KR101243486B1 - Working vehicle - Google Patents

Abstract

The subject of this invention is comprised so that the end of a turn can be detected appropriately in a work vehicle.

Based on the turning start in the work stroke by the traveling distance G of the body based on the rotation speed of the wheel 2 and the steering angle A from the straight position A1 of the wheel 1 which can be steered. The position Y2 of the gas in the turning in the traveling direction of the gas before the starting of the turning is detected.

Moreover, the subject of this invention is comprised so that a turning end position may be detected suitably when turning in a work vehicle, and a working apparatus will be operated appropriately in a working state.

By the traveling distance 100G of the aircraft and the steering angle from the straight position of the wheel 1001 that can be steered, in the traveling direction (+ Y, -Y) of the aircraft before the swing starts based on the swing start 100L01 from the work stroke. Detects the position of the gas during its turn. Operate the actuator to the non-working state side of the work device 1005 based on the detection of the swing start position 100E1, and operate the actuator to the work state side of the work device 1005 based on the detection of the swing end position 100E3. . The operation start time of the work device 1005 of the actuator to the work state side is configured to be changeable.

Moreover, the subject of this invention is a work end position (turning start position) when a turning start position is detected by the operation to the non-working state of a work apparatus by a steering operation of an artificial operating tool and a front wheel in a Munnon work vehicle. The working start position (turning end position) is configured to be almost the same position from the rice field.

The turning end position 200E31 of the body based on the operation to the non-working state of the work device 2005 by the manipulator, and the work device 2005 to the non-work state by steering operation of the front wheel 2001. The turning end position 200E32 is moved to the turning start position 200E12 side according to the turning strokes 200L1 and 200L2 of the gas so that the difference between the turning end positions 200E32 of the base based on the operation becomes smaller (see θ1 and 200E31). .

Working Car, Actuator, Lift Lever

Description

Work car {WORKING VEHICLE}

TECHNICAL FIELD This invention relates to the structure of the position detection of the body in turning in the working place in a work vehicle.

Moreover, this invention relates to the structure of turning in the working place in a work vehicle.

Moreover, this invention relates to the structure of turning in Munon in the Munnon work vehicle, such as a riding type rice transplanter and a riding type linear wave machine.

In the passenger-type rice transplanter, which is an example of the work vehicle, when the transplantation (corresponding to the work stroke) is completed and the gas reaches the rice paddy field, the parent transplant apparatus is lifted from the farmland and turned (turning around U turn) When the turn is completed, the mother transplant apparatus is lowered to the farmland to enter the next transplant stroke.

For example, in Patent Document 1, when the body reaches the rice paddy field and the front wheel is steered, it is determined that turning is started (paragraph number of Patent Document 1), and the distance sensor (27 in FIG. 3 of Patent Document 1). Detection (integration) of the traveling distance of the gas is started, and when the traveling distance of the gas reaches the set distance, it is configured to judge that the turning is finished (paragraph number of Patent Document 1).

Thus, in Patent Document 1, by detecting the end of the turning, the mother transplant apparatus is configured to automatically descend to the farmland (paragraph number of Patent Document 1), the driver at the end of the turning by the lifting lever The lowering operation of the implant device is not required.

[Patent Document 1] Japanese Patent Application Laid-Open No. 2002-233220

[Patent Document 2] Japanese Patent Application Laid-Open No. 2001-86816

Also,

In the passenger-type rice transplanter, an example of a Munnon work vehicle, when a work stroke is completed and the body reaches the rice paddy field, the implantation clutch that transmits power to the parent implant device (equivalent to the work device) is operated in a blocked state. (The equivalent of the non-working state), the mother transplant apparatus is lifted from the farmland (corresponding to the non-working state), and the turning is performed (the turning about U turns). When the turning is completed, the mother transplant apparatus is lowered to the farmland (corresponding to the working state), and the implant clutch is operated in the electric state (corresponding to the working state) to enter the next work stroke.

