JP7229406B2 - work vehicle - Google Patents

Description

The present invention relates to work vehicles.

In a riding rice transplanter, which is an example of a work vehicle, a teaching route and a target route parallel to the teaching route are generated by a teaching route generation means based on position information measured by a GPS device, and the traveling vehicle body is the target. There is a vehicle that autonomously travels on a route (see Patent Document 1, for example).
A riding rice transplanter, which is an example of a work vehicle, has auto-up control means for automatically raising the paddy field work device in conjunction with the steering operation of the traveling machine body, and interlocking with the operation of the shift lever to the reverse shift operation path. and backup control means for automatically raising the paddy field work device (see Patent Document 2, for example).
A riding rice transplanter, which is an example of a work vehicle, is equipped with a main transmission lever that enables shifting operation and forward/rearward switching operation of the main transmission device. A guide plate is equipped with a switch that sets the lateral outer side of the forward shift path side of the switching path to the engine stop position, and detects the operation of the main shift lever to the engine stop position, and the main shift lever is based on the output of the switch. There is a configuration in which the engine is stopped when an operation for holding the engine at the engine stop position is detected for a predetermined time (see, for example, Patent Document 3).

Japanese Patent Application Laid-Open No. 2008-131880 JP 2012-85646 A JP-A-2006-94753

In the configuration described in Patent Literature 1, the riding rice transplanter can be made to travel autonomously on the target route. However, when the riding rice transplanter reaches the turning area (headland), the running of the body is stopped automatically or by the operation of the driver (operator). Then, when the driver raises the ground working device (planting unit) and operates the autonomous traveling switch, the riding rice transplanter automatically turns in the desired direction, and after completing the automatic turning, , autonomously travels on the next target route. Then, when the planting start position is reached, the traveling of the machine body is stopped automatically or by the driver's operation. After that, by lowering the ground working device by the operation of the driver, it continues to travel autonomously on the target route.

In the configuration described in Patent Document 2, when the riding rice transplanter completes one stroke of work traveling and the machine body is largely steered for direction change in the direction change area (ridge edge), auto-up control is activated. The ground working device (paddy field working device) automatically rises and the transmission to the ground working device is cut off. In addition, when the riding rice transplanter completes one stroke of work travel and reverses the machine to change direction (switch turn) in the direction change area, the backup control works and the ground work device automatically rises. , and the transmission to the ground working device is cut off. However, after the direction of the riding rice transplanter is changed, the driver operates the operation lever so that the ground working device descends and touches the work land (field), and then the driver operates the operation lever again. At , transmission to the ground work equipment is resumed.

In the configuration described in Patent Document 3, when it becomes necessary to perform seedling replenishment work or the like during work traveling, the driver operates the main gear shift lever to the forward/backward switching path to switch the riding rice transplanter. After that, the engine can be stopped by operating the main transmission lever to the engine stop position. After the seedling replenishment work or the like is completed, the driver can restart the engine by operating the main gearshift lever from the engine stop position to the forward/reverse switching path, and then shift the main gearshift lever forward. By operating the path, the riding rice transplanter can be moved forward. However, in the configuration described in Patent Document 3, the riding rice transplanter cannot automatically travel on the target route, so the driver needs to steer the riding rice transplanter so that it does not deviate from the target route. be.

There is a demand for the development of a work vehicle that can appropriately run automatically.

A work vehicle according to the present invention includes a positioning unit that measures the position and orientation of a traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, registration of a teaching start position, straight travel after the registration, and a route setting unit that determines a reference orientation that is an extension direction of the target straight route based on execution of teaching control having registration of a teaching end point after straight travel, wherein the direction control unit determines the direction of the target straight route. In the control target area, automatic straight travel control is executed to cause the travel to automatically travel on the target straight travel route based on the target straight travel route and the positioning result of the positioning unit. When it is detected that the vehicle body has reached the end of the control target region on the target straight route, the automatic straight control is ended, and the aircraft turns to a manual direction change state, and the control target region is the target straight route. from the actual travel area from the travel start point to the travel end point in the manual travel area in which the traveling vehicle body travels on the target straight route from the travel start point until the automatic straight travel control execution condition is satisfied. is.
Further, the work vehicle according to the present invention includes a route setting unit that sets a target straight route, a positioning unit that measures the position and orientation of the traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and the traveling vehicle. A transition detection unit for detecting transition of a running state of the vehicle body; and a work control unit for switching between a working state and a non-working state of a ground working device connected to the running vehicle body so as to be able to move up and down. In the control target area of the target straight route, automatic straight travel control is executed to automatically run the traveling vehicle body on the target straight route based on the target straight route and the positioning result of the positioning unit, and the work is performed. The control unit executes non-working state switching control for switching the ground working device to the non-working state in conjunction with the transition detection unit detecting transition of the traveling vehicle body from the straight traveling state to the turning state. In addition, working state switching control for switching the ground working device to the working state is executed in conjunction with detection of the transition of the traveling vehicle body from the direction change state to the straight traveling state by the transition detection unit.

According to this means, in the control target area of the target straight route, the traveling vehicle body automatically travels on the target straight route by the control operation of the direction control unit. You don't have to steer like you don't.
Then, when the traveling vehicle body moves out of the control target area of the target straight route, the driver steers the traveling vehicle body. When the direction change operation to move from the target straight route to the next target straight route is started, the transition detection unit detects the transition of the traveling vehicle body from the straight state to the direction change state, and based on this detection, the work control unit Control operation As a result, the ground working device is switched from the working state to the non-working state in conjunction with the transition of the traveling vehicle body from the straight-ahead state to the direction-changing state.
Thereafter, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight traveling route, the transition detection unit detects the transition of the traveling vehicle body from the direction changing state to the straight traveling state. The ground working device is switched from the non-working state to the working state in conjunction with the transition of the traveling vehicle body from the direction change state to the straight traveling state by the control operation of the work control unit based on the above.
In other words, in the control target area of the target straight route, the automatic straight control is executed so that the traveling vehicle body automatically travels on the target straight route. State switching control and non-working state switching control are appropriately executed, and the ground working device is switched between the working state and the non-working state at appropriate timing.
As a result, it is possible to effectively reduce the driver's labor required during work travel without incurring a decrease in work efficiency.

As another means to solve the above problems,
A work vehicle according to the present invention comprises a route setting section for setting a target straight route, a positioning unit for measuring the position and orientation of a traveling vehicle body, a direction control section for controlling the traveling direction of the traveling vehicle body, and an engine operation. An engine control unit that controls and a condition determination unit that determines whether the temporary stop condition and the restart condition of the engine are satisfied,
The direction control unit automatically performs automatic straight-travel control for causing the traveling vehicle body to automatically travel on the target straight-travel route in the control target area of the target straight-travel route, based on the target straight-travel route and the positioning result of the positioning unit. and run
The engine control unit executes engine suspension control for temporarily stopping the engine when the condition determination unit determines that the suspension condition is satisfied, and the condition determination unit determines that the restart condition is satisfied. When it is determined, execute engine restart control for restarting the engine,
The direction control unit interrupts the automatic straight-line control when the engine pause control is executed during execution of the automatic straight-line control, and when the engine restart control is executed while the automatic straight-line control is interrupted. Then, the automatic straight-ahead control is resumed.

According to this means, in the control target area of the target straight route, the traveling vehicle body automatically travels on the target straight route by the control operation of the direction control unit. You don't have to steer like you don't.
Here, for example, the work vehicle is provided with a reservoir for storing the supply to be supplied to the work site, the engine temporary stop condition is set to operation from the neutral position of the main transmission lever to the engine stop position, and , the engine restart condition is set to the operation of the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when it becomes necessary to replenish the supply to the reservoir during the execution of automatic straight-ahead control, for example, when the driver operates the main gear shift lever to the neutral position, the transmission to the traveling device is performed. is cut off and the running vehicle body stops running. After that, when the driver operates the main shift lever to the engine stop position, the condition determination section determines that the engine temporary stop condition is satisfied, and the engine is temporarily stopped by the control operation of the engine control section based on this determination. As a result, the driver can quickly replenish the reservoir with the supply while preventing wasteful consumption of fuel during replenishment work. Further, at this time, the direction control unit suspends the automatic straight-ahead control, so that it is possible to prevent wasteful power consumption caused by the continuation of the automatic straight-ahead control while the engine is temporarily stopped.
After that, when the driver finishes replenishing the supply storage section and operates the main transmission lever from the engine stop position to the neutral position, the condition determination unit determines whether the engine restart condition is satisfied, and based on this determination, the engine restart condition is satisfied. Controlling the engine control causes the engine to start again. After that, when the driver operates the main shift lever from the neutral position to the forward shift position, forward power is transmitted to the traveling device and the traveling vehicle body moves forward. When the vehicle is traveling forward, the directional control unit resumes automatic straight-ahead control when the engine is restarted, so the traveling vehicle body automatically travels along the target straight-ahead route.
As a result, it is possible to reduce the driver's effort required during work travel while preventing wasteful consumption of fuel and power.

As another means to solve the above problems,
A work vehicle according to the present invention includes a route setting unit that sets a target straight route, a positioning unit that measures the position and orientation of a traveling vehicle body, a direction control unit that controls the traveling direction of the traveling vehicle body, and a transition detection unit for detecting transition of the running state, a work control unit for switching between a working state and a non-working state of the ground working device connected to the traveling vehicle body so as to be able to move up and down, and an engine control unit for controlling the operation of the engine. , a condition determination unit that determines whether the temporary stop condition and the restart condition of the engine are satisfied,
The direction control unit automatically performs automatic straight-travel control for causing the traveling vehicle body to automatically travel on the target straight-travel route in the control target area of the target straight-travel route, based on the target straight-travel route and the positioning result of the positioning unit. and run
The work control section performs non-working state switching control for switching the ground working device to the non-working state in conjunction with the transition detection section detecting transition of the traveling vehicle body from the straight traveling state to the direction change state. and executing work state switching control for switching the ground work device to the work state in conjunction with the transition detection unit detecting a transition of the traveling vehicle body from a direction change state to a straight running state,
The engine control unit executes engine suspension control for temporarily stopping the engine when the condition determination unit determines that the suspension condition is satisfied, and the condition determination unit determines that the restart condition is satisfied. When it is determined, execute engine restart control for restarting the engine,
The direction control unit interrupts the automatic straight-travel control when the engine pause control is executed during execution of the automatic straight-travel control, and executes the engine restart control during the suspension of the automatic straight-travel control. If so, the automatic straight-ahead control is resumed.

According to this means, in the control target area of the target straight route, the traveling vehicle body automatically travels on the target straight route by the control operation of the direction control unit. You don't have to steer like you don't.
Then, when the traveling vehicle body moves out of the control target area of the target straight route, the driver steers the traveling vehicle body. When the direction change operation to move from the target straight route to the next target straight route is started, the transition detection unit detects the transition of the traveling vehicle body from the straight state to the direction change state, and based on this detection, the work control unit Control operation As a result, the ground working device is switched from the working state to the non-working state in conjunction with the transition of the traveling vehicle body from the straight-ahead state to the direction-changing state.
Thereafter, when the driver finishes the direction change operation as the traveling vehicle body reaches the next target straight traveling route, the transition detection unit detects the transition of the traveling vehicle body from the direction changing state to the straight traveling state. The ground working device is switched from the non-working state to the working state in conjunction with the transition of the traveling vehicle body from the direction change state to the straight traveling state by the control operation of the work control unit based on the above.
In other words, in the control target area of the target straight route, the automatic straight control is executed so that the traveling vehicle body automatically travels on the target straight route. State switching control and non-working state switching control are appropriately executed, and the ground working device is switched between the working state and the non-working state at appropriate timing.
Here, for example, the work vehicle is provided with a reservoir for storing the supply to be supplied to the work site, the engine temporary stop condition is set to operation from the neutral position of the main transmission lever to the engine stop position, and , the engine restart condition is set to the operation of the main shift lever from the engine stop position to the neutral position.
In such a work vehicle, when it becomes necessary to replenish the supply to the reservoir during the execution of automatic straight-ahead control, for example, when the driver operates the main gear shift lever to the neutral position, the transmission to the traveling device is performed. is cut off and the running vehicle body stops running. After that, when the driver operates the main shift lever to the engine stop position, the condition determination section determines that the engine temporary stop condition is satisfied, and the engine is temporarily stopped by the control operation of the engine control section based on this determination. As a result, the driver can quickly replenish the reservoir with the supply while preventing wasteful consumption of fuel during replenishment work. Further, at this time, the direction control unit suspends the automatic straight-ahead control, so that it is possible to prevent wasteful power consumption caused by the continuation of the automatic straight-ahead control while the engine is temporarily stopped.
After that, when the driver finishes replenishing the supply storage section and operates the main transmission lever from the engine stop position to the neutral position, the condition determination unit determines whether the engine restart condition is satisfied, and based on this determination, the engine restart condition is satisfied. Controlling the engine control causes the engine to start again. After that, when the driver operates the main shift lever from the neutral position to the forward shift position, forward power is transmitted to the traveling device and the traveling vehicle body moves forward. When the vehicle is traveling forward, the directional control unit resumes the automatic straight-ahead control when the engine is restarted, so the traveling vehicle body automatically travels on the target straight-ahead route.
As a result, it is possible to effectively reduce the driver's effort required during work travel without causing a decrease in work efficiency and while preventing wasteful consumption of fuel and power.

As one of means for making the present invention more suitable,
The positioning unit comprises a satellite navigation system and an inertial measurement system.

According to this means, for example, the absolute position of the work vehicle obtained from the satellite navigation system makes it possible to correct the accumulated error contained in the relative position of the work vehicle obtained from the inertial measurement device.
Further, for example, it is possible to correct the positioning error of the satellite navigation system due to the positional deviation of the GPS antenna due to the inclination of the traveling vehicle body by using a triaxial gyroscope or the like installed in the inertial measurement device.
As a result, the position and orientation of the traveling vehicle body can be accurately measured, and the traveling vehicle body can be accurately traveled on the target straight travel route by the control operation of the direction control unit in the control target area of the target straight travel route.

As one of means for making the present invention more suitable,
a manual main switch that intermittently energizes each electrical component from a battery; and an energization holding unit that enables energization from the battery bypassing the main switch to the satellite navigation device
The energization holding unit switches to an energization holding state in which the satellite navigation device is energized from the battery in conjunction with the disconnection operation of the main switch, and is interlocked with the connection operation of the main switch to switch from the battery to the It switches to the de-energization state in which the satellite navigation device is de-energized.

