JP7137997B2 - transplanter - Google Patents

Description

TECHNICAL FIELD The present invention relates to a transplanter that transplants seedlings into a field while traveling, and more particularly to a transplanter that autonomously travels along a target orientation.

Conventionally, the GPS positioning device receives and decodes the position and time information transmitted from the GPS satellite, determines the target running direction, and executes straight running control toward the target running direction. A machine has been proposed (see Patent Document 1). The riding rice transplanter of Patent Document 1 has a teaching mode in which a target traveling direction is determined by performing teaching traveling for a predetermined distance by manual operation, and an automatic traveling mode in which straight traveling control is performed by automatic operation. Each mode is switched by operating the driving mode selection switch.

Further, conventionally, there has been proposed a riding rice transplanter capable of starting planting at a position where the distance from the edge of the ridge corresponds to the width of the headland (see Patent Document 2). The riding rice transplanter described in Patent Literature 2 connects the planting clutch and starts supplying power to the planting machine when the traveling distance from the furrow reaches the distance corresponding to the width of the headland.

JP 2004-154012 A JP 2016-054648 A

However, in order to determine the target traveling direction, the riding rice transplanter described in Patent Document 1 selects the teaching mode at the start of the teaching traveling by operating the traveling mode selection switch, and switches to the automatic traveling mode at the end of the teaching traveling. It was necessary to switch, which was a burden on the operator.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a transplanter capable of reducing the operational burden on an operator.

The present invention includes a traveling machine body (1) supported by traveling devices (9, 10) and a planting machine supported by the traveling machine body (1), and the planting machine ( In the transplanter (P, P1, P2, P3) for transplanting seedlings to the field (F) according to 3),
A position information detection unit (56) having a receiving antenna capable of receiving a signal related to position information of the running body (1) and detecting the position of the running body (1);
a distance detection unit (55) for detecting the travel distance of the traveling machine body (1);
A reference position (A ') headland width determination processing for determining that the traveling machine body (1) has reached a target orientation setting process for setting a target orientation (L0) by causing the traveling machine body (1) to travel in one direction. , a straight control process for reciprocating the traveling machine body (1) along the target direction (L0) based on the position of the traveling machine body (1) detected by the position information detection unit (56). and a control means (36),
The control means (36) automatically controls to start the target azimuth setting process when it is determined in the headland width determination process that the traveling body (1) has reached the reference position (A'). having a mode,
A transplanter (P, P1, P2, P3) characterized by:

For example, referring to FIGS. 1, 2, 6, 8 and 13, a steering unit (20a) for steering the traveling body (1),
In the target azimuth setting process, the control means (36) controls the reference position (A') and the above-mentioned A direction connecting a turning start position (B′), which is the position of the traveling body (1), is set as the target direction (L0) , and the reference position (A′) and the turning start position (B′) are set as , the determination is made based on the travel distance detected by the distance detection section (55) and the steering angle of the steering section (20a) without using the field map data .

For example, referring to FIGS. 1, 2, 6, 9 and 13, a planting clutch that is switched between a disconnected state and a connected state to connect and disconnect power supplied to the planting work machine (3). with
The control means (36) switches the planting clutch from the disconnected state to the connected state at the reference position in the automatic control mode, and switches the planting clutch from the connected state to the disconnected state at the turning start position. switch to

The reference numerals in parentheses are for comparison with the drawings, but they do not affect the structure described in the claims.

According to the first aspect of the present invention, the control means has an automatic control mode in which the target azimuth setting process is started when the traveling machine body reaches the reference position in the headland width determination process. It is possible to start setting the target direction of travel following the confirmation operation, and it is possible to reduce the operation burden on the operator when setting the target direction.

According to the second aspect of the present invention, in the target orientation setting process, the control means sets, as the target orientation, an orientation that connects the reference position and the turning start position, which is the position of the traveling machine body when it starts turning. Therefore, it is possible to omit the operator's operation for setting the target azimuth, and the operator's operation burden can be reduced.

According to the third aspect of the present invention, the control means switches the planting clutch from the disconnected state to the connected state at the reference position in the automatic control mode, and switches the planting clutch from the connected state to the disconnected state at the turning start position. , the operator can set the target direction while planting, and the operator's operation burden can be reduced.

The left view which shows the riding rice transplanter which concerns on 1st Embodiment. The top view which shows a riding rice transplanter. The side view which shows a hydraulic control mechanism. (a) is a perspective view showing a front portion of an operation portion, (b) is a view showing a display portion, and (c) is a right side view of a grip portion of a main shift operating lever. The figure which shows a switching operation part. Block diagram of a control unit. FIG. 4 is a flowchart of work machine operation control; Flow chart of ridge measurement control. FIG. 10 is a flowchart of control during turning; FIG. 4 is a flowchart of straight automatic selection control; FIG. 4 is a flowchart of first straight-ahead automatic control; The flowchart of the 2nd straight-ahead automatic control. The top view which shows the planting course|route of a riding rice transplanter. (a) is a diagram showing an automatic planting operation section of a riding rice transplanter according to a second embodiment, (b) is a diagram showing an automatic planting operation section of a riding rice transplanter according to a third embodiment; (c) is a figure which shows the planting automatic operation part of the riding rice transplanter which concerns on 4th Embodiment.

A first embodiment of the present invention will be described below with reference to the drawings. As shown in FIGS. 1 and 2, a riding rice transplanter P as a transplanter has a running body 1 supported by a pair of front wheels 9 and a pair of rear wheels 10 as a running device. A planting work machine 3 is connected to the rear part of the planting machine 3 via a lifting link mechanism 2 . A lift cylinder 4 is interposed between the traveling body 1 and the planting machine 3 , and the planting machine 3 is raised and lowered according to the hydraulic expansion and contraction operation of the lift cylinder 4 .

The planting machine 3 includes a seedling platform 5 on which matted seedlings are placed, a planting mechanism 6 for scraping the seedlings from the seedling platform 5 and planting them in the field, and a float 7 for sliding down the field. The planting work is performed with the planting power supplied from the traveling body 1. An engine (not shown) and a transmission 8 are mounted on the front part of the traveling body 1 . Power output from the engine is changed in speed by the transmission 8 and transmitted to the planting work machine 3 , the front wheels 9 and the rear wheels 10 .

The transmission 8 incorporates a planted clutch (not shown). The planting clutch is switched between a disconnected state in which power from the engine is not supplied to the planting machine 3 and a connected state in which power from the engine is supplied to the planting machine 3. The transmission of the planting power to is disconnected. In the following description, switching the planting clutch from the disconnected state to the connected state means connecting the planting clutch, and switching the planting clutch from the connected state to the disconnected state means disconnecting the planting clutch. Describe.