For example, in Patent Document 3, when the body reaches the rice paddy field, the operation of the transplant clutch in the blocked state and the raising of the parent implant device are performed, the position of the body at this time is the turning start position (Fig. 9 of Patent Document 3). E1) (blocking position E1 of paragraph number 0057 of Patent Document 3).

Right and left rotational speed sensors (50 in FIGS. 2 and 6 of Patent Document 3) for detecting the rotational speed of the right and left rear wheels are provided, and the rotational stroke of the predetermined gas (traveling of the gas from the turning start position) The position at which the distance was performed is set as the turning end position (E5 in FIG. 9 of Patent Document 3) (motorized position E5 in paragraph No. 0063 of Patent Document 3).

By the right and left rotation speed sensors, the turning stroke (gas running distance) of the gas is detected from the turning starting position, and the turning end position is reached based on the detection of the turning stroke (gas running distance) of the gas. Is detected, the mother transplant apparatus automatically descends to the farmland (step S14 of FIG. 8 of Patent Document 3) (corresponds to the working state), and the implant clutch is automatically operated in the electric state (FIG. 8 of Patent Document 3). Step S20) (paragraph number 0076 of Patent Document 3) (corresponding to the working state), the process proceeds to the next work stroke.

As a result, the driver does not need to lower the mother implantation device by the elevating lever and operate the implantation clutch in the electric state at the end of the swing, and the simulation implantation end position (turning start position) in the previous work stroke, The simulated transplant start position (swivel end position) in the next work stroke can be made almost the same from the rice paddy field.

[Patent Document 3] Japanese Patent Application Laid-Open No. 2008-230302

If the front wheels are maintained at the same steering angle from the start of the turning to the end of the turning, and the vehicle is turning to draw one semi-circle, the traveling distance of the aircraft proceeds as it is, and the position of the aircraft during the turning is determined from the traveling distance of the aircraft. Since it is derived uniquely, there is no problem even when judging that the turning is finished when the traveling distance of the body reaches the set distance as in Patent Document 1.

However, in the passenger type rice transplanter which is an example of a work vehicle, it is not only the state which turns to draw one semicircle, maintaining the front wheel at the same steering angle from the turning start to the turning end. For example, as disclosed in Patent Literature 2, in a passenger-type rice transplanter equipped with a parent-transplanter having a large width, such as an 8-chamber type, after straight turning (L1 in FIG. 8 of Patent Literature 2), the straightening is performed. Running (L2 of FIG. 8 of patent document 2) is performed a little, and a back turn (L3 of FIG. 8 of patent document 2) may be performed.

As a result, as shown in FIG. 8 of Patent Document 2, when turning the first half, traveling straight, and turning the second half, only the detection (integration) of the traveling distance of the gas is performed as in Patent Document 1, Even when traveling straight between turns, detection (integration) of the traveling distance of the body is performed. As a result, for example, if the straight running between the first and second turns becomes long, the traveling distance of the aircraft reaches the set distance in the straight running between the first and second turns, even though the turning is not finished yet. There is a possibility that it is determined that the operation has ended.

An object of the present invention is to provide a work vehicle so that the end of turning can be properly detected.

In addition, when the wheel is maintained at the same steering angle from the turning start position to the turning end position, and the vehicle is turning to draw one semi-circle, the traveling distance of the aircraft is proceeding as it is, and the vehicle is turning from the traveling distance of the aircraft. Since the position of the body is uniquely derived, there is no problem even when judging that the turning is finished when the traveling distance of the body reaches the set distance as in Patent Document 1.

However, in the passenger type rice transplanter which is an example of a work vehicle, it is not only the state which turns a wheel to draw one semicircle, maintaining the wheel at the same steering angle from a turning start position to a turning end position. For example, there is a case where the steering operation of the wheel is less than the driver's expectation, so that the body turns largely and the steering operation of the wheel different from the normal one is performed when the driver is unskilled.