In order to prevent wasteful fuel consumption during work breaks such as breaks, the driver shuts off the main switch to stop the engine by shutting off the power supply from the battery to each electrical component. There is At this time, the operation of the satellite navigation device is also stopped by normally stopping power supply to the satellite navigation device.
Here, it is known that a satellite navigation device takes a long time to start up after power supply to the satellite navigation device is started until positioning using a satellite becomes possible. Therefore, for example, when the driver shuts off the main switch to stop the engine in order to prevent wasteful fuel consumption during a break, the satellite navigation system also operates in conjunction with the shut-off operation at this time. Therefore, even if the driver operates the main switch to start the engine after taking a break, etc., until the satellite navigation system starts up, the work traveling using automatic straight-ahead control will continue. It will not be possible to restart. As a result, when waiting for the start-up of the satellite navigation system, work efficiency is lowered. This forces the driver to work hard to steer so as not to come off.

Therefore, in this means, for example, in order to prevent wasteful fuel consumption during a break, when the driver shuts off the main switch to stop the engine, the shutoff operation of the main switch at that time is performed. , the energization holding unit switches to the energization holding state to maintain the satellite navigation device in the operating state. As a result, when the driver operates the main switch to start the engine after taking a break or the like, the engine can be started and the work travel using the automatic straight-ahead control can be restarted.
As a result, it is possible to prevent wasteful consumption of fuel during breaks, etc., without lowering work efficiency or increasing the amount of labor required of the driver.

As one of means for making the present invention more suitable,
a manual main switch that intermittently energizes each electrical component from a battery;
The energization holding unit switches to an energization holding state in which the inertial measurement device is energized from the battery in conjunction with the disconnection operation of the main switch, and is interlocked with the connection operation of the main switch to switch from the battery to the It switches to the de-energization state in which the inertial measurement device is de-energized.

In order to prevent wasteful fuel consumption during work breaks such as breaks, the driver shuts off the main switch to stop the engine by shutting off the power supply from the battery to each electrical component. There is At this time, energization to the inertial measurement device is also normally stopped, so that the inertial measurement device also stops operating.
Here, it is known that the measurement accuracy of the gyroscope provided in the inertial measurement device is unstable unless the warm-up operation is performed. Therefore, for example, when the driver shuts off the main switch to stop the engine in order to prevent wasteful fuel consumption during a break, the inertia measurement device also stops operating along with the shutoff operation at this time. Therefore, even if the driver operates the main switch to start the engine after taking a break, etc., work driving using automatic straight-ahead control will continue until the gyroscope finishes warming up. cannot be restarted. As a result, when waiting for the end of the warm-up operation of the gyroscope, work efficiency will be lowered, and when restarting the work traveling without waiting for the end of the warm-up operation, the riding rice transplanter will be damaged. This forces the driver to work hard to steer so as not to deviate from the target route.

Therefore, in this means, for example, in order to prevent wasteful fuel consumption during a break, when the driver shuts off the main switch to stop the engine, the shut-off operation of the main switch at that time is performed. , the energization holding unit switches to the energization holding state to maintain the inertial measurement device in the operating state. As a result, when the driver operates the main switch to start the engine after taking a break or the like, the work travel using the automatic straight-ahead control can be resumed together with the engine start.
As a result, it is possible to prevent wasteful consumption of fuel during a break, etc., without lowering work efficiency or increasing the amount of labor required of the driver.

As one means for making the present invention more suitable,
The energization holding unit switches to the energization holding state in conjunction with the cutoff operation of the main switch and starts timing, and connects the main switch during a period from switching to the energization holding state until a set time elapses. When the operation is performed, the connection operation of the main switch is not performed during the period until the energization holding state is switched to the energization stop state in conjunction with the connection operation, and the set time elapses. In this case, the energization holding state is switched to the energization stop state as the set time elapses.

According to this means, when the driver cuts off the main switch at the completion of the work, the energization holding unit automatically switches from the energization holding state to the energization stop state as the set time elapses. to de-energize the satellite navigation system or inertial measurement system. As a result, for example, if the set time is set to a time longer than the maximum time assumed as the work travel interruption time, the satellite navigation device or the inertial measurement device can It is possible to suppress unnecessary continuation of energization to the satellite navigation device or the inertial measurement device even after the completion of the work, while avoiding the energization of the satellite navigation device or the inertial measurement device from being stopped.
As a result, it is possible to prevent wasteful consumption of fuel during a break or the like, and it is possible to suppress wasteful power consumption after completion of work.

As one of means for making the present invention more suitable,
The set time is set to a longer time for an electrical component with a higher degree of importance, according to the degree of importance of maintaining energization set for each electrical component to be energized and maintained by the energization maintaining unit.

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

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

According to this means, for example, the satellite navigation device or the inertial measurement device is in the energization holding state by the energization holding unit, or the remaining time until the energization holding unit switches from the energization holding state to the energization stop state. can inform

As one means for making the present invention more suitable,
A vehicle speed control unit for controlling vehicle speed, and a transition estimation unit for estimating a transition from the driver's driving state to a work state other than driving,
The vehicle speed control unit executes deceleration control to reduce the vehicle speed when the shift estimation unit estimates that the driver will shift to the other work state.

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

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

According to this means, when the driver forgets to stop the traveling vehicle body and shifts from the driving state to another work state, the transition estimation unit detects the driver's movement based on the detection of the first seat sensor. Estimate the transition from one operating state to another working state. Then, the vehicle speed is reduced by deceleration control of the vehicle speed control unit based on this estimation.
As a result, the driver can be reminded that he or she has forgotten to stop the traveling vehicle body, and can be prompted to perform an operation to stop the traveling vehicle body. Further, it is possible to shorten the time required for the traveling vehicle body to stop traveling after the driver performs an operation to stop the traveling vehicle body.

As one means for making the present invention more suitable,
a second seat sensor for detecting pivotal movement of a driver's seat pivotable about a longitudinal axis from a forward-facing reference position;
The transition estimating unit estimates transition of the driver to the other work state when a turning movement of the driver's seat from the reference position is detected based on detection by the second seat sensor.

According to this means, when the driver forgets to stop the traveling vehicle body and shifts from the driving state to another working state, the transition estimation unit detects the driver's motion based on the detection of the second seat sensor. Estimate the transition from one operating state to another working state. Then, the vehicle speed is reduced by deceleration control of the vehicle speed control unit based on this estimation.
As a result, the driver can be reminded that he or she has forgotten to stop the traveling vehicle body, and can be prompted to perform an operation to stop the traveling vehicle body. Further, it is possible to shorten the time required for the traveling vehicle body to stop traveling after the driver performs an operation to stop the traveling vehicle body.

As one of means for making the present invention more suitable,
A storage unit for storing the supply to be supplied to the work area, a remaining amount detection unit for detecting the remaining amount in the storage unit, and operation when the detection value of the remaining amount detection unit has decreased to the set value for replenishment. and a notification unit for informing the person,
The transition estimating section estimates transition of the driver to the other work state when the detection value of the remaining amount detecting section decreases to the set value.

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

As one means for making the present invention more suitable,
The remaining amount detecting section detects the remaining amount in the storing section by arithmetic processing based on the positioning result of the positioning unit.

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

As one means for making the present invention more suitable,
Equipped with a defect sensor that detects the occurrence of a defect related to work, and a notification unit that notifies the driver of the occurrence of the defect,
The transition estimating unit estimates transition of the driver to the other work state when the malfunction sensor detects the occurrence of a malfunction.

According to this means, the transition estimating unit, based on the detection of the malfunction sensor, estimates the transition from the driving state of the driver to the maintenance work state for resolving the malfunction detected by the malfunction sensor as another work state. can be done. Then, the vehicle speed is reduced by deceleration control of the vehicle speed control unit based on this estimation. As a result, it is possible to reduce the time required for the running vehicle to stop running when the driver performs the operation to stop the running vehicle before shifting from the operating state to the maintenance work state.
As a result, the transition from the operating state to the maintenance work state can be performed efficiently.

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

According to this means, for example, when the driver determines that there is no need to perform other work such as replenishment of the supply to the storage section near the end of the work run, the transition estimating section is switched to the stopped state. Thus, it is possible to avoid a decrease in vehicle speed due to the deceleration control of the vehicle speed control unit.
As a result, when there is no need to perform other work, it is possible to avoid a decrease in work efficiency due to a decrease in vehicle speed due to deceleration control by the vehicle speed control unit.

As one of means for making the present invention more suitable,
a transition detection unit that detects a transition from the driver's driving state to a work state other than driving,
The vehicle speed control unit executes deceleration control to reduce the vehicle speed to reduce the vehicle speed to zero when the shift detection unit detects the shift of the driver to the other work state.

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

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

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

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

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

As one of means for making the present invention more suitable,
A notification unit is provided to notify the driver of execution of the deceleration control.

According to this means, when the vehicle speed decreases due to the deceleration control of the vehicle speed control section, the notification section can notify the driver of this fact.
As a result, it is possible to avoid the possibility that the driver will feel a sense of discomfort when the vehicle speed decreases due to the deceleration control of the vehicle speed control unit.

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

According to this means, when the traveling vehicle body reaches the turning start point, the traveling vehicle body automatically changes direction from the current target straight-travel route to the next target straight-travel route by the control operation of the direction control unit. , there is no need to perform steering to change the direction of the traveling vehicle body.
As a result, it is possible to further reduce the driver's labor required during work travel.

As one of means for making the present invention more suitable,
A manual changeover switch for switching the direction control unit between an execution state in which the automatic direction change control is executed and a non-execution state in which the automatic direction change control is not executed,
When the direction control unit is switched to the execution state in a state in which the turn start point is not stored in the point storage unit, the driver is informed that the turn start point is not stored in the point storage unit. It is equipped with an informing unit for informing.

According to this means, even if the direction control unit has been switched to the execution state in which the automatic direction change control is executed by the changeover switch, if the change start point is not stored in the point storage unit, the arrival determination unit determines whether the traveling vehicle body is to change direction. Arrival at the starting point cannot be determined, and as a result, even if the traveling vehicle body reaches the turning start point, automatic direction change control by the direction control unit is not executed. can inform people.
As a result, the driver determines whether the traveling vehicle body has reached the turning start point, and when the traveling vehicle body reaches the turning start point, the driver manually changes direction to move the traveling vehicle body from the current target straight route to the next one. It is possible to make the driver recognize that it is necessary to move toward the target straight route.
As a result, the driver misunderstands that the turning start point has already been stored in the point storage unit and that the direction control unit will execute automatic direction change control as the traveling vehicle body reaches the turning start point. Due to this, even if the traveling vehicle body reaches the turning start point, it is possible to avoid the possibility that the manual turning operation will not be performed.

It is a left side view of a riding rice transplanter. Fig. 2 is a schematic plan view showing the transmission configuration, steering configuration, etc. of the riding rice transplanter; FIG. 4 is a schematic plan view showing a transmission configuration for running; Fig. 2 is a schematic plan view showing a working transmission arrangement; FIG. 4 is a cross-sectional plan view of a main portion showing an operation path of a main shift lever; It is a block diagram which shows a control structure. FIG. 2 is a schematic circuit diagram showing a circuit configuration related to starting operation, stopping operation, etc. of an engine; Fig. 10 is a plan view showing a preparatory travel stage of the riding rice transplanter for securing work travel paths for round planting; It is a top view which shows the state just before turning movement of a riding rice transplanter from the work driving|running route for rotary planting to the working driving|running route for reciprocating planting. It is a top view which shows the driving|running state in the work driving|running|working route for reciprocating planting of a riding rice transplanter. It is a top view which shows the state just before turning movement of a riding rice transplanter from the work driving|running path|route for reciprocating planting to the work driving|running path|route for rotary planting.

EMBODIMENT OF THE INVENTION Hereinafter, as an example of the form for implementing this invention, embodiment which applied this invention to the riding rice transplanter which is an example of a working vehicle is described based on drawing.

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

As shown in FIG. 1, the riding rice transplanter exemplified in the present embodiment includes a riding type four-wheel-drive traveling vehicle body 1 and a parallel quadruple-link type vehicle body connected to the rear portion of the traveling vehicle body 1 so as to be capable of lifting and swinging. A link mechanism 2, a hydraulic elevating cylinder 3 for swinging the link mechanism 2, and an eight-row seedling planting device (an example of a ground working device Z) 4 connected to the rear end of the link mechanism 2 so as to be able to roll. , and an eight-row fertilizing device (an example of a ground working device) 5 extending from the rear end of the traveling vehicle body 1 to the seedling planting device 4 .
As a result, the riding rice transplanter has a mid-mount fertilization specification that can plant and fertilize up to eight seedlings. In addition, the riding rice transplanter can drive the seedling planting device 4 and part of the fertilizing device 5 up and down by operating the elevating cylinder 3 .

As shown in FIGS. 1 to 4, the traveling vehicle body 1 includes, as traveling devices 6, left and right front wheels 6A as steerable driving wheels and left and right rear wheels 6B as non-steerable driving wheels. An engine 7 is anti-vibration mounted on the front part of the traveling vehicle body 1. - 特許庁The power from the engine 7 is belt-transmitted to the main transmission 8, and the power after the gear change by the main transmission 8 is transmitted inside the transmission case (hereinafter referred to as the T/M case) 9 for running and working. branched. Driving power is transmitted inside the T/M case 9 via an auxiliary transmission 10 to a front wheel differential 11 . Of the driving power, the power for driving the front wheels is transmitted from the differential gear 11 for the front wheels to the left and right front wheels 6A via the left and right differential shafts 12 and the like. In addition, the power for driving the rear wheels of the power for running is a transmission gear 13 that rotates integrally with the differential gear 11 for the front wheels, a first external transmission shaft 15 extending from the T/M case 9 to the rear axle case 14, Then, it is transmitted to the left and right rear wheels 6B via the rear wheel transmission mechanism 16 built in the rear axle case 14 and the like. The rear-wheel transmission mechanism 16 includes left and right side clutches 17 for intermittently transmitting power to the left and right rear wheels 6B, and a deceleration unit 18 for decelerating and transmitting power for driving the rear wheels to the left and right rear wheels 6B. ing. On the other hand, power for work is provided by a one-way clutch 19 built in the T/M case 9, a transmission between plants 20, a first work clutch 21, and a second external transmission from the T/M case 9 to the seedling planting device 4. It is transmitted to the seedling planting device 4 via a shaft 22 and the like.