A driving unit 17 that is operated by an operator on board is arranged in the central portion of the traveling body 1 , and a driver's seat 19 and a steering device 20 are arranged in the driving unit 17 . The steering device 20 has a steering handle 20a, a steering column 20b, tie rods (not shown), and a steering motor 60 (see FIG. 6) for axially rotating the steering column 20b. or by driving the steering motor 60, the steering column 20b rotates about its axial direction, the front wheels 9 are steered via the tie rods, and the traveling direction of the traveling machine body 1 changes. Line-drawing markers 21, 21 are arranged on the left and right sides of the planting machine 3 so as to be movable between the use position and the storage position. .

Next, the hydraulic control mechanism 25 will be explained. As shown in FIG. 3, the traveling machine body 1 is provided with a hydraulic control mechanism 25 that controls elevation of the planting machine 3 (see FIG. 1). The hydraulic control mechanism 25 swings around a working machine operation cam 31 and a pivot pin 33 which are linked to a planting clutch and a hydraulic control valve (not shown) of the lift cylinder 4 (see FIG. 1) to operate the planting clutch. A clutch arm 35 that connects and disconnects, a hydraulic control valve 29 that opens and closes as the working machine operating cam 31 rotates, and is fixed coaxially with the rotating shaft of the working machine operating cam 31 to detect the rotation position of the working machine operating cam 31. A working machine operation cam potentiometer 32 is provided.

The working machine operating cam 31 is rotated to each position of "raising", "fixed", "automatic (lowering)", and "planting" based on the drive of the working machine operating cam motor 30, and each position is operated for working. Detected by the machine operating cam potentiometer 32 . When the hydraulic control valve 29 is opened and closed with the rotation of the work machine operation cam 31, the lift cylinder 4 expands and contracts by opening or shutting off the hydraulic pressure of a hydraulic pump (not shown) provided in the transmission 8. The work machine 3 with planting moves up and down. The working machine operation cam 31 raises the planting machine 3 at the "raise" position, fixes the planting machine 3 at an arbitrary height at the "fixed" position, and , the planting machine 3 is lowered until the float 7 touches the ground, and in the "automatic (lowering)" and "planting" positions, mechanical automatic lifting control based on the ground height detection by the float 7 is performed. .

The upper end of the clutch arm 35 follows the outer periphery of the working machine operating cam 31 and swings in the front-rear direction as the working machine operating cam 31 rotates. As the clutch arm 35 swings, the planting clutch is disengaged and the planting mechanism is in a disengaged state while the working machine operating cam 31 is positioned at each of the "raise", "fixed" and "lower (automatic)" positions. 6 does not operate, and while it is in the "planting" position, the planting clutch is in a connected state and the planting mechanism 6 becomes operable.

Next, details of the operation unit 17 will be described. As shown in FIG. 4A, a display panel 45, a switching operating section 46, a main transmission operating lever 43, and a working machine operating lever 44 are provided on a front panel 42 arranged in front of the operating section 17. ing.

As shown in FIG. 4(b), the display panel 45 includes a planting display section 45a that indicates a planting preparation state, which will be described later, an automatic planting display section 45b that displays that the automatic planting mode is set, and a straight planting display section 45b. There are various display portions such as a straight advance automatic display portion 45c for displaying that the automatic mode is set, and a hydraulic position display portion 45d for displaying each position of the working machine operating cam 31 by the working machine operating cam 31. FIG.

Forward operation of the main shift operating lever 43 from the neutral position shifts the gear to a forward gear, and backward operation from the neutral position shifts the gear to a reverse gear. As shown in FIG. 4(c), a work machine upper operation button 50a and a work machine lower operation button 50b are vertically arranged on the inside (right side) of the grip portion of the main gear shift operation lever 43. A work machine operation button 50 is provided. The work machine upper operation button 50a and the work machine lower operation button 50b are pressed with the thumb while gripping the main transmission operation lever 43 by the operator.

As shown in FIG. 5, the switching operation unit 46 is provided with a soil leveling device operation dial 47, an automatic planting operation unit 48, a mode display lamp 49 as notification means, a work preparation switch 52, and the like. The grading device operation dial 47 is supported by the front panel 42 so as to be rotatable about the axial direction, and the height of the grading device 22 with respect to the planting mechanism 6 is adjusted according to the rotational position. The planting automatic operation part 48 has the planting automatic operation dial 48a as an operation part. The planting automatic operation dial 48a is formed in a cylindrical shape, is supported by the front panel 42 so as to be rotatable about the axial direction, is movable in the axial direction, and is moved from the front panel 42 by a spring (not shown). It is biased in the protruding direction. With such a configuration, the planting automatic operation dial 48a can be operated by the operator to rotate about the axial direction, and can be pressed to move the plant in the axial direction.

The planting automatic operation dial 48a is formed with an indicator 48b near the cylindrical surface of the planting automatic operation dial 48a, and the front panel 42 is provided near the cylindrical surface of the planting automatic operation dial 48a and respectively A planting automatic OFF position display portion 48c and an automatic raising ON position display portion 48d are arranged at different circumferential positions. The rotation position of the planting automatic operation dial 48a can be identified by the positional relationship between the instruction portion 48b, the planting automatic OFF position display portion 48c, and the automatic elevation ON position display portion 48d.

The control unit 36 (see FIG. 6) as a control means to be described later has an automatic planting off mode, an automatic rise mode, an automatic planting mode, an automatic straight off mode, and an automatic straight mode. Depending on the rotational position of 48a, the planting automatic off mode, the automatic rise mode and the planting automatic mode are switched, and each time the planting automatic operation dial 48a is pressed, the straight automatic off mode and the straight automatic mode are switched. can be switched.

Specifically, when the planting automatic operation dial 48a is positioned at the rotational position where the instruction unit 48b and the planting automatic off position display unit 48c face each other, the control unit 36 enters the planting automatic off mode, When the instruction portion 48b and the automatic rise ON position display portion 48d are positioned at the opposite rotational positions, the automatic rise mode is entered, and the instruction portion 48b is set to the planting automatic OFF position display portion 48c and the automatic rise ON position display portion 48d. If it is positioned in a rotational position that does not face either, it will be in the automatic planting mode. The automatic planting mode and the automatic straight mode constitute the automatic control mode in the present embodiment, and the automatic straight off mode constitutes the non-automatic control mode in the present embodiment. The state of the mode and the straight automatic off mode constitutes the non-controlled mode in this embodiment, and the state of the automatic rise mode and the straight automatic off mode constitutes the automatic cutting mode in this embodiment. The state of the automatic mode and the straight-ahead automatic off mode constitutes the automatic clutch mode in the present embodiment.