For example, as disclosed in Patent Literature 2, in a passenger-type rice transplanter equipped with a parent-transplanting device having a large width, such as an eight-row type, after the first turning (L1 in FIG. 8 of Patent Literature 2), A straight run (L2 of FIG. 8 of patent document 2) may be performed a little, and the turning of the latter half (L3 of FIG. 8 of patent document 2) may be performed.

As described above, even when the body turns largely and turns or a steering operation of a wheel different from the normal one is performed, if the traveling distance of the body is detected (accumulated), the traveling distance of the body rather than the actual progress of the body in the turning. The detection (integration) value of becomes large. Similarly, in the turning as in Patent Document 2, if the traveling distance of the gas is accumulated (accumulated) even in the straight running between the first half and the second half, if the straight running is longer than expected, the actual progress of the gas in the turning is performed. The detection (integration) value of the traveling distance of the body is large.

Thereby, even if the turning is not complete, the traveling distance of the body reaches the set distance, it is determined that the turning is completed, and the work device may be operated in the working state earlier than the appropriate time.

An object of the present invention is to configure a work end device to be properly operated in a work state by appropriately detecting a turning end position when turning in a work vehicle.

In addition, by operating the work device provided in the body in a non-working state (rising state of the work device or blocking of the work clutch that transmits power to the work device), man-made operation such as an operation lever artificially operated by the driver There is a sphere (see FIGS. 1 and 11 and 12 of FIG. 6 of Patent Document 3).

Recently, apart from the above-mentioned artificial control tool, when the driver reaches the vicinity of the rice paddy field and the driver starts steering of the front wheels and turns are started, the work device is automatically in a non-working state (ascending work device or work device). And a working clutch for transmitting power).

In this case, the turning start position is detected by the operation of the work apparatus by the artificial operation tool into the non-working state, and the turning end position is set based on the turning start position, and the non-work of the work apparatus by the steering operation of the front wheels. In a state where the turning start position is detected by the operation to the state and the turning end position is set based on the turning start position, it may be in another state as described below.

When the operation is performed in the non-working state (rising state of the work device or the cut-off state of the work clutch that transmits power to the work device) by the artificial operating tool, as shown in FIG. Since the operation in the non-working state of the work device by the manipulator is often performed when it reaches the rice paddy field, the work by the manipulating tool is performed in a state where the front-back direction of the body is orthogonal to the paddy field B. The operation to the non-working state of the apparatus is often performed (the turning by the steering operation of the front wheel is often started afterwards).

Thereby, as shown, for example in FIG. 6, turning start position E11 is detected by operation to the non-working state of a work apparatus by an artificial manipulation tool, and a predetermined | prescribed base body is turned from the turning start position E11. The positions where the turning steps L1 and L2 are performed are set as the turning end positions E31, so that the turning start position E11 and the turning end positions E31 become almost the same positions from the rice paddy B. FIG.

On the other hand, when performing operation to the non-working state of a work device by the steering operation of a front wheel (raising state of a work device, or the interruption state of the work clutch which transmits power to a work device), for example, as shown in FIG. Similarly, when the body reaches near the rice paddy and the steering operation of the front wheel is performed, the direction of the body is changed (when the turning is started) by the steering operation of the front wheel, and the operation of the work device is performed in the non-working state.

Thereby, for example, as shown in FIG. 7, operation to the non-working state of a working apparatus is performed in the state in which the front-back direction of a body inclined to the rice field B in the turning direction, and the turning start position E12 is detected. Since the turning positions L1 and L2 of the predetermined gas are set as the turning end position E32 from the turning start position E12, the turning start position E12 and the turning end position E32 are unreasonable. It becomes another position from B (the turning end position E32 becomes the position spaced apart from the paddy field B with respect to the turning start position E12).