The engine 7 employs a water-cooled gasoline engine. The main transmission 8 employs a hydrostatic continuously variable transmission. The auxiliary transmission 10 employs a gear-type transmission capable of shifting between two high and low speeds, ie, a low speed state for work travel and a high speed state for transfer travel. Each of the left and right side clutches 17 employs a multi-disc friction clutch, and is provided with a spring (not shown) that urges each side clutch 17 to return to the connected state. A gear-type transmission capable of six-speed transmission is adopted as the transmission between shares 20.例文帳に追加

As shown in FIGS. 1, 4, and 6, the seedling planting device 4 is operated by the power from the traveling vehicle body 1 by the intermittent operation of the first work clutch 21, and the power from the traveling vehicle body 1 is operated. It switches to a non-operating state in which it is disconnected and deactivated. The seedling planting device 4 includes five leveling floats 23, a seedling mounting table (an example of a reservoir) 24 for eight rows, a horizontal feeding mechanism (not shown), a belt-type vertical feeding mechanism 25, and eight A planting mechanism 26 and the like are provided. Each leveling float 23 slides on the mud surface of the paddy field as the traveling vehicle body 1 travels in a state where they are grounded to level the mud surface such as a seedling planting planned location. The seedling mounting table 24 is formed so that eight rows of mat-like seedlings can be mounted. The lateral feeding mechanism reciprocates the seedling mounting table 24 in the lateral direction with a constant stroke corresponding to the lateral width of the mat-like seedling by the power from the traveling vehicle body 1 . The vertical feeding mechanism 25 vertically feeds each mat-like seedling on the seedling mounting table 24 toward the lower end of the seedling mounting table 24 at a predetermined pitch each time the seedling mounting table 24 reaches the left and right stroke ends. Each planting mechanism 26 is of a rotary type and is arranged in the left-right direction at regular intervals corresponding to the intervals between planting rows. Each planting mechanism 26 cuts off a predetermined amount of seedlings from the lower end of each mat-like seedling placed on the seedling mounting table 24 by power from the traveling vehicle body 1, and plants them in the muddy part after leveling.
As a result, when the seedling planting device 4 is in operation, a predetermined amount of seedlings can be taken out from the mat-like seedlings placed on the seedling mounting table 24 and planted in the mud part of the paddy field. The working width W of the seedling planting device 4 is a length obtained by multiplying the number of rows planted by the seedling planting device 4 by the distance between rows.

As shown in FIG. 1, the seedling planting device 4 is provided with float fulcrum shafts 27 extending over both left and right ends thereof so as to be relatively rotatable. Each of the ground leveling floats 23 is supported, at its rear portion, by free end portions of five sets of support arms 28 extending rearward and downward from a float fulcrum shaft 27 so as to be capable of vertical swing.

As shown in FIGS. 1, 6, and 8 to 11, the seedling planting device 4 vertically swings the left and right markers 29 that form the reference line of travel on the mud surface of the paddy field, and the left and right markers 29. It has an electric marker motor 30 to be driven. The left and right markers 29 are undulated and swung between a retracted posture in which they stand up along the seedling planting device 4 and a working posture in which they protrude laterally outward from the seedling planting device 4 by the operation of the marker motor 30 . When the left and right markers 29 are in the retracted posture, the rotors 29A for forming the reference line of travel provided at the free ends of the markers 29 are separated from the mud surface. In addition, the left and right markers 29, in the operating posture, the rotating body 29A plunges into the mud surface, and along with traveling on the current traveling route, the traveling reference line L to be used on the traveling route adjacent to the current traveling route. formed on the mud surface.

As shown in FIGS. 1 and 6, the fertilizing device 5 includes a horizontally long hopper (an example of a reservoir) 31, four delivery mechanisms 32, an electric blower 33, eight fertilizing hoses 34, and eight fertilizing hoses. grooving device 35, and the like. The hopper 31 stores granular or powdery fertilizer. Each delivery mechanism 32 operates by power transmitted via a fertilizing transmission mechanism 36 . Then, each delivery mechanism 32 delivers two rows of fertilizer from the hopper 31 by a predetermined amount by its operation. The blower 33 operates with electric power from a battery 37 mounted on the traveling vehicle body 1 . The blower 33, by its operation, generates a conveying wind that conveys the fertilizer delivered by each delivery mechanism 32 toward the mud surface of the paddy field. Each fertilizing hose 34 guides the fertilizer conveyed by the conveying wind to each grooving device 35 . Each grooving device 35 is provided on each leveling float 23 . Each grooving device 35 ascends and descends together with each leveling float 23, forms a fertilizing groove in the muddy part of the paddy field, and guides the fertilizer into the fertilizing groove during work travel in which each leveling float 23 touches the ground.

The fertilizing device 5 has an operating state in which each delivery mechanism 32 and the blower 33 are operated by connecting and disconnecting the second work clutch 38 provided in the fertilizing transmission mechanism 36 and connecting and disconnecting the blower relay 39 provided in the electric circuit, Each delivery mechanism 32 and the blower 33 are switched to a non-operating state in which the operation is stopped. When the fertilizing device 5 is in operation, a predetermined amount of fertilizer stored in the hopper 31 can be taken out and buried in the mud of the paddy field.

As shown in FIGS. 1 to 3 and 6, the traveling vehicle body 1 has an operating section 40 on its rear side. The driving unit 40 includes a steering wheel 41 for steering the front wheels, a main gearshift lever 42 that enables gearshift operation of the main transmission 8, an auxiliary gearshift lever 43 that allows gearshift operation of the auxiliary gearbox 10, and a braking device 100. Various information such as a brake pedal 44 that enables operation, a first work lever 45 and a second work lever 46 that enable the raising and lowering operation of the seedling planting device 4 and switching of the operating state, and the number of engine revolutions are transmitted to the driver. and a driver's seat 48 pivotable about a longitudinal axis from a forward-facing reference position and biased to return to the reference position.

The brake pedal 44 automatically returns to the depression release position. The first working lever 45 is a swinging type capable of swinging to each operating position of planting, lowering, neutral, raising, and automatic, and is configured as a position holding type capable of holding the position at each operating position. It is The second working lever 46 is of a cross-swing type and of a neutral return type capable of swinging in the vertical direction and the front-rear direction.

The notification device 47 is arranged in front of the steering wheel 41 in the driving section 40 . The notification device 47 includes a liquid crystal display section 47A and a plurality of notification sections 47B to 47H each composed of an LED, a buzzer, or the like.

As shown in FIG. 2, the steering wheel 41 includes a steering gear 50 that rotates integrally with the steering wheel 41 via a steering shaft 49, a sector gear 51 that engages and interlocks with the steering gear 50, and a steering member 52 that swings integrally with the sector gear 51. , and left and right tie rods 54 extending between the steering member 52 and the operating arms 53 of the left and right front wheels 6A.

The traveling vehicle body 1 includes a side clutch operating mechanism 55 that interlocks with the operation of the steering wheel 41 to operate the left and right side clutches 17 on and off. The side clutch operating mechanism 55 includes left and right connecting rods 57 that connect the steering member 52 and the operating arms 56 of the left and right side clutches 17 so as to be interlockable. The left and right connecting rods 57 are provided with elongated holes 57a at their connecting points with the operating arms 56 for setting the relationship between the operating angle .theta.

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

In this left small turning state, when the driver turns the steering wheel 41 rightward toward the straight-ahead position, the steering member 52 swings leftward toward the straight-ahead position θo according to the amount of the turning operation. do. As a result, the left and right front wheels 6A are steered toward the straight-ahead position according to the amount of rotation of the steering wheel 41 . When the steering member 52 swings from the second set angle θb on the right side to the first set angle θa, the left side clutch 17 engages the left connecting rod 57 and the left side clutch 17 in conjunction with the swinging. is switched from the cut-off state to the connected state by the action of the spring. On the other hand, the right side clutch 17 is maintained in the connected state by the action of the spring of the right side clutch 17 and the long hole 57a of the right connecting rod 57 . Thereafter, the left and right side clutches 17 are operated by the springs of the side clutches 17 and the elongated holes 57a of the connecting rods 57 until the steering member 52 reaches the straight position θo from the right first set angle θa. Stay connected.

Conversely, when the driver rotates the steering wheel 41 rightward from the straight-ahead position, the steering member 52 swings leftward from the straight-ahead position (reference angle) θo according to the amount of rotation.
As a result, the left and right front wheels 6A are steered in the right turning direction from the straight-ahead position in accordance with the amount of rotation of the steering wheel 41 . The left and right side clutches 17 are operated by the springs of the side clutches 17 and the elongated holes 57a of the connecting rods 57 until the steering member 52 reaches the left first set angle θa from the straight-ahead position θo. Stay connected. After that, when the steering member 52 swings from the first set angle θa on the left side to the second set angle θb, the right side clutch 17 engages the connecting rod 57 on the right side and the operating arm 56 on the right side in conjunction with the swinging. is switched from the connected state to the disconnected state by the action of . On the other hand, the left side clutch 17 is maintained in the connected state by the action of the spring of the left side clutch 17 and the long hole 57a of the left connecting rod 57 . As a result, as the direction change state of the traveling vehicle body 1, a right small turning state in which the turning radius of the traveling vehicle body 1 is reduced by interrupting the power transmission to the right rear wheel 6B located on the inside of the turning can be obtained.

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

As shown in FIGS. 8 to 11, in this ride-on rice transplanter, the turning radius in the above-described left and right small turning states is basically half the working width W of the seedling planting device 4. is set to As a result, for example, in the seedling planting work by reciprocating planting, after finishing the planting travel on the current work travel routes R1a to R1d, the traveling vehicle body 1 is moved to the current work travel routes R1a to R1d in the direction change area at the edge of the ridge. When performing a so-called furrow turn, the driver can obtain either a left or right small turning state as the turning state of the traveling vehicle body 1. By steering like this, it is possible to easily perform a furrow turn.

As shown in FIGS. 1, 5 and 6, the main shift lever 42 is arranged adjacent to the left side of the steering wheel 41 . The main shift lever 42 is of a swing type that can be swung along the guide groove 58</b>A of the guide plate 58 . The main shift lever 42 is of a position holding type capable of holding a neutral position, five forward shift positions, and three reverse shift positions by means of a detent mechanism (not shown).

The guide groove 58A includes a forward/reverse switching path 58a in the neutral position of the main shift lever 42, a forward shifting path 58b extending forward from the right end of the forward/reverse switching path 58a, and a forward/reverse switching path 58b extending rearward from the left end of the forward/reverse switching path 58a. and an auxiliary path 58d extending leftward from the left end of the forward/reverse switching path 58a. The left end of the auxiliary path 58d is set at the work interruption position 58e.

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

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

As shown in FIG. 1 , the sub-transmission lever 43 is arranged adjacent to the left side of the driver's seat 48 .
The sub-transmission lever 43 is of a forward/backward rocking type, and is configured as a position holding type capable of switching between a low speed position for work travel and a high speed position for transfer travel. The sub-transmission lever 43 is linked to an operation shaft (not shown) of the sub-transmission device 10 via a sub-transmission mechanical linkage mechanism (not shown). The subtransmission device 10 switches to a low speed state for work travel when the subtransmission lever 43 is operated to the low speed position, and switches to a high speed state for transfer travel when the subtransmission lever 43 is operated to the high speed position.

The traveling vehicle body 1 is provided with a preliminary storage section 59 for storing preliminary mat-like seedlings. The preliminary storage portion 59 includes a support frame 59A having an inverted U shape in a front view and extending upward from the left and right ends of the front portion of the traveling vehicle body 1, and four left and right support frames 59A supported on both left and right sides of the support frame 59A. and a spare seedling stand 59B.
As a result, eight mat-like seedlings can be stored in the preliminary storage section 59 as spare mat-like seedlings, divided into four left and right seedlings.

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

As shown in FIG. 7, this riding rice transplanter is provided with a manual main switch 61 for intermittently supplying power from the battery 37 to each electrical component such as the ECU 60 . The main switch 61 is a key-operated type provided in the operation unit 40, and can be switched between an "OFF" position, an "ON" position, and a "START" position, and can be switched between the "OFF" position and the "ON" position. position can be held at , and is biased to return from the "START" position to the "ON" position.

As shown in FIGS. 6 and 7, the ECU 60 is activated by energization from the battery 37 obtained by connecting the main switch 61 from the OFF position to the ON position. When the power from the battery 37 is cut off by switching the main switch 61 from the ON position to the OFF position, the ECU 60 maintains the energized state by a self-holding circuit 60A provided therein. Then, the ECU 60 writes the total operating time of the engine 7 and various setting information at the stage when the main switch 61 is turned off into the non-volatile storage section 60B. Further, the ECU 60 starts clocking by the timer 60C provided therein in conjunction with the shutoff operation of the main switch 61, and during the period from the shutoff operation of the main switch 61 to the lapse of the set time. When the connecting operation of the main switch 61 is not performed, the self-holding circuit 60A stops energizing to stop the operation.

The main switch 61 is connected to a starter unit 63 for starting the engine via a brake switch 62 consisting of an open/close switch. The brake switch 62 is switched from the open state to the closed state in conjunction with the depression operation of the brake pedal 44 to the braking position, and is switched from the closed state to the open state in conjunction with the release operation of the brake pedal 44 from the braking position.
As a result, when starting the engine 7, the driver depresses the brake pedal 44 to the braking position, thereby enabling energization from the battery 37 to the starter unit 63 via the main switch 61. By moving the main switch 61 to the START position in this state, the engine 7 can be started by operating the starter unit 63 .

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

For the first lever sensor 64, third lever sensor 66, height sensor 67, float sensor 68, and steering angle sensor 70, a rotary potentiometer, rotary encoder, or the like can be employed. A multi-contact switch, a limit switch unit including a plurality of limit switches, or the like can be adopted as the second lever sensor 65 . The left and right marker sensors 69 include a limit switch unit that detects switching of the marker 29 to the retracted posture and a limit switch that detects switching of the marker 29 to the operating posture, or a retracted posture of the marker 29. A proximity switch unit that includes a proximity switch that detects switching to and a proximity switch that detects switching of the marker 29 to the working posture or the like can be employed. For the rotation sensor 71, an electromagnetic pickup type or the like can be adopted.

As shown in FIG. 6, the ECU 60 includes an elevation control section 60D that controls the operation of the elevation cylinder 3 to raise and lower the seedling planting device 4. As shown in FIG. The elevation control unit 60</b>D controls the operation of the elevation cylinder 3 by controlling the operation of the elevation valve unit 74 that controls the flow of oil to the elevation cylinder 3 .

As shown in FIGS. 1 and 6, when the first work lever 45 is manually operated, the elevation control unit 60D controls the seedling planting apparatus based on the outputs of the first lever sensor 64 and the height sensor 67. 4 is executed to move up and down.