In addition, in the automatic planting mode, the control unit 36 controls the headland width D0 from the furrow R0 to the planting start position A' as a reference position, and The distance D1 from the start of turning operation to the start of descent of the planting machine 3, and the value of the distance D2 from the start of turning operation at the edge of the field to the start of planting are adjusted. (See FIG. 13). Details of the distance D1 and the distance D2 will be described later.

The mode display lamp 49 has an automatic rise lamp 49a, an automatic planting lamp 49b, and an automatic straight lamp 49c, and is configured to be capable of informing which mode the controller 36 is in. Specifically, when the control unit 36 is in the planted automatic off mode, the automatic rising lamp 49a and the planted automatic lamp 49b are turned off, and when it is in the straight automatic off mode, the straight automatic lamp is turned off. In addition, when the control unit 36 is in the automatic raising mode, the automatic raising lamp 49a lights up, when it is in the automatic planting mode, the automatic planting lamp 49b lights up, and in the straight automatic mode, the straight automatic lamp 49c lights up.

The automatic raising mode and the automatic planting mode are states in which the control unit 36 operates the work machine operation cam 31 and the like without depending on the operation of the work machine operation button 50 and the work machine operation lever 44 by the operator. Specifically, in the automatic raising mode, the controller 36 disconnects the planting clutch and raises the planting work machine 3 when the traveling machine body 1 starts turning motion at the edge of the field. In addition, in the automatic planting mode, the control unit 36 measures the headland width D0 at the start of planting, and after the start of planting, when the traveling body 1 starts turning at the field edge E1, the headland width D0 is measured. When the planting work machine 3 is lifted while the attached clutch is disengaged, the planting work machine 3 is lowered based on the travel distance Dt, and the end of the turning operation is determined based on the travel distance Dt and the rotation angle of the steering handle 20a. , engage the planting clutch (see FIG. 13). In the planting automatic off mode, the control unit 36 does not operate the work machine operation cam 31 regardless of the operation of the work machine operation button 50 and the work machine operation lever 44 by the operator.

In the automatic straight-ahead mode, the control unit 36 drives the steering motor 60 (see FIG. 6) to steer the front wheels 9 so that the traveling body 1 autonomously travels along a preset target heading. This is a state in which the straight control process (see FIGS. 11 and 12) can be executed. Note that the controller 36 does not drive the steering motor 60 in the automatic straight-off mode. The details of the processing executed by the control unit 36 in each mode will be described later.

Next, the control configuration of this embodiment will be described.
As shown in FIG. 6, the traveling body 1 includes a microcomputer (not shown) including a CPU, ROM, RAM, interfaces, etc., and is provided with a control section 36 for controlling each section of the riding rice transplanter P. The control unit 36 receives signals from input means such as switches and sensors operated by the operation means, and outputs signals to output means such as display units and actuators.

As input means, a work preparation switch 52 which can be switched between an ON state for permitting connection of the planting clutch and an OFF state for restricting the connection of the planting clutch, and a working machine upper operation button 50a (see FIG. 4(c)). Push operation and push operation of the work machine upper operation switch 51a and the work machine lower operation button 50b (see FIG. 4(c)) and work machine operation lever 44 (see FIG. 4(a)) are operated by the operation of raising the work machine operation lever 44 (see FIG. 4(a)). The work machine lower operation switch 51b which is operated by lowering the operation lever 44, the work machine operation cam potentiometer 32, and the lift angle potentiometer which detects the elevation position of the planting work machine 3 by the angle of the lifting link mechanism 2 (see FIG. 1). 53, a travel distance sensor 55 that detects the amount of rotation of the drive shaft (not shown) of the transmission 8 (see FIG. 1), a receiving antenna (not shown) capable of receiving position and time information transmitted from a plurality of GPS satellites ), a position information detector 56 as a position information detection unit that decodes the position and time information of the traveling body 1 received by the receiving antenna, and a steering handle 20a from a neutral position where the traveling body 1 moves straight (see FIG. 1 ), a dial potentiometer 58a for detecting the rotational position of the planting automatic operation dial 48a (see FIG. 5), and a dial switch for detecting the axial movement of the planting automatic operation dial 48a. 58b and the like.

Note that the steering angle sensor 57 determines whether the rotation angle of the steering handle 20a is equal to or less than the first angle α for at least the first angle α and the second angle β where the first angle α<the second angle β. , and whether or not it is greater than or equal to the second angle β. The first angle α is the rotation angle of the steering handle 20a at which the traveling body 1 moves substantially straight, and is, for example, 5°. The second angle β is the rotation angle of the steering handle 20a indicating that the traveling machine body 1 is turning at the edge of the field, and is, for example, 180°. Thus, the steering angle sensor 57 may be capable of continuously detecting the rotation angle of the steering wheel 20a like a potentiometer, or may detect only a specific angle or more or a specific angle or less. may be possible. Further, the steering angle sensor 57 only needs to be able to detect that the front wheels 9 have been steered. It may be possible, or the amount of movement of the tie rod may be detectable.

The output means includes a notification buzzer 61 and a notification lamp 62, a mode display lamp 49, etc. as notification means capable of notifying various states of the working machine operation cam motor 30, the steering motor 60, and the control section 36. FIG. By driving the steering motor 60, the control unit 36 can steer the front wheels 9 independently of the steering operation of the steering handle 20a by the operator.

Next, when the traveling machine body 1 reciprocates in the field F while repeating the turning motion at the end of the field, and the planting machine 3 performs the planting work of transplanting the seedlings to the field F, the controller 36 executes each operation. Explain the process. When the main power supply (not shown) is turned on, the control unit 36 performs work machine operation control S1 (see FIG. 7), ridge measurement control S2 (see FIG. 8), turning control S3 (see FIG. 9), and The straight automatic selection control S4 (see FIG. 10) is executed respectively, and when each control is completed, as long as the main power supply is kept ON, the processing from the beginning of each flow is repeatedly executed. Further, the control unit 36 calculates the traveling distance of the traveling machine body 1 based on the detection result of the traveling distance sensor 55, and calculates the vehicle speed of the traveling machine body 1 based on the traveling distance per unit time.