As described above, the turning start position is detected by the operation of the work device in the non-working state by the steering operation of the front wheel, and the turning start position is detected by the operation of the work device by the artificial operation tool into the non-working state. In the set state, when the turning end position becomes different, when the work apparatus is operated in the working state based on the detection of the turning end position, the work end position (turning start position) and the work start position (turning end position) of the work apparatus. Position) becomes the same position from the rice field, or becomes a different position from the rice field.

The present invention, even in the non-working vehicle, even if the turning start position is detected by the operation of the work device by the artificial operation tool to the non-working state, turning by the operation of the work device to the non-working state by steering operation of the front wheels. Even if the start position is detected, the object is to be configured such that the work end position (turning start position) and the work start position (turning end position) of the work device are almost the same from the rice paddy.

[I]

(Configuration)

The 1st characteristic of this invention is comprised in the work vehicle as follows.

Traveling distance detecting means for detecting a traveling distance of the body, steering angle detecting means for detecting a steering angle from a straight position of the wheel which can be steered,

On the basis of the starting of the turning from the work stroke, the traveling distance detecting means and the steering angle detecting means are provided with gas position detecting means for detecting the position of the gas during the turning in the traveling direction of the gas before starting the turning.

(Action)

In the passenger type rice transplanter which is an example of a work vehicle, as shown, for example in FIG. 8 of patent document 2, turning of the first half (L1 of FIG. 8 of patent document 2), and traveling straight (L2 of FIG. 8 of patent document 2). ) And the latter half turn (L3 in FIG. 7 of Patent Document 2), even if the straight traveling lengthens or shortens, the traveling direction of the gas before starting the turn (see FIGS. 7 and 8 of Patent Document 2 and K1 and K2). The turning end position in is often unchanged (for example, in a riding type rice transplanter, the turning start position (tip position of arrow K1 in FIG. 8 of Patent Document 2) and the turning end position (Fig. 2 of Patent Document 2). 8) L3 of the tip position of the arrow) coincides with each other.

Moreover, in the passenger type rice transplanter which is an example of a work vehicle, when a transplantation stroke (equivalent to a work stroke) is complete | finished and gas arrives near a rice field, turning about U turns is performed (FIG. 7 and FIG. 8), as mentioned above, since the turning end position in the advancing direction of the gas before the start of turning does not change, the advancing direction of the gas before starting the turning (see FIGS. 7 and 8 of Patent Document 2 and K1 and K2). WHEREIN: If the position of the gas in turning can be detected, the turning end position in the advancing direction of the gas before turning start can be detected.

According to the first aspect of the present invention, instead of detecting the position of the gas in turning only by the traveling distance of the body, the steering distance from the straight distance of the body and the traveling distance of the wheel is used, By adding the steering angle from the straight position of the wheel, it is possible to detect how far the gas has advanced in which direction.

In this way, if it is possible to detect how far the gas has traveled in which direction, based on this, the traveling direction of the gas before starting the turning (for example, see L01 in FIG. 7) (for example, (+ Y in FIG. 7)). (-Y) reference] can detect the position of the gas during turning (for example, see Y2 in Figs. 8A and 8B), and based on this, The turning end position of can be detected appropriately.

(Effects of the Invention)

According to the first aspect of the present invention, by detecting the position of the gas in the turning in the traveling direction of the gas before starting the turning in the work vehicle, the turning end position can be detected appropriately, based on the detection of the turning end position. Work performed for example (for example, in a passenger-type rice transplanter, based on the detection of the turning end position, the parent implant device is automatically lowered to the farmland) is appropriately performed to improve the work performance of the work vehicle. there was.

[II]

(Configuration)

The 2nd characteristic of this invention is comprised in the working vehicle of the 1st characteristic of this invention as follows.

Based on the traveling distance of the aircraft and the steering angle from the straight position of the wheel, the turning radius of the aircraft and the moving angle of the movement of the aircraft relative to the turning center of the aircraft are detected, and the trigonometric function is based on the turning radius and the moving angle of the aircraft. The gas position detecting means is configured to detect the position of the gas in the turning in the advancing direction of the gas before starting the turning.