The control operation of the elevation control section 60D in the first elevation control will be described below.
Upon detecting the operation of the first working lever 45 to the raised position based on the output of the first lever sensor 64 , the elevation control section 60</b>D performs raising processing for raising the seedling planting device 4 . In the lifting process, the lifting control unit 60D switches the valve unit 74 to a supply state in which oil is supplied to the lifting cylinder 3, thereby contracting the lifting cylinder 3 and lifting the seedling planting device 4.
Upon detecting the operation of the first working lever 45 to the lowered position based on the output of the first lever sensor 64 , the elevation control section 60</b>D performs lowering processing for lowering the seedling planting device 4 . In the descent process, the elevating control section 60D switches the valve unit 74 to a discharge state in which the oil is discharged from the elevating cylinder 3, thereby extending the elevating cylinder 3 and lowering the seedling planting device 4.
When the elevation control unit 60D detects that the first working lever 45 is operated to the neutral position based on the output of the first lever sensor 64, the elevation stop processing stops the seedling planting device 4 at the height position at that time. I do. In the elevation stop processing, the elevation control unit 60D switches the valve unit 74 to a supply/discharge stop state in which the supply/discharge of oil to/from the elevation cylinder 3 is stopped, thereby stopping the expansion/contraction operation of the elevation cylinder 3 and to stop
When the elevation control unit 60D detects that the seedling planting device 4 reaches the upper limit position based on the output of the height sensor 67 during the execution of the raising process described above, the raising/lowering control part 60D performs the above-described raising/lowering stop process. The planting device 4 is stopped at the upper limit position.
When the elevation control unit 60D detects that the seedling planting device 4 reaches the lower limit position based on the output of the height sensor 67 during execution of the above-described lowering processing, the elevation control unit 60D performs the above-described elevation stop processing to stop the seedlings. The planting device 4 is stopped at the lower limit position.
That is, the driver operates the first work lever 45 by the control operation of the elevation control section 60D based on the output of the first lever sensor 64, thereby moving the seedling planting device 4 between the upper limit position and the lower limit position. can be moved up and down to any height position.

The elevation control unit 60D detects the operation of the first working lever 45 to the automatic position based on the output of the first lever sensor 64, and the second lever sensor 65, the height sensor 67, and the float sensor 68. 2nd raising/lowering control which raises/lowers the seedling planting apparatus 4 based on an output is performed.

The control operation of the elevation control section 60D in the second elevation control will be described below.
Upon detecting downward operation of the second working lever 46 based on the output of the second lever sensor 65, the elevation control section 60D moves the seedling planting device 4 to the working height corresponding to the control target angle of the center float 23. When the seedling planting device 4 reaches the working height position is detected based on the output of the float sensor 68, automatic lifting is performed to maintain the seedling planting device 4 at the working height position. Start processing. In the automatic lowering process, the elevation control unit 60D determines that the vertical swing angle of the center float 23 matches the control target angle based on the output of the float sensor 68 (the output of the float sensor 68 falls within the dead zone width of the control target angle). The lowering process described above is performed until it is detected that In the automatic lifting process, the lifting control unit 60D controls the operation of the valve unit 74 to extend and retract the lifting cylinder 3 so that the output of the float sensor 68 is kept in agreement with the control target angle. The seedling planting device 4 is maintained at the working height position.
When the elevation control unit 60D detects the upward operation of the second working lever 46 based on the output of the second lever sensor 65, the automatic elevation processing is terminated, and the automatic elevation processing for raising the planting device 4 to the upper limit position. I do. In the automatic raising process, the raising/lowering control unit 60D performs the above-described raising process until it detects that the seedling planting device 4 reaches the upper limit position based on the output of the height sensor 67. When reaching the upper limit position is detected, the raising/lowering stop processing described above is performed to stop the seedling planting device 4 at the upper limit position.
That is, when the first work lever 45 is in the automatic position, the driver can operate the second work lever 46 by controlling the elevation control unit 60D based on the output of the second lever sensor 65. The seedling planting device 4 can be automatically moved up and down to the upper limit position or the working height position, and the seedling planting device 4 can be maintained at the upper limit position or the working height position.
As a result, when the seedling planting device 4 is positioned at the working height position, the seedling planting device 4 can be placed on the center float 23 regardless of the pitching of the traveling vehicle body 1 caused by the undulation of the paddy field. can be maintained at a working height position corresponding to the control target angle of

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

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

As shown in FIGS. 1 and 6, the operation control unit 60E controls the seedling planting device 4 based on the outputs of the first lever sensor 64 and the float sensor 68 when the first work lever 45 is manually operated. And the 1st operation|movement switching control which switches the fertilizing apparatus 5 to an operation state and a stop state is performed.

The control operation of the operation control section 60E in the first operation switching control will be described below.
After detecting the operation of the first working lever 45 from the neutral position to the lowered position based on the output of the first lever sensor 64, the operation control unit 60E detects grounding of the center float 23 based on the output of the float sensor 68. Then, blower start processing for starting the blower 33 is performed. In the blower start-up process, the operation control unit 60E energizes the blower relay 39 and switches the blower relay 39 to a closed state that allows energization from the battery 37 to the blower 33, thereby starting the blower 33.
After that, when the operation control unit 60E detects that the first working lever 45 has been operated to the planting position based on the output of the first lever sensor 64, the seedling planting device 4 and the fertilizing device 5 are switched from the stopped state to the operating state. Perform switching operation start processing. In the operation start process, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the disengaged state to the engaged state. The seedling planting device 4 and the fertilizing device 5 are switched from the stopped state to the operating state.
After that, when the operation control unit 60E detects the operation of the first working lever 45 from the planting position to the lowered position based on the output of the first lever sensor 64 in the operating state of the seedling planting device 4 and the fertilizing device 5, , blower stop processing for stopping the blower 33, and operation stop processing for switching the seedling planting device 4 and the fertilizing device 5 from the operating state to the stopped state. In the blower stop processing, the operation control unit 60E stops the blower 33 by stopping energization of the blower relay 39 and switching the blower relay 39 to an open state that prevents energization from the battery 37 to the blower 33 . In the operation stop processing, the operation control unit 60E controls the operation of the first clutch motor 76 and the second clutch motor 77 to switch the first work clutch 21 and the second work clutch 38 from the engaged state to the disengaged state. The seedling planting device 4 and the fertilizing device 5 are switched from the operating state to the stopped state.
In other words, the driver operates the first work lever 45 by controlling the operation control unit 60E based on the output of the first lever sensor 64, thereby operating and stopping the seedling planting device 4 and the fertilizing device 5. You can switch between states.

When the operation control unit 60E detects the operation of the first working lever 45 to the automatic position based on the output of the first lever sensor 64, the operation control unit 60E operates the seedling planting device 4 and A second operation switching control is executed to switch the fertilizing device 5 between the operating state and the stopped state.

The control operation of the operation control section 60E in the second operation switching control will be described below.
After detecting the operation of the first working lever 45 to the automatic position based on the output of the first lever sensor 64, or based on the output of the second lever sensor 65, the operation control section 60E moves the second working lever 46. When the first downward operation of the second work lever 46 is detected based on the output of the second lever sensor 65 after the upward operation is detected, the above-described blower start processing is performed. Thereafter, when the second downward operation of the second working lever 46 is detected based on the output of the second lever sensor 65, the seedling planting device 4 reaches the working height position based on the output of the float sensor 68. is detected, the above-described operation start processing is performed.
When the operation control unit 60E detects the upward operation of the second work lever 46 based on the output of the second lever sensor 65 in the operating state of the seedling planting device 4 and the fertilizing device 5, the above-described blower stop processing and Perform operation stop processing.
In other words, when the first work lever 45 is in the automatic position, the driver can operate the second work lever 46 according to the control operation of the operation control unit 60E based on the output of the second lever sensor 65. The seedling planting device 4 and the fertilizing device 5 can be switched between an operating state and a stopped state.

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

As shown in FIGS. 1 and 6, the marker control unit 60F controls the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69 when the second work lever 46 is manually operated. , marker switching control is executed to switch the left and right markers 29 between the retracted posture and the active posture.

The control operation of the marker control section 60F in marker switching control will be described below.
When the marker control unit 60F detects the operation of the second working lever 46 to the left from the neutral position based on the output of the second lever sensor 65, the seedling planting device 4 moves to the working height based on the output of the float sensor 68. It is determined whether or not it has descended to the lower position. Then, when the seedling planting device 4 is lowered to the working height position, the marker control section 60F immediately performs left marker projecting processing for switching the left marker 29 to the working posture. Further, when the seedling planting device 4 has not descended to the working height position, the marker control unit 60F detects the descent of the seedling planting device 4 to the working height position, and performs left marker extension processing. I do. In the left marker extending process, the marker control unit 60F rotates the left marker motor 30 forward until the left marker sensor 69 detects that the left marker 29 is switched to the working posture.
When the marker control unit 60F detects that the second working lever 46 is operated to the right from the neutral position based on the output of the second lever sensor 65, the seedling planting device 4 moves to the working height based on the output of the float sensor 68. It is determined whether or not it has descended to the lower position. Then, when the seedling planting device 4 is lowered to the working height position, the marker control section 60F immediately performs right marker projecting processing for switching the right marker 29 to the operating posture. Further, when the seedling planting device 4 has not descended to the working height position, the marker control unit 60F detects the descent of the seedling planting device 4 to the working height position, and performs right marker extension processing. I do. In the right marker extending process, the marker control unit 60F rotates the right marker motor 30 forward until the right marker sensor 69 detects that the right marker 29 is switched to the working posture.
When the marker control unit 60F detects floating of the seedling planting device 4 based on the output of the float sensor 68 in a state in which either the left or right marker 29 is switched to the working posture, the marker control unit 60F switches the marker 29 in the working posture to the retracted posture. Perform marker storage processing. In the marker storage process, the marker control unit 60F reversely operates the marker motor 30 corresponding to the marker 29 in the working posture until the marker sensor 69 corresponding to the marker 29 in the working posture detects the switching of the marker 29 to the storage posture. .
That is, the driver operates the second work lever 46 by the control operation of the marker control unit 60F based on the outputs of the second lever sensor 65, the float sensor 68, and the left and right marker sensors 69, thereby enabling the operator to plant seedlings. When the attached device 4 is on the ground, the left and right markers 29 can be switched to the active posture. Further, by the control operation of the marker control unit 60F based on the output of the float sensor 68 and the left and right marker sensors 69, the marker 29 in the operating posture is automatically switched to the retracted posture as the seedling planting device 4 floats. be able to.

As shown in FIGS. 2, 5 and 6, the ECU 60 performs work control to switch the seedling planting device 4 and the fertilizing device 5 between the working state and the non-working state based on the detection of the interruption switch 58B or the steering angle sensor 70. A portion 60G is provided. The work control unit 60G outputs control commands to the elevation control unit 60D, the operation control unit 60E, and the marker control unit 60F, thereby switching the seedling planting device 4 and the fertilizing device 5 into the working state and the non-working state. switch.

The work control unit 60G is interlocked with the detection of the movement of the main shift lever 42 to the work interruption position 58e by the interruption switch 58B, and switches the seedling planting device 4 and the fertilizing device 5 to the non-working state. In conjunction with the state switching control being executed and the interruption switch 58B detecting the movement of the main transmission lever 42 from the work interruption position 58e, the seedling planting device 4 and the fertilizing device 5 are switched to the working state. Execute work state switching control.

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

Next, the control operation of the work control unit 60G in the first work state switching control will be described.
When the work control unit 60G detects the movement of the main shift lever 42 from the work interruption position 58e based on the detection of the interruption switch 58B while the seedling planting device 4 and the fertilizing device 5 are not working, the first lever sensor 64 Based on the output of , it is determined whether the operating position of the first working lever 45 is the planting position or the automatic position.
If the operation position of the first work lever 45 is the planting position, the elevation control unit 60D is instructed to execute the automatic lowering process described above, and then grounding of the center float 23 is detected based on the output of the float sensor 68. , instructs the operation control unit 60E to execute the above-described blower start-up process. After that, when reaching the working height position of the seedling planting device 4 is detected based on the output of the float sensor 68, the operation control section 60E is commanded to execute the above-described operation start processing, and the operation is performed on the storage section 60B. The marker control unit 60F is instructed to execute the above-described right marker projecting process or left marker projecting process for returning one of the left and right markers 29 stored as the posture to the working posture.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position, the above-described automatic lifting when the seedling planting device 4 reaches the working height position is detected. It instructs the elevation control unit 60D to execute the process.
As a result, the seedling planting device 4 and the fertilizing device 5 are positioned at the working height position in conjunction with the swinging operation of the main transmission lever 42 from the work interruption position 58e, and the seedling planting device 4 is positioned at the working height position. The device 4 and the fertilizing device 5 are put into the operating state, and the marker 29 on the same side as the left or right marker 29 which was in the working posture during the work traveling before the work interruption and the marker 29 on the same side becomes the working posture, automatically switching to the working state. can be done.

In other words, when it becomes necessary to perform auxiliary work such as seedling replenishment to the seedling planting device 4 or fertilizer replenishment to the fertilizing device 5 during the seedling planting work, the driver shifts the main shift lever 42 to the neutral position. By operating the main transmission lever 42 to the work interruption position 58e while performing a traveling stop operation such as by operating or stepping on the brake pedal 44, the traveling vehicle body 1 can be stopped and the seedling planting device 4 and the fertilizing device 5 can be switched from the working state to the non-working state.
As a result, the driver can quickly shift from the operating state to the auxiliary work state in which auxiliary work such as replenishment of seedlings or fertilizer is performed. In the non-operating state of the seedling planting device 4, the seedling planting device 4 rises to the upper limit position and the seedling loading table 24 approaches the driving unit 40. 24 can be easily supplied with seedlings.
After completing the auxiliary work, the driver operates the main gearshift lever 42 from the work interruption position 58e to the forward shift path 58b via the neutral position, so that the main gearshift lever 42 moves from the work interruption position 58e to the neutral position. In conjunction with the operation of , the seedling planting device 4 and the fertilizing device 5 can be switched from the non-working state to the same working state as before the work is interrupted, and the operation from the neutral position of the main shift lever 42 to the forward shift path 58b In conjunction with this, the traveling vehicle body 1 can be moved forward, and the seedling planting device 4 and the fertilizing device 5 can be driven.
As a result, the driver can quickly resume the seedling planting work after the work has been interrupted by the auxiliary work with a simple operation.