As shown in FIG. 7, the work machine operation control S1 is a control for operating the work machine operation cam 31 based on the operation of the work machine operation button 50 and the work machine operation lever 44 by the operator. When starting the work implement operation control S1, the control unit 36 determines whether or not the work implement lower operation switch 51b has been operated (step S11). In the process of step S11, when the work implement lower operation switch 51b is operated (step S11 is performed), the control section 36 determines whether or not the work preparation switch 52 is in the ON state (step S13). . In this process, the control unit 36 refers to the state of the work preparation switch 52 and determines whether or not the connection of the planting clutch based on the operation of the work machine lower operation switch 51b is restricted. there is

In the process of step S13, when the work preparation switch 52 is in the ON state (ON in step S13), the control unit 36 determines the state of the planting work machine 3, that is, the position of the work machine operation cam 31 (step S14 to step S16), if the work implement operation cam 31 is in the "raise" position (rise in step S14), the work implement operation cam 31 is switched to the "fixed" position, and the work implement operation control S1 ends (step S25). , if the work implement operation cam 31 is in the "fixed" position (fixed in step S16), the work implement operation cam 31 is switched to the "lower (automatic)" position to end the work implement operation control S1 (step S17), When the work implement operation cam 31 is in the "lower (automatic)" position (lower (automatic) in step S15), the control unit 36 determines whether the operation time T of the work implement lower operation switch 51b is shorter than the predetermined time T0. (Step S18). In these processes, the control unit 36 determines which position the work implement operation cam 31 is in based on the detection result of the work implement operation cam potentiometer 32, and performs processing according to the position of the work implement operation cam 31. running

When the working machine operating cam 31 is at the "planting" position in the processing of step S16 (planting in step S16), and when the operation time T of the working machine lower operation switch 51b is equal to or longer than the predetermined time T0 in the processing of step S18. If there is (NO in step S18), the control unit 36 ends the work implement operation control S1.

Further, when the operating time T of the working machine lower operation switch 51b is less than the predetermined time T0 in the processing of step S18 (YES in step S18), the control unit 36 stops the downward movement of the planting working machine 3. (step S19). In this process, the control unit 36 determines whether or not the lowering operation of the work machine 3 with planting has stopped based on the detection result of the lift angle potentiometer 53 .

In the process of step S19, when the planting work machine 3 has stopped the downward movement (YES in step S19), the control unit 36 switches the work machine operation cam 31 to the "planting" position and engages the planting clutch. The connection is made (step S20), and the work machine operation control S1 ends. In the process of step S19, if the planting work machine 3 has not stopped the descending operation (NO in step S19), the control unit 36 temporarily switches the work machine operation cam 31 to the "planting" position. The state of waiting for engagement of the planting clutch to be held is entered (step S21), and the work machine operation control S1 is terminated.

Further, in the process of step S13, when the work preparation switch 52 is in the OFF state (OFF in step S13), the control unit 36 determines the position of the working machine operation cam 31 (steps S22 and S23), When the operating cam 31 is at the "raise" position (up in step S22), the working machine operating cam 31 is switched to the "fixed" position to end the working machine operation control S1 (step S25). If it is in the "raise" position (fixed in step S23), the work machine operation cam 31 is switched to the "lower (automatic)" position, and the work machine operation control S1 ends (step S24). In addition, in the processing of step S11, if the work implement lower operation switch 51b is not operated (no step S11), the control unit 36 determines whether or not the work implement upper operation switch 51a is operated (step S26). ).

In the process of step S26, if the work machine upper operation switch 51a is operated (step S26 is performed), the control unit 36 determines the position of the work machine operation cam 31 (steps S27 to S29), If the operation cam 31 is at the "raise" position (raise in step S27), the work machine operation control S1 is terminated, and if the work machine operation cam 31 is at the "fixed" position (fix in step S29), the work machine is operated. When the cam 31 is switched to the "raise" position to terminate the work implement operation control S1 (step S33) and the work implement operation cam 31 is at the "planting" position (planting in step S29), the work implement operation cam 31 to the "lower (automatic)" position, and the work machine operation control S1 ends (step S30).

In these processes, the control unit 36 determines which position the work implement operation cam 31 is in based on the detection result of the work implement operation cam potentiometer 32, and performs processing according to the position of the work implement operation cam 31. running

Further, in the process of step S28, when the working machine operation cam 31 is at the "lowering (automatic)" position (lowering (automatic) in step S28), the control unit 36 stops the lowering operation of the planting working machine 3. (Step S31). In this process, the control unit 36 determines whether or not the lowering operation of the work machine 3 with planting has stopped based on the detection result of the lift angle potentiometer 53 .

In the process of step S31, when the planting work machine 3 has stopped the descending operation (YES in step S31), the control unit 36 switches the work machine operation cam 31 to the "up" position to perform work machine operation control S1. is finished (step S33), and if the planting work machine 3 has not stopped descending (NO in step S31), the control unit 36 switches the work machine operation cam 31 to the "fixed" position to operate the work machine. Control S1 ends (step S32). Further, in the process of step S26, if the work implement upper operation switch 51a is not operated (no step S26), the control unit 36 determines whether or not the planting clutch is in a waiting state (step S34). .

In the process of step S34, if the planting clutch is in a waiting state (YES in step S34), the control unit 36 determines whether or not the descending operation of the planting work machine 3 has stopped (step S35), When the descending operation of the planting work machine 3 is stopped (YES in step S35), the work machine operation cam 31 is switched to the "planting" position, the planting clutch is connected, and the work machine operation control S1 is terminated. (Step S36). In the processing of step S34, if it is not in the state of waiting for the planting clutch to enter (NO in step S34), and in the processing of step S35, if the descending operation of the planting work machine 3 has not stopped (NO in step S35), control The unit 36 terminates the work implement operation control S1.

The ridge measurement control S2 will be described below with reference to FIGS. 8 and 13. FIG. The ridge measurement control S2 is control for making preparations for planting when starting planting work. Specifically, the ridge measurement control S2 measures the travel distance of the traveling machine body 1 from the ridge R0, and the planting start position A is separated from the ridge R0 by a preset headland width D0. It is a control for setting the target direction when the control unit 36 executes the straight control process while enabling the planting from ' to start.

When starting the planting work, the operator first sets the work preparation switch 52 to the ON state (ON in step S41), and sets the control unit 36 to the automatic planting mode (YES in step S44) and the automatic straight mode (YES in step S45). and the working machine operation cam 31 is in the "down (automatic)" position (YES in step S46), the rear end of the planting machine 3 is in a position overlapping the furrow R0. The traveling body 1 is moved to the origin O and stopped (YES in step S47). In this state, when the operator presses the work machine lower operation button 50b and lowers the work machine operation lever 44 so that the operation time T becomes equal to or longer than the predetermined time T0 (YES in step S43), the control unit 36 , the measurement flag is turned on, and the measurement of the running distance Dm is started by subtracting the headland width D0 as an initial value (step S48). A measurement flag is a flag which shows whether it is measuring the driving|running|working distance Dm from furrow R0 to planting start position A'.

When the work preparation switch 52 is in the OFF state (OFF in step S41), and when the control unit 36 is neither in the automatic planting mode nor in the automatic straight mode (NO in step S45), the working machine operation cam 31 is set to " If the position is other than the "lower (automatic)" position (NO in step S46), and if the traveling machine body 1 is traveling (NO in step S47), the operator presses the work machine lower operation button 50b and the work machine operation lever. When the operation time T of the lowering operation of 44 is less than the predetermined time T0 (NO in step S43), the control unit 36 terminates the ridge measurement control S2.