(Action)

As described in the foregoing paragraph [I], if the traveling distance of the body and the steering angle from the straight position of the wheel can detect how far the body has advanced in any direction, for example, FIGS. As shown in b), the turning radius R of the body and the turning center R of the body are determined by the steering angle A from the traveling distance G of the body and the straight position A1 of the wheel 1. The movement angle θ at which the body moves relative to C) can be detected (for example, the steering angle from the wheel base W of the wheels 1 and 2 or the straight position A1 of the wheel 1). (A) The center of gravity (C) and the turning radius (R) of the body are detected, and the moving angle (based on the turning center (C) and the turning radius (R) of the body and the traveling distance (G) of the body ( [theta]).

According to the second aspect of the present invention, by detecting the turning radius and the moving angle of the gas, the position of the gas in the turning in the traveling direction of the gas before the starting of the turning can be detected with a trigonometric function with high accuracy [Example For example, in FIG. 8B, Y2 is detected by R * SIN (θ).

(Effects of the Invention)

According to the second aspect of the present invention, the position of the gas in the turning in the traveling direction of the gas before the starting of the turning can be detected with a trigonometric function with high accuracy, and the turning end position can be detected with high accuracy, and the turning ending position The work performed on the basis of the detection of C was appropriately performed, and the work performance of the work vehicle could be improved.

[III]

(Configuration)

The 3rd characteristic of this invention is comprised in the working vehicle of the 2nd characteristic of this invention as follows.

A plurality of regions having a predetermined angular range are set for the steering angle from the straight position of the wheel to set the turning radius of one gas in each of the plurality of regions,

When the steering angle from the straight position of the wheel enters one of the plural regions, the position of the gas during the turning in the traveling direction of the gas before the start of the turning based on the turning radius of the gas in the region where the steering angle from the straight position of the wheel enters. The gas position detecting means is configured to detect.

(Action)

As described in the foregoing paragraph [II], when the turning center and turning radius of the body are detected by the traveling distance of the body and the steering angle from the straight position of the wheel, the steering angle from the straight position of the wheel changes, The turning radius of is also changed so that there are a large number of (anhydrous) turning radii depending on the steering angle from the straight position of the wheel. As a result, it is sometimes a burden on the gas position detecting means to detect the turning radius of the gas whenever the steering angle from the straight position of the wheel changes. In particular, in the case where the steering angle from the straight position of the wheel changes frequently, the above-mentioned burden becomes large.

According to the third aspect of the present invention, instead of detecting the turning radius of the gas every time the steering angle from the straight position of the wheel is changed, a plurality of regions having a predetermined angle range are steered from the straight position of the wheel. The turning radius of one gas is set in each of the plurality of regions (for example, 90 degrees are divided into nine regions (the predetermined angle range is 10 degrees), and each of the plurality of regions). Set the turning radius of one gas. In the region of 0 to 10 degrees, the turning radius of the gas corresponding to the steering angle (for example, 5 degrees) from the straight position of the wheel is set as the turning radius of the gas in the region of 0 to 10 degrees.

According to the third aspect of the present invention, when entering a region having a steering angle from the straight position of the wheel, the turning radius of one gas in this region as long as it exists in this region even if the steering angle from the straight position of the wheel changes. It is only necessary to detect the position of the gas during the turning in the traveling direction of the gas before starting the turning, and it is not necessary to detect the turning radius of the gas every time the steering angle from the straight position of the wheel changes (for example, When the steering angle from the straight position of the wheel is in the range of 0 degrees to 10 degrees, even if the steering angle from the straight position of the wheel changes by 3 degrees or 8 degrees, the turning radius of one of the bodies in the region of 0 degrees to 10 degrees Next, when the steering angle from the straight position of the wheel enters the region of 10 to 20 degrees, the line of the gas in one of the regions of 10 to 20 degrees Use the search radius).