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

The steering angle sensor 70 detects the swinging of the steering member 52 from the straight-ahead position θo to the second set angle θb on the right side as the transition of the traveling vehicle body 1 from a straight-ahead state to a left small turning state (an example of a direction change state). Then, the rocking of the right side of the steering member 52 from the second set angle θb to the first set angle θa is detected as the transition of the traveling vehicle body 1 from the left small turning state to the straight running state. Further, the steering angle sensor 70 detects the swing of the steering member 52 from the straight-ahead position θo to the second set angle θb on the left side. , and the swinging of the left side of the steering member 52 from the second set angle .theta.b to the first set angle .theta.a is detected as the transition of the traveling vehicle body 1 from the right small turning state to the straight running state.
In other words, the steering angle sensor 70 functions as a transition detector that detects the transition of the traveling state of the traveling vehicle body 1 .

In its execution state, the work control unit 60G stops the seedling planting device 4 and the fertilizing device 5 from working in conjunction with the steering angle sensor 70 detecting the transition of the traveling vehicle body 1 from the straight running state to the small turning state. In conjunction with the steering angle sensor 70 detecting the transition of the traveling vehicle body 1 from the small turning state to the straight traveling state, the seedling planting device 4 and the fertilizing A second work state switching control is executed to switch the device 5 to the work state.

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

Next, the control operation of the work control unit 60G in the second work state switching control will be described.
When the seedling planting device 4 and the fertilizing device 5 are in the non-working state, the work control unit 60G controls the transition of the traveling vehicle body 1 from the left small turning state or the right small turning state to the straight traveling state based on the detection of the steering angle sensor 70. When detected, it is determined whether the operating position of the first working lever 45 is the planting position or the automatic position based on the output of the first lever sensor 64 .
If the operation position of the first work lever 45 is the planting position, the elevation control unit 60D is instructed to execute the automatic lowering process described above, and then grounding of the center float 23 is detected based on the output of the float sensor 68. , instructs the operation control unit 60E to execute the above-described blower start-up process. After that, when reaching the working height position of the seedling planting device 4 is detected based on the output of the float sensor 68, the operation control unit 60E is commanded to execute the above-described operation start processing, and the turning direction of the traveling vehicle body 1 is determined. commands the marker control unit 60F to execute the above-described right marker projecting process or left marker projecting process for switching the marker 29 on the opposite side to the active posture.
If the operation position of the first work lever 45 is the automatic position, in addition to the control operation at the planting position, the above-described automatic lifting when the seedling planting device 4 reaches the working height position is detected. It instructs the elevation control unit 60D to execute the process.
As a result, the seedling planting device 4 and the fertilizing device 5 are interlocked with the transition from the left small turning state or the right small turning state to the straight traveling state, and the seedling planting device 4 is positioned at the working height position. Then, the seedling planting device 4 and the fertilizing device 5 are activated, and the marker 29 on the opposite side of the left or right marker 29, which was in the working posture during the work traveling before the ridge turning, is in the working posture. state can be switched automatically.

That is, when the seedling planting work is performed by reciprocating planting, if the driver operates the first changeover switch 78 to switch the work control unit 60G to the execution state, the traveling vehicle body 1 can be moved to the ridge line. The seedling planting device 4 and the fertilizing device 5 can be switched from the working state to the non-working state with the start of the edge-of-ridge turning by simply performing the steering for the edge-of-ridge turning. Accordingly, the seedling planting device 4 and the fertilizing device 5 can be switched from the non-working state to the working state suitable for the work on the next work travel routes R1a to R1e.

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

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

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

The starter relay 80 is connected to the starter unit 63 via the brake switch 62 in the same manner as the main switch 61 . As a result, similar to the operation of starting the engine 7 by the main switch 61, even in the operation of restarting the engine 7 based on the engine restart control of the engine control unit 60H, the operation of depressing the brake pedal 44 to the braking position by the driver is prevented. has become mandatory.

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

Based on the output of the rotation sensor 71, the condition determination unit 60K determines whether or not the output rotation speed of the engine 7 is equal to or less than the set rotation speed. The condition determination unit 60K determines whether or not the voltage of the battery 37 is equal to or higher than the set value based on the output of the voltage detector 72. FIG. The condition determination unit 60K determines whether or not the temperature of the engine cooling water is equal to or higher than the set value based on the output of the water temperature sensor 73.

The control operation of the engine control unit 60H in the engine temporary stop control will be described below.
When the engine control unit 60H detects that the temporary stop condition of the engine 7 is satisfied based on the determination by the condition determination unit 60K, the engine control unit 60H turns on the first notification unit 47B, which is an LED provided in the notification device 47, and the igniter relay 81. , the igniter relay 81 is switched to an open state to stop the energization from the battery 37 to the igniter 7A, thereby temporarily stopping the engine 7.
As a result, when the driver stops traveling of the traveling vehicle body 1 in order to perform auxiliary work such as replenishment of seedlings or fertilizer, the operation of the main transmission lever 42 to the neutral position, the operation of depressing the brake pedal 44, or the like is performed. It is possible to temporarily stop the engine 7 by operating the main gearshift lever 42 to the work interruption position 58e while performing the travel stop operation by , and as a result, auxiliary work such as seedling replenishment and fertilizer replenishment can be performed. It is possible to prevent wasteful consumption of fuel due to the engine 7 continuing to operate while the vehicle is in use.
Further, even if the main shift lever 42 is operated to the work interrupting position 58e, if the above-described temporary stop condition is not satisfied, the engine 7 is not temporarily stopped. To avoid inconvenience such as delay in restarting an engine 7 due to temporary stop of the engine 7 when the temperature is less than a set value or when the temperature of engine cooling water is less than the set value. can be done.
Then, from the state of the first notification section 47B, the driver can easily determine whether or not the engine 7 has been temporarily stopped by operating the main shift lever 42 to the work interruption position 58e.

Next, the control operation of the engine control section 60H in the engine restart control will be described.
When the engine control unit 60H detects that the conditions for restarting the engine 7 are satisfied based on the determination by the condition determination unit 60K, the engine restart processing is performed in accordance with the detection.
In the engine restart process, first, the igniter relay 81 is de-energized, and the igniter relay 81 is switched to the closed state in which the igniter 7A is energized from the battery 37, thereby allowing the engine 7 to be started. Next, by energizing the starter relay 80 and switching the starter relay 80 to the closed state in which the power is supplied from the battery 37 to the starter unit 63 , the starter unit 63 is energized from the battery 37 bypassing the main switch 61 to the starter unit 63 . to restart the engine 7.
After the engine restart processing is performed, it is determined whether or not the output rotation speed of the engine 7 is equal to or higher than the set rotation speed based on the output of the rotation sensor 71. If the rotation speed is less than the set rotation speed, the engine 7 is restarted. It is determined that there is no engine, and the engine restart processing is performed again. If the rotation speed is equal to or higher than the set rotation speed, it is determined that the restart of the engine 7 is completed, and the first notification unit 47B is turned off.
As a result, after completing the auxiliary work, the driver can easily operate the engine 7 by operating the main shift lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position. can be restarted at
Then, the driver can easily determine from the state of the first notification section 47B whether or not the engine 7 has been restarted by operating the main shift lever 42 from the work interruption position 58e to the neutral position.

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

As shown in FIGS. 1 and 6, the traveling vehicle body 1 has a positioning unit 86 that measures its position and orientation. The positioning unit 86 includes a satellite navigation device 87 that measures the position and orientation of the traveling vehicle body 1 using a well-known GPS (Global Positioning System), which is an example of a global navigation satellite system (GNSS), and , 3-axis gyroscope (not shown) and 3-direction acceleration sensor (not shown) for measuring the roll angle, pitch angle and yaw angle of the traveling vehicle body 1 (IMU: Inertial measurement unit) Measurements
Unit) 88.

The satellite navigation device 87 is supported by the upper end portion 59C of the spare storage portion 59 located at the top of the traveling vehicle body 1 so that the GPS antenna 87A can receive radio waves from satellites with high sensitivity. Therefore, the positioning result obtained by the satellite navigation device 87 includes a positioning error caused by the positional deviation of the GPS antenna 87A due to the inclination of the traveling vehicle body 1 . Therefore, this ride-on rice transplanter is provided with an inertial measurement device 88 to correct the positioning error of the satellite navigation device 87 caused by the displacement of the GPS antenna 87A due to the inclination of the traveling vehicle body 1 and the like.
Further, by providing the satellite navigation device 87 and the inertial measurement device, for example, the absolute position of the traveling vehicle body 1 obtained from the satellite navigation device 87 is used to calculate the cumulative position of the traveling vehicle body 1 included in the relative position of the traveling vehicle body 1 obtained from the inertial measurement device 88. It is also possible to correct errors.
That is, by providing the satellite navigation device 87 and the inertial measurement device, the position and orientation of the traveling vehicle body 1 can be measured with high accuracy.

Note that the inertial measurement device 88 is arranged at the left-right central portion of the rear axle case 14 having high rigidity.

As shown in FIGS. 6 and 8 to 11, the ECU 60 includes a route setting section 60L for setting the target straight route Rs and a direction control section 60M for controlling the traveling direction of the vehicle body 1. FIG.

When the first switch 89 and the second switch 90 for teaching provided in the driving unit 40 are pressed, the route setting unit 60L determines the traveling vehicle body 1 for reciprocating planting in the paddy field based on the operation. Executes teaching control to determine the reference orientation of the

The control operation of the path setting section 60L in teaching control will be described below.
When the route setting unit 60L detects the pressing operation of the first switch 89 during movement, the route setting unit 60L registers the measurement result of the positioning unit 86 obtained at this time as the teaching start position Pta.
Next, when the pressing operation of the second switch 90 is detected during movement, the measurement result of the positioning unit 86 obtained at this time is registered as the teaching end position Ptb.
Then, the extension direction of the straight line passing through the registered teaching start position Pta and teaching end position Ptb is determined as the above-described reference direction Ro, and is written in the storage unit 60B.
As a result, the driver, for example, in the preparatory travel stage before the start of the work travel to secure the work travel routes R2a to R2d for round-trip planting at the edge of the ridge, can follow the work travel routes R1a to R1e for reciprocating planting. When traveling straight along the work traveling routes R2a and R2c for rounding planting along, the first switch 89 and the second switch 90 are pressed to cause the route setting unit 60L to perform teaching control, so that the paddy field to be worked can be easily obtained.

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

The route setting unit 60L has an execution state in which the target route setting control for setting the target straight travel route Rs is executed and a non-execution state in which the control is not executed, based on the operation of the manual second changeover switch 91 provided on the main transmission lever 42. and switch to. A momentary switch, a two-position toggle switch, or the like can be used as the second changeover switch 91 .

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

In the control target region Rsa of the target straight route Rs set by the route setting unit 60L, the direction control unit 60M automatically sets the traveling vehicle body 1 to the target straight route based on the target straight route Rs and the positioning result of the positioning unit 86. Execute automatic straight-ahead control to run on Rs.

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

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

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

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

Therefore, after turning around the ridge, the position of the center mascot 93 arranged at the left-right central portion of the front end portion of the traveling vehicle body 1 is greatly displaced from the traveling reference line L formed by the marker 29 . If so, it is determined that the amount of deviation and the angle of deviation are out of the allowable range, and in order to satisfy the conditions for executing automatic straight-ahead control, the amount of deviation and the angle of deviation are adjusted to fall within the allowable range. Specifically, manual correction steering is performed by operating the steering wheel 41 to steer the left and right front wheels 6A so that the driving reference line L extends straight ahead of the line of sight of the center mascot 93 from the seated position. need to do

Therefore, in order to facilitate such correction operations by the driver, the direction control unit 60M, in its functional state, is configured to start the traveling vehicle body 1 based on the information from the operation control unit 60E or the work control unit 60G. When arrival at point Pa is detected, determination control is executed to determine whether or not conditions for executing automatic straight-ahead control have been established, based on the target straight-ahead route Rs set by the route setting unit 60L and the measurement result of the positioning unit 86. do. In this determination control, when it is determined that the execution condition is not satisfied, the second notification section 47C is maintained in a flashing state to notify the driver that the execution condition for automatic straight-ahead control is not satisfied. When it is determined that the execution condition is established, the second notification section 47C is switched from the blinking state to the lighting state to notify the driver that the direction control section 60M is in the state of executing automatic straight-ahead control.
As a result, when the second notification unit 47C switches from the flashing state to the lighting state with the end of the furrow turning, the driver can understand that the automatic straight-ahead control has been executed with the end of the furrow turning. can do. Further, if the second notification unit 47C continues to flash even after the end of the edge of the ridge turning, the driver will know that the deviation amount and the deviation angle are out of the allowable range and that the manual correction steering is performed. is necessary. Then, when the second notification unit 47C is switched from the flashing state to the lighting state by the manual correction steering, it can be grasped that the deviation amount and the deviation angle are within the allowable range and the automatic straight-ahead control is executed.

Next, based on FIGS. 6 and 8 to 11, when seedling planting work is performed in a rectangular paddy field using control operations such as the work control section 60G, the path setting section 60L, and the direction control section 60M. An example of is explained.

