S21 to S25 have been completed.

(11) The planting clutch 27 (the fertilizing clutch 28) has been operated to be disconnected.
(12) The seedling planting device 5 has been lifted from the field by the hydraulic cylinder 4 (the float 9 has moved upward from the field).
(13) The steering wheel 25 is used to operate the front wheels 1 from the straight travel side to the turning side.
(14) Both the right and left markers 19 have been raised to the retracted positions.

In this case, if at least one of the conditions (11) to (14) is met, it may be determined that the second work steps S21 to S25 have been completed.
If two (or three) (or all) of the conditions (11) to (14) are met, it may be determined that the second work steps S21 to S25 have been completed.

(Thirteenth alternative embodiment of the invention)
A right side clutch (not shown) that transmits power to the right rear wheel 2 and a left side clutch (not shown) that transmits power to the left rear wheel 2 are provided without a differential device for the rear wheel 2. ), when the front wheel 1 is operated within the set angle range of right and left with respect to the straight ahead position, the right and left side clutches are operated to the transmission state, and the right (left) of the front wheel 1 is operated. The right (left) side clutch may be disengaged when the steering operation is performed to the right (left) turning side beyond the set angle of .

As a result, during turning, the side clutch on the turning center side is disengaged, and the rear wheel 2 on the turning center side is in a free-rotating state. is suppressed.

In this case, by providing a rotation speed sensor (not shown) for the rear wheel 2, it is possible to perform the operation described below during turning C3 to C5 shown in FIGS. 8 to 11. good.

For example, after the right side clutch is disengaged at the start of turning to the right, the front wheels 1 are steered straight ahead at the end of turning to the right, and the right side clutch is engaged. Then, the seedling planting device 5 is automatically lowered to the field, and detection of the rotation speed of the rear wheel 2 is started.

Next, when the rotation speed of the rear wheels 2 reaches the set rotation speed (when the traveling distance of the rear wheels 2 reaches the set traveling distance), the planting clutch 27 and the fertilizing clutch 28 are automatically operated to the transmission state, The seedling planting device 5 and the fertilizing device 12 are activated.

As a result, the end positions of the second work steps S21 to S25 (the positions where the planting clutch 27 and the fertilizing clutch 28 are operated to the disconnected state) and the start positions of the adjacent second work steps S21 to S25 (the planting clutch 27 and the position where the fertilizing clutch 28 is operated to the transmission state) can be automatically matched.
As described above, the state in which the planting clutch 27 and the fertilizing clutch 28 are automatically operated to the transmission state may be the condition (1) of (the eleventh alternative embodiment of the invention).

The present invention is not only a riding-type rice transplanter that runs in a paddy field (field), but also a riding-type direct seeder that supplies seeds to a field while running in a paddy field (field), and a riding type direct seeder that feeds a chemical while running in a paddy field (field). The present invention can also be applied to a field work machine such as a ride-on type tending machine that feeds fields, and a tractor that plows a field with a tiller while traveling in a field.

1 front wheel 4 hydraulic cylinder (elevating mechanism)
5 Seedling planting device (working device)
12 Fertilizer (working device)
11 airframe 19 marker (guidance section)
27 planting clutch (work clutch)
28 fertilizing clutch (work clutch)
37 measuring device (positioning unit)
53 Traveling route acquisition unit 54 Automatic travel control unit A1-A4 Ridge S11-S14 First work process S21-S25 Second work process
S31 to S34 Third work process
L1~L3 index L21~L26 running route

Claims (10)

a positioning unit that detects the position of the aircraft;
By performing the first work process in which the machine body travels along the ridge of the farm field, based on the detection of the positioning unit, from the work area of the first work process to the center of the field a travel route acquisition unit that acquires a travel route of the second work stroke set along the work area of the first work stroke with a width that allows the machine body to travel ,
The width set from the work area of the first work stroke to the center side of the field is the unworked area in which the machine body is not running and left around the second work stroke after the end of the second work stroke. A field work machine that is generated based on the width of travel of the machine body when a third work stroke is performed in which the machine body travels through the area . The travel route acquisition unit is
2. The field working machine according to claim 1, wherein a plurality of travel routes of said second work stroke set so as to be lined up with a width that allows travel of said machine body are acquired. The travel route acquisition unit is
The field working machine according to claim 1 or 2, wherein the travel route of the second work stroke is set such that the width is an integral multiple of the width of the working device mounted on the machine body. 4. Any one of claims 1 to 3, wherein the traveling route of the second work stroke acquired after the first work stroke is completed is provided with a guide section for causing the machine body to travel. The field work machine described in . Right and left markers for forming indicators for performing the second work stroke on the field as the machine body advances are provided so as to be able to move up and down,
The field working machine according to claim 4, wherein the guide portion is the marker. 6. The field working machine according to claim 5, wherein the front side marker supported on the front part of the machine body and the rear side marker supported by a working device mounted on the rear part of the machine body are provided. 7. The automatic travel control unit that controls the aircraft so that the aircraft travels along the travel route of the second work stroke based on the detection of the positioning unit. A field work machine according to any one of the preceding paragraphs. 8. The field working machine according to claim 7, wherein the automatic travel control unit enters an operating state when the second work stroke is started, and enters a stopped state when the second work stroke ends. The start of the second work stroke is
a working clutch that transmits power to a working device mounted on the machine body is operated to a transmission state;
The working device is lowered to the farm field by an elevating mechanism;
the front wheels supporting the aircraft body are operated from the turning side to the straight traveling side;
At least one of the right and left markers that forms an index for performing the second work stroke on the field as the machine body moves forward contacts the field and forms an index on the field. that it has been operated down to a position;
The field working machine according to claim 8, wherein at least one of The end of the second work process is
A work clutch that transmits power to a work device mounted on the machine body is operated to be in a disengaged state;
The working device is lifted from the field by an elevating mechanism;
the front wheels supporting the fuselage are operated from the straight side to the turning side;
Both the right and left markers, which form the index for performing the second work stroke on the field as the machine advances, are raised from the field to a retracted position;
The field working machine according to claim 8 or 9, which is at least one of

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