The work preparation switch 52 is in the ON state (ON in step S41), the operator does not press the work machine lower operation button 50b or lower the work machine control lever 44 (no step S42), and the measurement flag is in the ON state ( If YES in step S50), the control unit 36 determines whether or not the travel distance Dm has reached 0 (step S51). When the travel distance Dm reaches 0 (YES in step S51), in the case of the straight automatic mode (YES in S52), the control unit 36 reaches the planting start position A' where the traveling body 1 starts planting. Then, the direction setting flag is set to the ON state (step S56), and the traveling machine body 1 travels in one direction toward the field end E1 opposite to the field end E0 where planting is started. A so-called teaching run is started for setting the target heading. The direction setting flag is a flag that indicates whether or not the teaching run is in progress. In addition, the control unit 36 may measure the travel distance Dm by adding the initial value to 0, and determine that the planting start position A' is reached when the travel distance Dm reaches the headland width D0. . Further, the processing of step S51 constitutes headland width determination processing in the present embodiment.

When teaching travel is started and when the automatic straight-off mode is selected (NO in step S52), the control unit 36 switches the work implement operation cam 31 to the "planting" position and switches the measurement flag to the OFF state. , and the travel distance Dm are set to initial values (step S53). When the work preparation switch 52 is in the OFF state (OFF in step S41), the control section 36 terminates the ridge measurement control S2.

When the traveling machine body 1 performs teaching traveling with the direction setting flag ON (YES in step S59) and reaches the turning start position B' where the turning operation is started at the field end E1, the planting clutch is disconnected ( YES in step S58), the control unit 36 sets the planting start position A′ as the starting point and the turning start position B′, which is the position of the traveling machine body 1 when the planting clutch is disengaged, as the end point (step S60). A straight line L0 as a target bearing connecting the attached start position A' and the turning start position B' is set (step S61), and the direction setting flag is switched to the OFF state. In addition, the straight line L0 is a target azimuth in which the controller 36 autonomously travels by driving the steering motor 60 (see FIG. 6) in the straight-ahead automatic mode. Further, the process of step S56 for setting the planting start position A', the process of step S60 for setting the turning start position B' point, and the process of step S61 for setting the straight line L0 are equivalent to the target azimuth setting in the present embodiment. configure processing;

In this way, the control unit 36 executes the ridge measurement control S2 to measure the headland width D0, enable planting to start from the planting start position A', and measure the travel distance from the ridge R0. After determining that Dm has reached the headland width D0, the process proceeds to the process of setting the target azimuth by continuously calculating the straight line L0 without performing a mode switching operation or the like.

The turning control S3 will be described below with reference to FIGS. 9 and 13. FIG. The turning control S3 is a control for raising and lowering the planting work machine 3, connecting and disconnecting a planting clutch, etc., when performing a turning operation at the edge of the farm field. When the traveling machine body 1 travels toward the field edge E1 and reaches a turning start position B', which is a position where the traveling machine body 1 performs a turning operation to change the traveling direction in the opposite direction by steering the front wheels 9. When the operator rotates the steering handle 20a to change the rotation angle from the first angle α or less to the second angle β or more (YES in step S72), the automatic planting mode is set. If so (YES in step S75), the control unit 36 starts measuring the traveled distance Dt by adding 0 as an initial value, and operates the notification buzzer 61 and the notification lamp 62 so that the notification buzzer 61 outputs an intermittent sound. Turning notification including blinking of the notification lamp 62 is started (step S76). In this process, the control unit 36 measures the traveling distance Dt after the traveling machine body 1 starts turning operation at the edge of the field, and when the traveling distance Dt reaches the distance D1, the planting machine 3 is lowered. Planting can be restarted when the travel distance Dt reaches the distance D2, which is the travel distance at which the turning operation ends. In this process, the control unit 36 notifies the operator that the traveling distance Dt is being measured by causing the notification buzzer 61 and the notification lamp 62 to perform turning notification.

Note that the control unit 36 changes the operation mode according to the degree of progress from the start of the turning operation of the traveling body 1 to the end of the turning operation, specifically, the difference between the traveling distance Dt and the distance D2. 2, the notification buzzer 61 and the notification lamp 62 are made to perform turning notification. For example, the control unit 36 shortens the duration of one intermittent sound output by the notification buzzer 61 and the output interval as the difference between the travel distance Dt and the distance D2 decreases, and the duration of one flashing of the notification lamp 62. or shorten the flash interval. This allows the operator to intuitively predict the position at which planting should be resumed.

Further, when the rotation angle of the steering handle 20a changes from less than the first angle α to more than the second angle β (YES in step S72), if the automatic ascending mode is set (YES in step S73), and the process of step S76 is performed. When executed, the control unit 36 determines that the turning motion has been started, switches the work machine operation cam 31 to the "raise" position, disconnects the planting clutch, and raises the planting work machine 3 (step S74). . It should be noted that the process of step S74 constitutes the clutch disengagement process in the present embodiment.

Thus, the control unit 36 disconnects the planting clutch when the traveling body 1 starts turning motion in the automatic raising mode and the automatic planting mode.

In addition, when the work preparation switch 52 is in the OFF state (OFF in step S71), when the control unit 36 is neither the automatic raising mode (NO in step S73) nor the automatic planting mode (NO in step S75), the planting In the automatic off mode or the automatic rise mode (NO in step S79) and the rotation angle of the steering handle 20a has not changed from less than the first angle α to more than the second angle β (NO in step S72), the control unit 36 ends the turning control S3.

The operator maintains the state in which the rotation angle of the steering handle 20a is equal to or greater than the second angle β until the running azimuth of the running body 1 is reversed after the running body 1 starts turning operation, and the running body 1 runs. The steering handle 20a is rotated so that the rotation angle of the steering handle 20a becomes equal to or less than the first angle α when the azimuth is reversed.

In the planting automatic mode, when the traveling distance Dt from when the traveling body 1 starts turning operation exceeds the preset distance D1 (YES in step S82), the control unit 36 causes the working machine operation cam 31 to operate. Switching to the "descent (automatic)" position, the planting machine 3 is started to be lowered (step S83). In addition, the distance D1 is calculated from the distance D2, the time required for the planting work machine 3 to touch the ground, and the vehicle speed of the traveling machine body 1, and is set in advance. Further, since the easiness of slipping of the front wheels 9 and the rear wheels 10 differs depending on the state of the field F, etc., the distance D1 and the distance D2 can be adjusted by rotating the planting automatic operation dial 48a as described above. .

In this process, the controller 36 starts lowering the planting machine 3 so that the planting mechanism 6 touches the ground just before reaching the planting restart position A, ie, the position where the turning operation ends.