(1) Before starting work travel, the driver performs preparatory travel to secure the work travel routes R2a to R2d for round planting at the edge of the ridge. In this preparation run, the driver, when starting straight travel on each work travel route R2a, R2c for round-trip planting along each work travel route R1a to R1e for reciprocating planting, the first work lever 45 or the second work lever By operating 46, the seedling planting device 4 is lowered to the working height position, and by operating the second operating lever 46, the marker 29 on the reciprocating planting area side is switched to the working posture. As a result, it is possible to form a travel reference line L on the mud surface that can be used during travel on the initial work travel route R1a and the final work travel route R2e for reciprocating planting.
(2) The driver first operates the first switch 89 to perform teaching by the route setting unit 60L while traveling straight on the work travel route R2a for round-trip planting adjacent to the first work travel route R1a for round-trip planting. The start position Pta is registered, and after the vehicle travels straight for the set distance from this registration, the second switch 90 is operated to register the teaching end position Ptb by the route setting section 60L. Then, the path setting unit 60L executes the above-described teaching control, thereby obtaining the reference direction Ro suitable for reciprocating planting in this paddy field.
(3) The driver operates the first changeover switch 78 to switch the work control unit 60G to the above-described execution state while traveling straight on the work travel route R2a for round planting. Further, by operating the second changeover switch 91, the path setting section 60L is switched to the execution state of the target path setting control, and the direction control section 60M is switched to the functional state. At this time, the direction control section 60M is in a state capable of executing the aforementioned automatic straight-ahead control, so the second notification section 47C flashes.
(4) When the traveling vehicle body 1 reaches the turning area at the edge of the ridge during straight traveling on the work traveling route R2a for rounding, the driver moves the traveling vehicle body 1 from the working traveling route R2a for rounding. A furrow turning operation (180-degree direction change operation) is performed for moving to the first work travel route R1a for reciprocating planting. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight running state to the small turning state. While raising the planting apparatus 4 to an upper limit position, the marker 29 of an action posture is switched to a retraction posture. In addition, the route setting unit 60L executes the target route setting control, and leaves the work travel route R2a for round planting by a set distance (here, the distance corresponding to the work width W of the seedling planting device 4) in the orthogonal direction. A target straight-ahead route Rs along the aforementioned reference direction Ro is set at a position on the turning direction side.
(5) When the traveling vehicle body 1 approaches the traveling start point Pa of the initial work traveling route R1a (target straight route Rs) for reciprocating planting by this ridge turning operation, the driver indicates that the traveling vehicle body 1 is for reciprocating planting. The edge-of-ridge turning operation is ended so that the state of traveling straight on the work traveling route R1a for the first time can be obtained. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the small turning state to the straight running state, and based on this detection, the work control section 60G executes the above-described second work state switching control.
As a result, the seedling planting device 4 and the fertilizing device 5 are switched from the above-described non-working state to the above-described working state in conjunction with the transition of the traveling vehicle body 1 from the furrow turning state to the straight-ahead state, and the riding rice transplanter is operated. The mobile travel state is switched to the work travel state. Based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects that the traveling vehicle body 1 has reached the travel start point Pa, and executes the above-described determination control along with this detection.
(6) In this determination control, when the direction control unit 60M determines that the condition for executing the automatic straight-ahead control is not satisfied, the second notification unit 47C keeps blinking while this determination continues. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is positioned on the initial work traveling route R1a for reciprocating planting (the amount of deviation and the angle of deviation described above fall within the allowable range).
Further, in this determination control, when the direction control unit 60M determines that the conditions for executing the automatic straight-ahead control are established, the direction control unit 60M starts the automatic straight-ahead control since the control target region Rsa described above starts from here. , the second notification unit 47C switches from the flashing state to the lighting state. Then, based on the automatic straight driving control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the initial work traveling route R1a (target straight traveling route Rs) for reciprocating planting. , there is no need to steer so that the traveling vehicle body 1 does not deviate from the initial work traveling route R1a for reciprocating planting.
(7) When the traveling vehicle body 1 reaches the direction change area at the edge of the ridge during straight traveling on the first work traveling route R1a for reciprocating planting, the driver moves the traveling vehicle body 1 from the current working traveling route R1a. A furrow turning operation is performed for moving to the next work travel route R1b. Then, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state, and based on this detection, the work control section 60G executes the above-described second non-working state switching control. Further, the route setting unit 60L executes the target route setting control to set the target straight route Rs along the above-described reference bearing Ro at a position on the turning direction side which is separated from the current work travel route R1a by a set distance in the orthogonal direction. set.
Furthermore, the direction control unit 60M detects that the traveling vehicle body 1 has reached the travel end point Pb on the current work travel route R1a, and terminates the above-described automatic straight-ahead control. Switches to blinking. As a result, the seedling planting device 4 and the fertilizing device 5 are switched from the above-described working state to the above-described non-working state in conjunction with the transition of the traveling vehicle body 1 from the straight traveling state to the furrow turning state, and the riding rice transplanter is operated. The work travel state is switched to the transfer travel state.
(8) When the traveling vehicle body 1 approaches the traveling start point Pa of the next work traveling route R1b by this edge-of-ridge turning operation, the driver follows the above-mentioned (5) to (7) on the round-trip traveling route after this. , are appropriately performed in that order until the traveling vehicle body 1 reaches the turning area at the edge of the ridge in straight travel on the final work travel route R1e for reciprocating planting.
That is, in the control target region Rsa of the target straight route Rs in the round-trip traveling route, the automatic straight control is executed so that the traveling vehicle body 1 automatically travels on the target straight route Rs. The second non-working state switching control and the second working state switching control are appropriately executed in conjunction with the edge-of-ridge turning operation, and the seedling planting device 4 and the fertilizing device 5 switch between the non-working state and the working state at appropriate timings. and switch to.
As a result, the planting of seedlings and fertilization on the reciprocating travel route can be carried out satisfactorily while effectively reducing the driver's labor required during the work travel without causing a decrease in work efficiency.
(9) After that, when the traveling vehicle body 1 reaches the direction change area at the edge of the ridge by traveling straight on the final work travel route R1e for reciprocating planting, the driver operates the second changeover switch 91 to operate the route setting section 60L. is switched to the non-execution state described above, and the direction control unit 60M is switched to the stop state. Further, a furrow turning operation is performed to move the traveling vehicle body 1 from the final work travel route R1e for reciprocating planting to the adjacent work travel route R2c for round-trip planting. Then, based on the detection of the steering angle sensor 70 at this time, the work control section 60G executes the above-described second non-working state switching control, thereby switching the riding rice transplanter from the working traveling state to the moving traveling state. Then, the driver operates the first changeover switch 78 to switch the work control section 60G to the above-described non-execution state during the edge-of-ridge turning at this time. Then, even if the driver terminates the turning operation at the edge of the furrow in order to make the traveling vehicle body 1 travel along the work traveling route R2c for round planting, the riding rice transplanter maintains the moving travel state.
Thereby, the driver can quickly move the riding rice transplanter from the final work travel route R1e for round-trip planting to the first work travel route R2a for round-trip planting.
(10) Then, after moving to the first work travel route R2a for rounding, the driver manually travels the traveling vehicle body 1 on each of the work travel routes R2a to R2d for rounding while performing the first work. By operating the lever 45 or the second working lever 46, the seedling planting device 4 and the fertilizing device 5 suitable for rotary planting are switched between working state and non-working state.

As shown in FIG. 6, the traveling vehicle body 1 includes a first remaining amount detecting section 24A for detecting the remaining amount of mat-like seedlings on the seedling loading table 24, and a second remaining amount detecting section 24A for detecting the remaining amount of fertilizer on the hopper 31. A detector 31A and a clogging sensor (an example of a malfunction sensor) 35A for detecting clogging with fertilizer inside each groover 35 as a malfunction related to work are provided. Eight limit switches are employed in the first remaining amount detection unit 24A to detect that the remaining amount of corresponding mat-shaped seedlings has decreased to the set value for supplying seedlings. The second remaining amount detection unit 31A employs a transmissive photoelectric sensor that detects when the remaining amount of fertilizer has decreased to a set value for fertilizer supply. The clogging sensor 35A is provided with a pair of electrodes arranged at a predetermined interval in each ditching device. Fertilizer clogging is detected by sensing the energization between the two electrodes when the fertilizer supplied with water adheres to the pair of electrodes. To detect.

The notification device 47 includes a third notification unit 47D consisting of an LED for informing the driver that the remaining amount of any mat-like seedling placed on the seedling loading table 24 has decreased to the set amount for seedling replenishment, and the hopper 31. A fourth notification unit 47E consisting of an LED that informs the driver that the remaining amount of fertilizer stored in the storable unit has fallen to the set value for fertilizer supply, and that clogging of fertilizer has occurred in any of the grooving devices 35 A fifth notification unit 47F made up of an LED for informing the driver is provided.

Based on the output of the first remaining amount detection unit 24A, the work control unit 60G detects that the remaining amount of any mat-shaped seedling placed on the seedling mounting table 24 has decreased to the set value for supplying seedlings. Then, the third notification unit 47D for notification of seedling replenishment is switched from the off state to the flashing state. As a result, the driver can be urged to replenish the mat-like seedlings onto the seedling mounting table 24.例文帳に追加After that, in the flashing state of the third notification unit 47D, based on the output of the first remaining amount detection unit 24A, the remaining amount of all the mat-like seedlings placed on the seedling mounting table 24 exceeds the set value for supplying seedlings. When the exceeding is detected, the third notification section 47D is switched from the blinking state to the extinguished state.

When the work control unit 60G detects that the remaining amount of fertilizer stored in the hopper 31 has decreased to the set value for fertilizer replenishment based on the output of the second remaining amount detection unit 31A, the work control unit 60G outputs the first fertilizer replenishment notification. 4 Switch the notification unit 47E from the off state to the flashing state. Thereby, the driver can be prompted to replenish the hopper 31 with fertilizer. After that, when it is detected that the remaining amount of fertilizer stored in the hopper 31 has exceeded the set value for fertilizer supply based on the output of the second remaining amount detecting section 31A in the blinking state of the fourth reporting section 47E, The fourth notification unit 47E is switched from the blinking state to the extinguished state.

When the work control unit 60G detects that fertilizer clogging has occurred in any of the grooving devices 35 based on the output of the clogging sensor 35A, the fifth notification unit 47F for clogging notification switches from the off state to the blinking state. . Thereby, the driver can be urged to remove the fertilizer clogged in the grooving device 35 . Thereafter, in the flashing state of the fifth reporting unit 47F, when it is detected that the fertilizer clogging in each grooving device 35 is cleared based on the output of the clogging sensor 35A, the fifth reporting unit 47F is changed from the flashing state to the extinguished state. switch to

When the driver visually recognizes the blinking of the third notification unit 47D, the fourth notification unit 47E, or the fifth notification unit 47F during work traveling on the work traveling routes R1a to R1e and R2a to R2d, the driver's seat 48 from the operating state of operating the steering wheel 41 and the like while sitting on the driver's seat 48, leaving the driver's seat 48 to replenish seedlings to the seedling loading table 24, replenish fertilizer to the hopper 31, or remove fertilizer clogged in the ditching device 35. , etc. (an example of another work state).

Next, with reference to FIGS. 6 and 7, the case where the driver needs to shift from the driving state to the auxiliary work state during work traveling on the work travel routes R1a to R1e and R2a to R2d will be described. .

(1) When the driver visually recognizes the blinking of the third notification unit 47D, the fourth notification unit 47E, or the fifth notification unit 47F, first, the main shift lever 42 is moved to the neutral position or the brake pedal 44 is depressed. The main gear shift lever 42 is operated to the work interruption position 58e while performing a travel stop operation by an operation or the like. Then, based on these operations, the traveling vehicle body 1 stops running, and the work control unit 60G executes the first non-working state switching control described above. 4 and fertilizing device 5 are switched from the working state to the non-working state. Further, the condition determination unit 60K determines whether the temporary stop condition of the engine 7 is satisfied or not satisfied, and when it is determined that the condition is satisfied, the engine control unit 60H executes the above-described engine temporary stop control. When the engine 7 is temporarily stopped, the first notification section 47B lights up.
In other words, when it becomes necessary to shift from the driving state to the auxiliary work state during the work traveling along the work travel routes R1a to R1e and R2a to R2d, the driver performs the operation of the main shift lever 42 along with the travel stop operation. Only by performing an operation to the interruption position 58e, it is possible to switch the riding rice transplanter from the work running state to the running stop state, and to temporarily stop the engine 7.
As a result, the driver can quickly shift from the operating state to the assisting work state, and can perform the assisting work while preventing wasteful consumption of fuel during the assisting work. In the non-operating state of the seedling planting device 4, the seedling placement table 24 approaches the operation unit 40 by raising the seedling planting device 4 to the upper limit position. It becomes easy to supply seedlings to the base 24. - 特許庁
(2) After completing the auxiliary work such as seedling replenishment or fertilizer replenishment, the driver operates the main shift lever 42 from the work interruption position 58e to the neutral position while depressing the brake pedal 44 to the braking position. Then, based on this operation, the work control unit 60G executes the above-described first work state switching control, and by this first work state switching control, the seedling planting device 4 and the fertilizing device 5 are switched from the non-working state to the auxiliary work. Switch to the same working state as before the start. Further, when the engine 7 is temporarily stopped, the engine control section 60H executes the above-described engine restart control, and by this engine restart control, the engine 7 is restarted and the first notification section 47B is extinguished. . Thereafter, when the driver performs a return operation of the brake pedal 44 to the braking release position and an operation from the neutral position of the main gear shift lever 42 to the forward gear shift path 58b, the traveling vehicle body 1 starts traveling forward. The planting device 4 and the fertilizing device 5 are driven.
In other words, when the driver finishes replenishing the seedlings or replenishing the fertilizer and resumes the work travel along the work travel routes R1a to R1e and R2a to R2d, the driver depresses the brake pedal 44 to the braking position and the main shift lever 42 from the work interrupting position 58e to the neutral position, only by performing the return operation of the brake pedal 44 to the braking release position and the operation of the main shift lever 42 from the neutral position to the forward shift path 58b. , the riding rice transplanter can be switched from the running stop state to the work running state.

The direction control unit 60M interrupts the automatic straight-running control when the engine pause control is executed during the execution of the automatic straight-running control described above, and automatically restarts the engine when the engine restart control is executed while the automatic straight-running control is suspended. Resume straight-ahead control.
As a result, during the work travel on the work travel routes R1a to R1e for reciprocating planting using the automatic straight control of the direction control unit 60M, the need to perform auxiliary work arises, and the driver pushes the main gear shift lever 42. When the work interruption position 58e is operated and the engine control unit 60H executes the engine temporary stop control based on this operation, the direction control unit 60M interrupts the automatic straight-ahead control in conjunction with this, so that the auxiliary work is performed. Therefore, it is possible to prevent wasteful power consumption due to continuation of the automatic straight-ahead control even in the running stop state in which the engine 7 is temporarily stopped.
After that, when the driver finishes the assisting work and operates the main transmission lever 42 from the work interrupting position 58e to the neutral position, the engine control unit 60H executes the engine restart control based on this operation. Since the direction control unit 60M resumes the automatic straight-ahead control, the traveling vehicle body 1 can automatically travel on the target straight-ahead route Rs based on the automatic straight-ahead control of the direction control unit 60M even after work travel is resumed. .

As shown in FIGS. 6 and 8 to 11, the ECU 60 includes a point storage unit 60N for storing a change start point P at which the traveling vehicle body 1 shifts from a straight running state to an edge turning state (180 degree direction change state); , and an arrival determination section 60P for determining whether or not the traveling vehicle body 1 has reached the turn start point P.

Based on the output of the steering angle sensor 70 and the positioning result of the positioning unit 86, the steering angle sensor 70 of the point storage unit 60N detects that the traveling vehicle body 1 has changed from the straight running state to the left small turning state or the right small turning state. Sometimes, the transition start point of the traveling vehicle body 1 from the straight traveling state to the left small turning state or the right small turning state obtained from the positioning result of the positioning unit 86 is stored as the left turn start point Pc or the right turn start point Pd. Based on the left turn start point Pc or the right turn start point Pd stored in the point storage unit 60N, the arrival determination unit 60P determines the turn start points Pc and Pd on the current work travel routes R1a to R1e for round-trip planting. Based on the set change start points Pc, Pd and the positioning result of the positioning unit 86, whether the traveling vehicle body 1 has reached the change start points Pc, Pd on the current work travel routes R1a to R1e for reciprocating planting Setting determination control for determining whether or not is executed.

When the arrival determination unit 60P determines that the traveling vehicle body 1 has reached the left turn start point Pc or the right turn start point Pd, the direction control unit 60M automatically adjusts the traveling vehicle body 1 to the current work travel in reciprocating operation. Automatic direction change control is executed to change the direction (turn around the ridge) from the routes R1a to R1d (target straight route Rs) to the next work travel routes R1b to R1e (target straight route Rs).

The control operation of the direction control section 60M in automatic direction change control will be described below.
When the direction control unit 60M detects that the traveling vehicle body 1 has reached the left turn start point Pc based on the determination result of the arrival determination unit 60P, the direction control unit 60M operates the steering motor 84 so that the traveling vehicle body 1 can make a small left turn. is performed, and the timing by the timing unit 60C is started.
After that, when the predetermined time required for the traveling vehicle body 1 to complete the edge turning (180-degree direction change) from the start of the leftward turning process has passed, the traveling vehicle body 1 can go straight. Straight-ahead return processing is performed to control the operation of the steering motor 84 so that the vehicle can be driven.
Conversely, when it is detected that the traveling vehicle body 1 has reached the right turn start point Pd based on the determination result of the arrival determination unit 60P, the operation of the steering motor 84 is controlled so that the traveling vehicle body 1 can make a small right turn. Right direction change processing is performed, and time measurement by the time measurement unit 60C is started.
After that, when the predetermined time required for the traveling vehicle body 1 to complete the edge turning from the start of the right turning process has elapsed, the above-described straight return process is performed along with the elapse of the predetermined time.
In other words, in the direction changing area of the ridge, the traveling vehicle body 1 can be automatically turned along the ridge by the automatic direction changing control of the direction control unit 60M. The effort required by the driver can be further reduced.

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

When the direction control unit 60M switches to the execution state in which the automatic direction change control is executed in a state where the left turn start point Pc and the right turn start point Pd of the traveling vehicle body 1 are not stored in the point storage unit 60N, the direction control unit 60M notifies A sixth notification part 47G consisting of a buzzer provided in the device 47 is intermittently operated to notify the driver that the left turn start point P and the right turn start point P are not stored in the point storage part 60N.

Next, in a rectangular paddy field, a seedling planting operation is performed using the control operations of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the location storage unit 60N, and the arrival determination unit 60P. An example of is explained.
Here, the above-described teaching control is terminated, the work control unit 60G is switched to the above-described execution state, the path setting unit 60L is switched to the above-described execution state, and the direction control unit 60M is switched to the above-described function state and execution state. , and the switching of the arrival determination unit 60P to the above-described execution state are completed.

(1) In straight traveling on the work travel route R2a for round-trip planting adjacent to the first work travel route R1a for round-trip planting, the left turn start point Pc and the right turn start point Pd of the traveling vehicle body 1 are stored in the point storage unit 60N. , the sixth notification unit 47G intermittently operates to notify the driver that the left turn start point Pc and right turn start point Pd are not stored in the point storage unit 60N. As a result, when the traveling vehicle body 1 reaches the turning area at the edge of the ridge while traveling straight on the work traveling route R2a for rounding planting, the driver moves the traveling vehicle body 1 to the left from the working traveling route R2a for rounding planting. A leftward edge turning operation is performed to move to the adjacent first-time work travel route R1a for reciprocating planting. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the straight running state to the left small turning state. While raising the seedling planting apparatus 4 to an upper limit position, the marker 29 of an action posture is switched to a storage posture. In addition, the route setting unit 60L executes the target route setting control, and the target straight route along the reference direction Ro is set at a position on the turning direction side separated by a set distance in the orthogonal direction from the work traveling route R2a for round planting. Set Rs. And the point memory|storage part 60N memorize|stores the driving|running|working end point Pb of the straight driving|running|working in the work driving|running route R2a for round planting as the left turn start point Pc.
(2) When the traveling vehicle body 1 approaches the traveling start point Pa of the first work travel route R1a for round-trip planting by this left ridge turning operation, the driver will make the traveling vehicle body 1 the first work travel route for round-trip planting. The left edge of the ridge turning operation is terminated so that the vehicle can travel straight on R1a. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the left small turning state to the straight traveling state. The rice transplanter is switched from the moving traveling state to the working traveling state. Based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects that the traveling vehicle body 1 has reached the traveling start point Pa, and executes the above-described determination control.
(3) In this determination control, when the direction control unit 60M determines that the conditions for executing the automatic straight-ahead control are not met, the second notification unit 47C keeps blinking while this determination continues. Then, the driver performs the above-described manual correction steering so that the traveling vehicle body 1 is positioned on the initial work traveling route R1a for reciprocating planting.
Further, in this determination control, when the direction control unit 60M determines that the conditions for executing the automatic straight-ahead control are established, the direction control unit 60M starts the automatic straight-ahead control since the control target region Rsa described above starts from here. , the second notification unit 47C switches from the flashing state to the lighting state. Then, based on the automatic straight-ahead control of the direction control unit 60M, the traveling vehicle body 1 automatically travels on the initial work traveling route R1a for reciprocating planting. It becomes unnecessary to steer so as not to deviate from the first work travel route R1a for reciprocating planting.
However, in the automatic straight-ahead control at this time, since the right turn start point Pd is not stored in the point storage unit 60N, the sixth notification unit 47G continues intermittent operation, and the right turn start point Pd is stored as a point. Inform the driver that it is not stored in the section 60N.
(4) When the traveling vehicle body 1 reaches the direction change area at the edge of the ridge during straight traveling on the first working travel route R1a for this reciprocating planting, the driver operates based on the intermittent operation of the sixth notification unit 47G to travel. A right edge turning operation is performed to move the vehicle body 1 from the current work travel route R1a to the next work travel route R1b adjacent to the right side. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the straight running state to the right small turning state. To switch a riding rice transplanter from a working traveling state to a moving traveling state. Further, the route setting unit 60L executes the target route setting control to set the target straight route Rs along the above-described reference bearing Ro at a position on the turning direction side separated from the current work travel route R1a by a set distance in the orthogonal direction. set. Furthermore, the direction control unit 60M detects that the traveling vehicle body 1 has reached the travel end point Pb on the current work travel route R1a, and terminates the above-described automatic straight-ahead control. Switches to blinking. Then, the point storage unit 60N stores the traveling end point Pb of the straight traveling of the current work traveling route R1a as the right turn start point Pd, and thereby the sixth notification unit 47G stops the intermittent operation.
(5) When the traveling vehicle body 1 approaches the traveling start point Pa of the next work traveling route R1b by this right edge turning operation, the driver obtains a state in which the traveling vehicle body 1 travels straight on the working traveling route R1b. End the right edge turning operation. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the right small turning state to the straight running state, and based on this detection, the work control unit 60G executes the above-described second work state switching control, The rice transplanter is switched from the moving traveling state to the working traveling state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects that the traveling vehicle body 1 has reached the traveling start point Pa and executes the above-described determination control. Then, in the same manner as described in (3) above, manual correction steering by the driver or automatic straight-ahead control by the direction control section 60M is performed.
(6) In the subsequent automatic straight-ahead control, the left turn start point Pc on the work travel route R2a for round-trip planting and the right turn start point Pd on the work travel route R1a for round-trip planting are stored in the point storage unit 60N. Since it is stored, the arrival determination unit 60P executes the above-described setting determination control for the subsequent work travel routes R1b to R1e based on these change start points Pc and Pd. Further, the direction control unit 60M terminates the above-described automatic straight-ahead control and executes the above-described automatic direction change control every time the arrival determination unit 60P determines that the traveling vehicle body 1 has reached the turn start points Pc and Pd. do. Then, every time the automatic direction change control is executed, the steering angle sensor 70 detects the transition of the traveling vehicle body 1 from the straight traveling state to the small turning state. The non-working state switching control is executed to switch the riding rice transplanter from the working traveling state to the moving traveling state, the route setting unit 60L executes the target route setting control to set the next target straight route Rs, and the second notification unit 47C switches from a lighting state to a blinking state. Then, when the above-described predetermined time for edge-of-ridge turning has elapsed, the direction control section 60M terminates the edge-of-ridge turning operation by the automatic direction change control so that the traveling vehicle body 1 can move straight ahead. Then, the steering angle sensor 70 detects the transition of the vehicle body 1 from the small turning state to the straight traveling state. The machine is switched from the transport drive state to the work drive state. Further, based on the detection of the steering angle sensor 70 at this time, the direction control unit 60M detects that the traveling vehicle body 1 has reached the traveling start point Pa and executes the above-described determination control. Then, in the same manner as described in (3) above, manual correction steering by the driver or automatic straight-ahead control by the direction control section 60M is performed.
That is, when the seedling planting work is performed by reciprocating planting in a rectangular paddy field, the control operation of the work control unit 60G, the route setting unit 60L, the direction control unit 60M, the point storage unit 60N, and the arrival determination unit 60P. is used, if the left turn start point Pc and the right turn start point Pd are stored in the point storage unit 60N, the conditions for executing the above-described automatic straight control are not established after the edge turning by the automatic turn control. The driver does not have to operate the riding rice transplanter except when it is necessary to perform auxiliary work such as seedling supply and fertilizer supply.
As a result, it is possible to greatly reduce the driver's labor required during work travel.
(7) After that, when straight traveling is performed on the final work traveling route R1e for reciprocating planting by automatic straight traveling control, the driver operates the third changeover switch 94 to switch the direction control section 60M and the arrival determination section 60P as described above. switch to non-executing state. Then, when the traveling vehicle body 1 reaches the direction change area of the ridge, the driver operates the second changeover switch 91 to switch the route setting section 60L to the above-described non-execution state, and switch the direction control section 60M to the above-described non-execution state. Switch to stop state. Further, a furrow turning operation is performed to move the traveling vehicle body 1 from the final work travel route R1e for reciprocating planting to the adjacent work travel route R2c for round-trip planting. Then, based on the detection of the steering angle sensor 70 at this time, the work control section 60G executes the above-described second non-working state switching control to switch the riding rice transplanter from the working travel state to the moving travel state. Then, the driver operates the first changeover switch 78 to switch the work control section 60G to the above-described non-execution state during the edge-of-ridge turning at this time. Then, even if the driver terminates the turning operation at the edge of the furrow in order to make the traveling vehicle body 1 travel along the work traveling route R2c for round planting, the riding rice transplanter maintains the moving travel state.
Thereby, the driver can quickly move the riding rice transplanter from the final work travel route R1e for round-trip planting to the first work travel route R2a for round-trip planting.
(8) Then, after moving to the first work traveling route R2a for rounding planting, the driver manually travels the traveling vehicle body 1 on each of the work traveling routes R2a to R2d for rounding planting while performing the first work. By operating the lever 45 or the second working lever 46, the seedling planting device 4 and the fertilizing device 5 suitable for rotary planting are switched between working state and non-working state.

As shown in FIGS. 1 and 6, the traveling vehicle body 1 is provided with a spare remaining amount sensor 59D for detecting a decrease in the remaining amount of seedlings in the spare storage section 59. As shown in FIG. A load sensor that detects the weight of the seedling in the preliminary residual amount sensor 59D, or a limit switch that detects the presence or absence of mat-like seedlings in each preliminary seedling base 59B can be adopted as the preliminary residual amount sensor 59D. .
The direction control unit 60M detects a decrease in the seedling remaining amount in the preliminary storage unit 59 based on the detection of the preliminary remaining amount sensor 59D in the execution state of the automatic direction change control, and the first remaining amount detection unit Based on the output of 24A, when it is detected that the remaining amount of any of the mat-shaped seedlings placed on the seedling loading table 24 has decreased to the set value for seedling replenishment, the third annunciation unit 47D for informing seedling replenishment. is switched from the extinguished state to the flashing state, the automatic direction change control is switched from the execution state to the stop state, and the sixth notification part 47G is continuously operated to inform the driver that the automatic direction change control is not executed.
As a result, the driver can recognize the necessity of supplying seedlings to the seedling loading table 24 and the seedlings to the preliminary reservoir 59 . Then, when the traveling vehicle body 1 reaches the direction change area at the edge of the ridge, the driver performs an operation to stop traveling by operating the main transmission lever 42 to the neutral position or depressing the brake pedal 44 to stop traveling. The traveling vehicle body 1 can be stopped while the front end of the vehicle body 1 is brought close to the ridge.
As a result, the seedlings can be quickly replenished from the ridge to the seedling mounting table 24 and the preliminary storage section 59 by using the step 95 provided at the left and right ends of the front end of the vehicle body.

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

The driver's seat 48 includes a first seat sensor 48A that detects variations in the load applied to the driver's seat 48, and a second seat sensor 48B that detects pivotal movement of the driver's seat 48 from a reference position.
When the shift estimator 60R detects a decrease in the load based on the detection of the first seat sensor 48A and detects a turning movement of the driver's seat 48 from the reference position based on the detection of the second seat sensor 48B, , to estimate the transition from the driver's driving state to another work state.
As a result, when the driver attempts to leave the driver's seat 48 without stopping the traveling vehicle body 1 in order to perform work other than the seedling replenishment work, the fertilizer replenishment work, and the clogging removal work, , the motion at that time is detected by the first seat sensor 48A and the second seat sensor 48B. Then, based on the detection of the first seat sensor 48A and the second seat sensor 48B, the shift estimation unit 60R changes the operation state from the driver's driving state to the seedling replenishment state, the fertilizer replenishment state, and the work state other than the clogging removal state. can be estimated, and the vehicle speed is reduced to the set vehicle speed by the deceleration control of the vehicle speed control unit 60Q based on this estimation, and the traveling vehicle body 1 runs at slow speed.
This reduction in vehicle speed makes the driver aware that he or she has forgotten to stop the traveling vehicle body 1, and prompts the driver to stop the traveling vehicle body 1. - 特許庁In addition, the time required for the running vehicle body 1 to stop running after the driver's operation to stop the running vehicle body 1 can be shortened.
Further, the transition estimating section 60R detects a decrease in load based on the detection of the first seat sensor 48A, and detects turning movement of the driver's seat 48 from the reference position based on the detection of the second seat sensor 48B. In this case, since it is estimated that the driver will shift from the driving state to another work state, it is possible to reduce the load due to the driver sitting back on the driver's seat 48, or to reduce the load on the driver's seat 48 when the driver is seated. It is possible to avoid a decrease in work efficiency caused by the vehicle speed control unit 60Q executing deceleration control based on the turning movement.