When the traveling azimuth of the traveling body 1 becomes opposite to the traveling azimuth at the time of starting the turning operation, the operator returns the rotation angle of the steering handle 20a to the first angle α or less to cause the traveling body 1 to travel straight. (YES in step S84) When the traveling distance Dt of the traveling machine body 1 from the turning start position B' reaches the distance D2, which is the distance at which the turning operation ends (YES in step S81), the control unit 36 operates the working machine. The cam 31 is switched to the "planting" position, the planting clutch is connected, planting is resumed (step S85), the initial value is set to the traveling distance Dt, and the in-turn notification is terminated (step S87). . It should be noted that the process of step S85 constitutes the clutch actuation process and clutch engagement process in the present embodiment. Similarly, when the operator operates either the work implement control button 50 or the work implement control lever 44 during the measurement of the travel distance Dt (YES in step S80), the travel distance Dt is set to the initial value. When the flag is set, the in-turn notification is ended (step S87), and the turn-time control S3 is ended.

In this way, the control unit 36 executes the turning control S3 to disconnect the planting clutch and the planting work machine when the traveling machine body 1 starts turning at the edge of the field in the automatic raising mode. 3 is raised, and in the planting automatic mode, when the traveling machine body 1 starts turning at the field end E1, the planting clutch is disengaged and the planting machine 3 is raised, and the travel distance Dt reaches the distance D2. Once reached, the planting clutch is engaged to allow planting to resume.

The straight automatic selection control S4 will be described below with reference to FIGS. 10 to 13. FIG. The straight driving automatic selection control S4 is a control for executing the first straight driving automatic control S92 and the second straight driving automatic control S93, which are subroutines, and executing and stopping the straight driving control processing in the straight driving automatic mode.

As shown in FIG. 10, when starting the straight automatic selection control S4, the control unit 36 first determines whether or not the planting automatic mode is selected (step S91). In this process, the control unit 36 determines whether or not the planting automatic mode is set, thereby determining which of the first straight automatic control S92 and the second straight automatic control S93 is to be executed.

In the first straight-ahead automatic control, the traveling distance Dt from the start of the turning operation of the traveling machine body 1 to the end thereof is measured at the edge of the field, and the turning operation is completed based on the traveling distance Dt and the rotation angle of the steering handle 20a. is determined, and straight-ahead control processing is started when the turning motion is completed.

In the second straight-ahead automatic control, the traveling distance Dt from the start of the turning operation of the traveling machine body 1 to the end thereof is measured at the edge of the field, and the turning operation is completed based on the traveling distance Dt and the rotation angle of the steering handle 20a. is determined, and straight-ahead control processing is started when the turning motion is completed.

In the process of step S91, if the control unit 36 is in either the planting automatic off mode or the automatic rising mode (step S91 OFF), the first straight automatic control is executed (step S92), and the planting automatic mode (ON in step S91), the second straight-ahead automatic control is executed (step S93).

As shown in FIG. 11, the first straight automatic control S92 is started, and at least one of the work preparation switch 52 is OFF (NO in step S101) and the straight automatic OFF mode (NO in step S102) is selected. If the condition is satisfied, the control unit 36 resets the data of the straight line L0 to the initial value (S103), and terminates the first straight-ahead automatic control S92.

At the field edge E1, when the work preparation switch 52 is ON (YES in step S101) and the straight line automatic mode (YES in step S102) has already been set by teaching traveling (YES in step S104). ), when the rotation angle of the steering wheel 20a becomes equal to or greater than the second angle β by the operator's rotation operation (YES in step S105), the control unit 36 determines that the turning operation has started, and starts measuring the traveling distance Dt. (Step S106). In addition, in the automatic raising mode and the automatic planting mode, the controller 36 switches the working machine operation cam 31 from the "planting" position to the "up" position when the turning operation is started, so that the planting clutch is disconnected, the planting work machine 3 rises, and in the automatic planting mode, the operator operates the work machine operation button 50 and the work machine operation lever 44, thereby disconnecting the planting clutch and planting. The attached working machine 3 rises.

After the turning operation is started, the rotation angle of the steering handle 20a becomes equal to or less than the first angle α by the operator's rotation operation (YES in step S110), the travel distance Dt reaches the distance D2 (step S112), and planting When the clutch is connected (YES in step S109), the control unit 36 determines that the planting restart position A has been reached, passes through the current position of the traveling body 1 detected by the position information detector 56, and is parallel to the straight line L0. A straight line L1 is set, and an initial value is set to the travel distance Dt (step S113).

When the process of step S113 is executed, the control unit 36 starts the straight control process in which the traveling body 1 travels along the straight line L0, that is, along the straight line L1 with the planting restart position A as the starting point, and notifies The buzzer 61 and the notification lamp 62 are caused to start straight-ahead control notification, which has a different output mode from turning notification (step S115). In this process, the control unit 36 starts the straight control process based on the fact that the turning operation is completed, the planting clutch is connected and the planting is restarted, and the information buzzer 61 and the information lamp 62 are under straight control. By executing the notification, the operator is notified that the straight control process is being executed. The control unit 36 executes straight-ahead control processing, and drives the steering motor 60 so that the distance between the current position of the traveling body 1 detected by the position information detector 56 and the straight line L1 becomes smaller.

In the first straight automatic control S92, when planting is interrupted due to replenishment of mat seedlings during execution of straight control processing (NO in step S109), the control unit 36 stops the straight control processing (step S108), When the planting clutch is connected again (YES in step S109), since the straight line L1 has already been set (step S111), the advance control process is resumed, and the information buzzer 61 and the information lamp 62 are in control of straight ahead. The notification is resumed (step S115).

When the traveling body 1 reaches the turning start position B and the operator sets the rotation angle of the steering handle 20a to the second angle β or more (YES in step S105), the control unit 36 determines that the turning operation has started again, and The data of L1 is reset to the initial value, and the measurement of the traveling distance Dt is started (step S106).

In this manner, the control unit 36 executes the first straight automatic control to execute straight control processing from the end of the turning operation to the start of the next turning operation. By repeating the autonomous traveling along the target direction by the control process, the traveling machine body 1 reciprocates in the field F and the seedlings are transplanted in the field F.

As shown in FIG. 12, the second straight-travel automatic control S93 is different from the first straight-travel automatic control S92 only in that the processing related to the travel distance Dt (steps S107, S112, and S114) is not executed. Since they are the same, the description is omitted.

As described above, the control unit 36 executes the automatic straight selection control S4 in the automatic straight driving mode, so that when the turning operation ends, the traveling distance Dt and the rotation angle of the steering handle 20a from the start of the turning operation are calculated. to determine the end of the turning motion, execute straight control processing, operate the notification buzzer 61 and the notification lamp 62, and perform notification during straight movement control.