The transition estimating section 60R switches between an operating state and a stopped state based on the operation of a manual fourth selector switch 96 provided in the operating section 40. FIG.
As a result, for example, when the driver determines that there is no need to perform other work such as seedling replenishment work and fertilizer replenishment work near the end of the work run, the transition estimating unit 60R can be switched to the stop state. Therefore, it is possible to avoid a decrease in vehicle speed due to the deceleration control of the vehicle speed control section 60Q.
As a result, when there is no need to perform other work, it is possible to avoid a decrease in work efficiency due to a decrease in vehicle speed due to deceleration control by the vehicle speed control section 60Q.

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

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

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

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

The energization holding unit 98 is switched to the first energization holding state in which the satellite navigation device 87 is energized from the battery 37 by the energization control unit 60T energizing the first holding relay 98A and switching the first holding relay 98A to the closed state. In addition, the energization control unit 60T stops the energization of the first holding relay 98A and switches the first holding relay 98A to the open state, thereby stopping the energization from the battery 37 to the satellite navigation device 87. switch to state.

The energization holding unit 98 is switched to the second energization holding state in which the inertia measurement device 88 is energized from the battery 37 by the energization control unit 60T energizing the second holding relay 98B to switch the second holding relay 98B to the closed state. In addition, the energization control unit 60T stops energizing the second holding relay 98B and switches the second holding relay 98B to the open state, thereby stopping the energization from the battery 37 to the inertial measurement device 88. switch to state.

The energization holding unit 98 switches between the first energization holding state and the second energization holding state in conjunction with the interruption operation of the main switch 61 . In addition, the timer section 60C starts clocking along with the cut-off operation. If the connection operation of the main switch 61 is performed before the set time elapses after switching to the first energization holding state and the second energization holding state, the energization holding unit 98 interlocks with the connection operation. The connection operation of the main switch 61 was not performed during the period until the first energization holding state and the second energization holding state were switched to the first energization stop state and the second energization stop state, and the set time had elapsed. , the first energization holding state and the second energization holding state are switched to the first energization stop state and the second energization stop state as the set time elapses. The set time for maintaining the energization can be arbitrarily set by operating the time setting device 99 provided in the operating section 40 . A momentary switch or the like can be adopted as the time setting device 99 .

According to this configuration, for example, if the set time is set by the time setting device 99 to a time longer than the maximum time (for example, a break time required for lunch) as an interruption time for work travel, In order to prevent wasteful fuel consumption during interruption of work travel due to such as, even if the driver shuts off the main switch 61 to stop the engine 7, the satellite The energization of the satellite navigation device 87, which takes a long time to start positioning using It is possible to prevent the stop due to the interruption operation of 61 .
As a result, when the driver operates the main switch 61 to start the engine 7 after taking a break or the like, the work travel using the automatic straight-ahead control can be restarted as soon as the engine 7 is started. can.
Further, for example, if the set time is set to the shortest time (for example, 0 minute or 1 minute) by the time setting device 99, the operator can turn off the main switch 61 upon completion of the work. When the main switch 61 is turned off, the satellite navigation device 87 and the inertial measurement device 88 are de-energized, or when the shortest set time elapses after the main switch 61 is turned off, power is maintained. The unit 98 automatically switches from the first energization holding state and the second energization holding state to the first energization stop state and the second energization stop state, and energization to the satellite navigation device 87 and the inertial measurement device 88 is stopped. Therefore, it is possible to prevent the satellite navigation device 87 and the inertial measurement device 88 from being unnecessarily energized even after the work is completed.
As a result, it is possible to prevent wasteful consumption of fuel during breaks, etc., and prevent wasteful power consumption after completion of work, without incurring a decrease in work efficiency.

The energization holding unit 98 includes a third holding relay 98</b>C interposed in a power transmission path from the battery 37 to the notification device 47 . Then, the energization control unit 60T energizes the third holding relay 98C to switch the third holding relay 98C to the closed state, thereby switching to the third energization holding state in which the battery 37 is energized to the notification device 47, and energization control. The section 60T stops the energization of the third holding relay 98C and switches the third holding relay 98C to the open state, thereby switching to the third energization stop state in which the energization from the battery 37 to the notification device 47 is stopped.
While the notification device 47 is operating in the third power holding state by the power holding unit 98, the information regarding the power holding state is that the satellite navigation device 87 and the inertial measurement device 88 are in the power holding state by the power holding unit 98. In addition, the liquid crystal display section 47A displays the remaining time until the energization holding section 98 switches from the energization holding state to the energization stop state, etc. to inform the driver.
Accordingly, the driver can easily confirm whether or not the energization holding unit 98 is in the energization holding state, the remaining time until the energization holding unit 98 switches to the energization stop state, and the like.

The satellite navigation system 87 and the inertial measurement system 88 are equipped with operation lamps 87B, 88A consisting of LEDs that illuminate in their operational state to indicate that they are operational.
The energization control unit 60T sets, as the set times described above, a first set time for maintaining energization of the satellite navigation device 87 and the inertial measurement device 88, and a second set time for maintaining energization of the notification device 47. and The first set time is set longer than the second set time.
That is, from the point of view of work efficiency, the first set time, which is the energization retention time of the satellite navigation device 87 and the inertial measurement device 88, for which the importance of maintaining energization is higher than that of the notification device 47, is the energization retention time of the notification device 47. The time is set longer than the second set time.
As a result, compared to the case where the energization retention time of the satellite navigation device 87 and the inertial measurement device 88, for which the importance of energization is high, is the same as the energization retention time of the notification device 47, for which the importance of energization is low, It is possible to suppress consumption of the battery 37 during a break or the like without causing a decrease in work efficiency.

When the power supply from the battery 37 is cut off by turning off the main switch 61, the ECU 60 maintains the power supply state by the internal self-holding circuit 60A and starts the clocking by the timer 60C as described above. In addition, the energization state of the notification device 47 is maintained as well as the energization state of the satellite navigation device 87 and the inertial measurement device 88 by the control operation of the energization holding unit 98 . After that, when the second set time elapses without the connecting operation of the main switch 61 being performed, the power supply to the notification device 47 is stopped, and when the first set time elapses power is supplied to the satellite navigation device 87 and the inertial measurement device 88. is stopped, and when the set time for maintaining the energized state in the self-holding circuit 60A elapses, the energization by the self-holding circuit 60A is stopped and the operation is stopped.
That is, the set time for maintaining the energized state of the ECU 60 having the highest importance of maintaining the energized state by the self-holding circuit 60A is set to be longer than the first set time and the second set time.

[Another embodiment]
The present invention is not limited to the configurations exemplified in the above embodiments, and other representative embodiments of the present invention will be exemplified below.

[1] The work vehicle may be configured to have a semi-crawler specification provided with left and right crawlers in place of the left and right rear wheels 6B.
Further, the work vehicle may be constructed to a full crawler specification having left and right crawlers in place of the left and right front wheels 6A and the left and right rear wheels 6B.

[2] The work vehicle is provided with left and right side clutch brakes instead of the left and right side clutches 17, and brake turning is performed by activating the side clutch brakes on the inner side of the turn as the traveling vehicle body 1 changes direction (small turn state). It may be constructed in a brake turning specification in which the state is manifested.
In addition, the work vehicle is equipped with a front wheel speed increasing device instead of the left and right side clutches 17, and the vehicle body 1 is in a direction change state (a small turning state), and front wheel accelerated turning is performed by increasing the speed of the front wheels 6A on the outer side of the turn. It may be configured for a front wheel acceleration turning specification in which the state appears.
Also, the work vehicle may perform a switch turn using reverse travel as the direction change.

[3] The work vehicle may be configured to include a rolling control section for controlling the roll angle of the ground work device A.

[4] The work vehicle may be configured not to perform the non-working state switching control and the working state switching control by the work control section 60G.

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

[6] The ground working device A may be a direct seeding device, a rotary tillage device, a plow, a puddling device, a harvesting device, a grass cutting device, a bucket, or the like.

[7] The route setting unit 60L determines, for example, each work travel route R2a to R2d for round-trip planting and each work travel route R1a to R1e for reciprocating planting for each work area, based on previous measurements or previous work travel. The target straight route Rs may be set based on the work place data in which etc. are set.

[8] The condition determination unit 60K may be configured to determine whether the condition for suspending the engine 7 is satisfied when the interruption switch 58B detects that the main gear shift lever 42 has moved to the work interruption position 58e. .
In addition, the condition determination unit 60K can perform a special operation of an existing switch such as a long-pressing operation of the first switch 89 or the second switch 90 for teaching, or a double-pressing operation of the first switch 89 or the second switch 90, for example. It may be configured to determine whether the temporary stop condition for the engine 7 is satisfied when the operation is detected.
Further, after detecting a special operation of an existing switch, the condition determination unit 60K determines that, for example, the output rotation speed of the engine 7 is below a set rotation speed (for example, idling rotation speed) and the voltage of the battery 37 is above a set value. and the temperature of the engine cooling water is equal to or higher than a set value (for example, 55 degrees). It may be configured to determine.

[9] The point storage unit 60N may store the turnover start points Pc and Pd for each work area, which are obtained by previous measurements or during the previous work travel, for example.

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

[11] After the end of the furrow turn, the amount of deviation of the current position of the traveling vehicle body 1 with respect to the target straight route Rs and the deviation angle of the current azimuth of the traveling vehicle body 1 with respect to the target straight route Rs are either outside the allowable range or within the allowable range. The center mascot 93 may be equipped with a second notification unit 47C for notifying the driver of the inside.

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

[13] Instead of the satellite navigation device 87, the positioning unit 86 may be provided with, for example, an optical measuring device that uses laser light to measure the position of the vehicle body.

[14] The remaining amount detection units 24A and 31A may be configured to detect the remaining amount in the storage units 24 and 31 by arithmetic processing based on the positioning result of the positioning unit 86. FIG.
Specifically, the remaining amount detection units 24A and 31A obtain, for example, the storage amount of the supply in the storage units 24 and 31, the supply amount of the supply per unit distance, and the positioning result of the positioning unit 86. Arithmetic processing based on the distance traveled at the work site, etc., is used to detect the remaining amount in the reservoirs 24 and 31 .
In other words, it is possible to detect the remaining amount in the storage sections 24 and 31 without providing the remaining amount detection units 24A and 31A with dedicated sensors for detecting the remaining amount of the supply material.

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

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

[17] The transition estimating section 60R estimates the driver's transition to another work state when it detects the turning movement of the driver's seat 48 from the reference position based on the detection of the second seat sensor 48B. may be configured.

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

[19] The transition detection unit 60S is configured to detect a transition from the driver's driving state to another work state when a decrease in load is detected based on the detection by the first seat sensor 48A. good too.
Further, the transition detection unit 60S detects a transition from the driver's driving state to another work state when the driver's seat 48 turns from the reference position based on the detection of the second seat sensor 48B. It may be configured as

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

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

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

[23] The spare storage section 59 may be one in which a spare fertilizer bag is placed.

The present invention provides a riding rice transplanter, a riding direct seeder, a tilling tractor, a puddling tractor, a loader tractor, a combine harvester, and a riding mower, which are equipped with a ground working device that can be raised and lowered, and perform work by reciprocating on a work site. It can be applied to work vehicles such as machines and wheel loaders.

1 traveling vehicle body 7 engine 24 storage section (seedling loading table)
24A remaining amount detection unit (first remaining amount detection unit)
31 reservoir (hopper)
31A remaining amount detection unit (second remaining amount detection unit)
35A Malfunction sensor (clogging sensor)
37 battery 47 notification device 47D notification unit (third notification unit)
47E reporting unit (fourth reporting unit)
47F reporting unit (fifth reporting unit)
47G reporting unit (sixth reporting unit)
47H notification unit (seventh notification unit)
48 Driver's seat 48A First seat sensor 48B Second seat sensor 59 Spare storage unit 59D Spare remaining amount sensor 60G Work control unit 60H Engine control unit 60K Condition determination unit 60L Route setting unit 60M Direction control unit 60N Location storage unit 60P Arrival determination unit 60Q vehicle speed control unit 60R transition estimation unit 60S transition detection unit 61 main switch 70 transition detection unit 86 positioning unit 87 satellite navigation device 88 inertial measurement device 94 changeover switch (third changeover switch)
96 changeover switch (fourth changeover switch)
97 changeover switch (fifth changeover switch)
98 energization holding unit A ground working device Pc conversion start point Pd conversion start point Rs target straight route Rsa control target area

Claims (4)

a positioning unit that measures the position and orientation of the running vehicle;
a direction control unit that controls the running direction of the running vehicle body;
A route setting unit that determines a reference orientation that is the extension direction of a target straight route based on execution of teaching control that includes registration of a teaching start point position, straight travel after the registration, and registration of a teaching end point after the straight travel. and
The direction control unit performs automatic straight-ahead control to automatically travel on the target straight-ahead route in the control target area of the target straight-ahead route based on the target straight-ahead route and the positioning result of the positioning unit. run,
When the direction control unit detects that the traveling vehicle body has reached the end of the control target area on the target straight path, the direction control unit ends the automatic straight control and shifts to a manual direction change state of the aircraft body,
The control target area is an actual traveling area extending from a travel start point to a travel end point on the target straight route, and the running vehicle body satisfies the execution condition for the automatic straight travel control from the travel start point on the target straight route. A work vehicle that is an area excluding a manual travel area that travels to 2. The working vehicle according to claim 1, wherein after registration of the teaching starting point position and after traveling straight for a set distance, registration of the teaching end point by the route setting section is enabled. A point storage unit that stores a turning start point where the traveling vehicle body shifts from a straight traveling state to the turning state, and an arrival determination unit that determines whether the traveling vehicle body has reached the turning start point,
The direction control unit automatically directs the traveling vehicle body from the current target straight route toward the next target straight route when the arrival determination unit determines that the traveling vehicle body has reached the turn start point. 3. The work vehicle according to claim 1 or 2, wherein automatic direction change control is executed to change direction. A manual changeover switch for switching the direction control unit between an execution state in which the automatic direction change control is executed and a stop state in which the automatic direction change control is not executed,
Informing the driver that the turn start point is not stored in the point storage unit when the direction control unit is switched to the execution state in a state where the turn start point is not stored in the point storage unit. 4. The work vehicle according to claim 3, further comprising a notification unit for notification.

Images