In particular, the control unit 36 executes the automatic straight selection control S4 in the automatic planting mode and the automatic straight mode, thereby disengaging the planting clutch and ending the turning operation when the traveling machine body 1 starts turning at the edge of the field. When doing so, the end of the turning motion is determined based on the traveling distance Dt from the start of the turning motion, the rotation angle of the steering handle 20a, and the engagement of the planting clutch, and straight-ahead control processing is executed.

Since the riding rice transplanter P of the present embodiment is configured as described above, in a state where the control unit 36 is in the automatic planting mode and the automatic straight-ahead mode, the traveling machine body 1 is planted by executing the ridge measurement control S2. When it is determined that the planting start position A' has been reached, the process of setting the target orientation by setting the planting start position A', which is the starting point of the target orientation, is started. It is possible to start setting the straight line L0, which is the target azimuth of travel, following the confirming operation of A'.

Further, in the riding rice transplanter P of the present embodiment, the controller 36 determines the direction connecting the planting start position A' and the turning start position B', which is the position of the traveling machine body 1 when the turning operation is started. is set as the straight line L0, which is the target azimuth, the operator can omit the operation for setting the target azimuth, and the operator's operation burden can be reduced.

In addition, the riding rice transplanter P of the present embodiment connects the planting clutch at the planting start position A' in a state where the control unit 36 is in the automatic planting mode and the automatic straight mode, and the turning start position B' Since the planting clutch is disconnected at , it is possible to set the target direction while the operator is planting, and the operator's operation burden can be reduced.

In the present embodiment, the control unit 36 is configured to perform teaching travel while planting in the field by executing the ridge measurement control S2, but the present invention is not limited to this. By executing the ridge measurement control, the control unit connects the planting clutch and sets the planting start position A' when the traveling distance Dm from the ridge R0 reaches the headland width D0, For example, when only one row of planting is performed, the planting clutch is disconnected again, and then traveling without planting, so-called idle walking, and the traveling body 1 reaches the turning start position B', the planting start position is reached. A straight line L0 may be set with A′ as the starting point and the turning start position B′ as the ending point.

Further, in the present embodiment, the control unit 36 is configured to set the straight line L0 connecting the planting start position A' and the turning start position B' as the target direction by executing the ridge measurement control S2. but not limited to. The control unit calculates a straight line close to the trajectory of the position of the traveling machine body 1 from the planting start position A' to the turning start position B' obtained from the detection result of the position information detection unit, and sets it as the target direction. may be configured.

In addition, in the present embodiment, the position information detector 56 as a position information detection unit is configured to decode the position and time information of the traveling body 1 received by the receiving antenna, but is not limited to this. The position information detection unit only needs to have a receiving antenna capable of receiving a signal related to the position information of the running body. For example, the function of decoding the position and time information of the running body 1 based on the received signal is controlled You may be comprised so that a part may have.

In addition, in the present embodiment, the position information detector 56 as a position information detection unit decodes the position and time information of the traveling body 1 from the position and time information transmitted from a plurality of GPS satellites received by the receiving antenna. but is not limited to this. The position information detection unit may be configured to detect the position of the traveling body 1 by receiving radio waves from a plurality of transmission sources installed on the ground, for example.

Further, in the present embodiment, the control unit 36 calculates the traveling distance of the traveling machine body 1 based on the detection result of the traveling distance sensor 55, and calculates the vehicle speed of the traveling machine body 1 based on the traveling distance per unit time. but not limited to this. The control unit may be configured to be able to calculate the travel distance based on the detection result of the travel distance sensor that directly or indirectly detects the rotation amount of the travel device. The traveling distance and vehicle speed of the traveling body 1 may be calculated based on the detection result of the traveling distance sensor that detects the rotation amount of the front wheels 9, or the rotation amount of the rear wheels 10 may be calculated instead of the drive shaft. It may be configured to calculate the traveling distance and vehicle speed of the traveling body 1 based on the detection result of the traveling distance sensor, or the traveling distance for detecting the amount of rotation of other members that transmit power to the traveling device. It may be configured to calculate the traveling distance and vehicle speed of the traveling body 1 based on the detection result of the sensor. Also, the control unit may be configured to calculate the traveled distance based on the detection result of a vehicle speed sensor that detects the vehicle speed.

Moreover, in the present embodiment, the riding rice transplanter P having the traveling body 1 supported by the front wheels 9 and the rear wheels 10 has been described, but the present invention is not limited to this. The transplanter may include a traveling body supported by a crawler as a traveling device, or may be configured to be remotely controlled wirelessly. In the case of a configuration that allows wireless remote control, part of the functions of the control unit and the notification means may be provided in a controller that remotely controls the transplanter.

Next, a second embodiment of the invention will be described. The riding rice transplanter P1 of the second embodiment is the same as the riding rice transplanter P of the first embodiment except for the configuration of the planting automatic operation unit 70 and the control executed by the control unit 36. Therefore, the same contents as those in the first embodiment are omitted from the illustration or given the same reference numerals in the drawings.

As shown in FIG. 14(a), the planting automatic operation unit 70 has a mode switching dial 70a as an operation unit. The mode switching dial 70a is formed in a cylindrical shape and is supported by the front panel 42 so as to be rotatable by the operator about the axial direction. The mode switching dial 70a has an indicator 70b formed near the cylindrical surface of the mode switching dial 70a. In a predetermined direction, specifically in the counterclockwise direction, an automatic OFF position display portion 70c, an automatic elevation ON position display portion 70d, an automatic planting ON position display portion 70e, and an automatic straight ON position display portion 70f are arranged in this order. ing. The rotational position of the mode switching dial 70a can be identified by the positional relationship between the instruction section 70b and the display sections 70c to 70f.

The control unit 36 (see FIG. 6) has an automatic planting off mode, an automatic rise mode, an automatic planting mode, an automatic straight off mode, and an automatic straight mode. Each mode is switched. Specifically, when the mode switching dial 70a is positioned at the rotational position where the instruction portion 70b and the automatic off position display portion 70c face each other, the control portion 36 enters the automatic planting off mode and the straight automatic off mode. , When the instruction portion 70b and the automatic raising ON position display portion 70d are positioned at the opposite rotational positions, the automatic raising mode and the straight automatic OFF mode are set, and the instruction portion 70b and the automatic planting ON position display portion 70e face each other. When the planting position is located at the rotational position, the planting automatic ON mode and the straight automatic OFF mode are set. mode and straight-ahead automatic on mode. That is, when the mode switching dial 70a is rotated counterclockwise, the control unit 36 switches between the planting automatic off mode and the straight automatic off mode, the automatic rising mode and the straight automatic off mode, the planting automatic on mode and It is configured to be switchable in the order of the straight automatic off mode, the planting automatic on mode and the straight automatic on mode.

Since the riding rice transplanter P1 of the present embodiment is configured as described above, when the mode switching dial 70a is rotated in the counterclockwise direction, the planting automatic off mode, the straight automatic off mode, and the automatic raising mode are activated. Mode and automatic straight-off mode, automatic planting-on mode and automatic straight-off mode, and automatic planting-on mode and automatic straight-on mode can be switched in order, so that the processing executed by the control means is increased or decreased step by step. It is possible to prevent the operator from erroneously operating the mode switching dial 70a. In addition, the mode switching dial 70a capable of switching each mode of the control section 36 does not require a switch, a spring, or the like for detecting a pressing operation, so that the cost can be reduced with a simple configuration.

Next, a third embodiment of the invention will be described. The riding rice transplanter P2 of the third embodiment is the same as the riding rice transplanter P of the first embodiment except for the configuration of the automatic planting operation section 80 and the control of the mode display lamp 49. Therefore, the same contents as those in the first embodiment will be omitted from illustration or given the same reference numerals in the drawings.

As shown in FIG. 14(b), the planting automatic operation unit 80 has a mode switching button 80a as an operation unit. The mode switching button 80a is formed in a columnar shape, supported axially movably with respect to the front panel 42, and biased by a spring (not shown) in a direction to protrude from the front panel 42. .

The control unit 36 (see FIG. 6) has an automatic planting off mode, an automatic raising mode, an automatic planting mode, an automatic straight off mode, and an automatic straight mode. Each mode is switched according to the number of times the mode switching button 80a is pressed after the main power source or the work preparation switch is turned on. Specifically, when the main power supply or the work preparation switch is turned on, the control unit 36 enters the planting automatic off mode and the straight automatic off mode, and each time the mode switching button 80a is pressed, the planting Auto-off mode and automatic straight-off mode → Automatic rise mode and automatic straight-off mode → Automatic planting-on mode and automatic straight-off mode → Automatic planting-on mode and automatic straight-on mode → Automatic planting-off mode and automatic straight-off The mode is cyclically switched in the order of mode → .

Since the riding rice transplanter P2 of the present embodiment is configured as described above, the mode switching button 80a capable of switching each mode of the control unit 36 does not require a potentiometer or the like for detecting a rotation operation, and the configuration is simple. This makes it possible to reduce costs.

Next, a fourth embodiment of the invention will be described. The riding rice transplanter P3 of the fourth embodiment is the same as the riding rice transplanter P of the first embodiment except for the configuration of the automatic planting operation section 90 and the control of the mode display lamp 49. Therefore, the same contents as those in the first embodiment will be omitted from illustration or given the same reference numerals in the drawings.

As shown in FIG. 14(c), the planting automatic operation unit 90 has a mode switching dial 90a as an operation unit. The mode switching dial 90a is formed in a cylindrical shape, is supported by the front panel 42 so as to be rotatable about the axial direction, is movable in the axial direction, and protrudes from the front panel 42 by means of a spring (not shown). direction is urged. With such a configuration, the mode switching dial 90a can be operated by the operator to rotate about the axial direction and can be pressed to move in the axial direction.

The mode switching dial 90a has an indicator 90b formed near the cylindrical surface of the mode switching dial 90a. An automatic planting OFF position display portion 90c, an automatic elevation ON position display portion 90d, and an automatic planting ON position display portion 90e are arranged. The rotational position of the mode switching dial 90a can be identified by the positional relationship between the instruction section 90b and the display sections 90c to 90e.

The control unit 36 (see FIG. 6) has an automatic planting off mode, an automatic rising mode, an automatic planting mode, an automatic straight off mode, and an automatic straight mode. The planting automatic off mode, the automatic raising mode, and the planting automatic mode are switched, and each time the mode switching dial 90a is pressed, the straight automatic off mode and the straight automatic mode are switched. Specifically, when the mode switching dial 90a is positioned at the rotational position where the instruction portion 90b and the automatic planting-off position display portion 90c face each other, the control portion 36 enters the automatic planting-off mode, and the instruction portion When the 90b and the automatic raising ON position display section 90d are positioned at the opposite rotation positions, the automatic raising mode is entered, and the instruction section 90b is positioned at the rotation position facing the automatic planting ON position display section 90e. automatic planting mode.

Since the riding rice transplanter P3 of the present embodiment is configured as described above, the mode switching dial 90a capable of switching each mode of the control section 36 has a function other than switching of each mode of the control section 36. Since it is not connected, the operation becomes simple, and it is possible to prevent the operator from making an erroneous operation when performing the mode switching operation.

1 Traveling body 3 Planting work machine 9 Traveling device (front wheel)
10 traveling device (rear wheel)
36 control means (control unit)
56 position information detector (position information detector)
A' reference position (planting start position)
B' Turning start position D0 Headland width F Field L0 Target direction (straight line)
P Transplanter (riding rice transplanter)
P1 transplanter (riding rice transplanter)
P2 transplanter (riding rice transplanter)
P3 transplanter (riding rice transplanter)
R0 edge

Claims (3)

A transplanter that includes a traveling machine body supported by a traveling device and a planting machine supported by the traveling machine body, and that transplants seedlings into a field by the planting machine while traveling,
A position information detection unit that has a receiving antenna capable of receiving a signal related to the position information of the traveling machine body and detects the position of the traveling machine body;
A distance detection unit that detects the traveling distance of the traveling machine body;
A headland width for determining that the traveling machine body has reached a reference position separated by a headland width preset with respect to the ridge based on the traveling distance from the ridge detected by the distance detection unit. determination processing; target orientation setting processing for setting a target orientation by causing the traveling machine body to travel in one direction; and moving the traveling machine body to the target orientation based on the position of the traveling machine body detected by the position information detection unit. a control means capable of executing a straight control process for reciprocating along the
The control means has an automatic control mode for automatically starting the target azimuth setting process when it is determined in the headland width determination process that the traveling machine body has reached the reference position.
A transplanter characterized by: A steering unit that steers the traveling machine body,
In the target azimuth setting process, the control means sets the reference position and a turning start position, which is the position of the traveling machine body when it starts a turning operation after traveling in one direction from the reference position. is set as the target direction, and the reference position and the turning start position are set to the travel distance detected by the distance detection unit and the steering of the steering unit without using the map data of the farm field. judging on the basis of the angle and
A transplanter according to claim 1 . A planting clutch that is switched between a disconnected state and a connected state to connect and disconnect power supplied to the planting machine,
In the automatic control mode, the control means switches the planting clutch from the disconnected state to the connected state at the reference position, and switches the planting clutch from the connected state to the disconnected state at the turning start position.
3. The transplanter of claim 2.

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