Thereby, the frequency | count of detecting the turning radius of a gas can be reduced, and the load of a gas position detection means can be reduced.

(Effects of the Invention)

According to the third aspect of the present invention, it is not necessary to detect the turning radius of the gas every time the steering angle from the straight position of the wheel changes, so that the burden on the gas position detecting means can be reduced, so that the It has become advantageous in terms of simplicity and cost reduction.

[IV]

(Configuration)

According to the 4th characteristic of this invention, it is comprised as follows in the working vehicle in any one of the 1st-3rd characteristic of this invention.

From the start of turning from the work stroke, in the state where the steering angle from the straight position of the wheel is between the steering angle and the set angle in the work stroke, the traveling distance of the gas is determined by The gas position detecting means is configured to detect as a position.

(Action)

As described in the foregoing paragraph [I], when detecting how far the body has advanced in which direction, based on the traveling distance of the body and the steering angle from the straight position of the wheel, immediately after the start of turning from the work stroke, In the state where the steering angle from the straight position is between the steering angle and the set angle in the working stroke, since the change in the traveling direction of the gas is small, the traveling direction of the gas before the start of turning and the direction of the gas immediately after the start of turning are almost Can be regarded as the same.

According to the fourth aspect of the present invention, as described above, in the state where the steering angle from the starting position of the wheel is between the steering angle and the set angle in the working stroke from the turning start from the working stroke, The traveling distance of the gas is detected as the position of the gas in the turning in the advancing direction of the gas before the starting of the turning, since the traveling direction and the traveling direction of the gas immediately after the starting of the turning can be regarded as substantially the same.

Thereby, the load of the gas position detecting means can be reduced by the traveling distance of the gas and the steering angle from the straight position of the wheel, as compared with the case of detecting the position of the gas during the turning in the traveling direction of the gas before the starting of the turning. there was.

(Effects of the Invention)

According to the fourth aspect of the present invention, from the start of turning from the work stroke, the burden of the gas position detecting means is reduced in a state in which the steering angle from the straight position of the wheel is between the steering angle and the set angle in the work stroke. It has become advantageous in view of the simplification and cost reduction of the gas position detecting means.

[V]

The 5th characteristic of this invention is comprised in the working vehicle of the 4th characteristic of this invention as follows.

The right side clutch which can drive and cut power by the right wheel, and the left side clutch which can drive and cut power by the left wheel, and when the steering angle from the straight position of the wheel reaches the set angle, turn It is comprised so that the side clutch of the center side may operate in a blocking state.

(Action)

The work vehicle includes a right side clutch that can drive and block power with the right wheel, and a left side clutch that can drive and block power with the left wheel. It is maintained in the state, and there exist some things comprised so that the side clutch of the turning center side may operate in the interruption state (refer patent document 1). As a result, power is not transmitted to the wheels on the pivot center side at the time of turning, and the wheels on the pivot center side are free to rotate, so that the wheels on the pivot center side rotate along the work site along with the pivot. As a result, the work place is less likely to be deteriorated by the wheel on the pivot center side, and the gas is smoothly turned.

According to the fifth aspect of the present invention, from the start of turning from the work stroke, in the state where the steering angle from the straight position of the wheel is between the steering angle and the set angle in the work stroke, the right and left side clutches are in an electric state. And the power is transmitted to the wheels on the right and left sides, the traveling direction of the gas becomes difficult to change, and the traveling distance of the gas is detected as the position of the gas in the turning in the traveling direction of the gas before the starting of the turning. have.

In this case, the advancing direction of the gas (a state in which the gas tends to go straight) is harder to change, so that the advancing direction of the gas before the start of turning and the advancing direction of the gas immediately after the starting of turning become closer (almost the same). In the configuration of detecting the traveling distance of the gas as the position of the gas in the turning in the advancing direction of the gas before the start of turning, the position of the gas in the turning in the advancing direction of the gas before starting the turning can be detected with high accuracy.

According to the fifth aspect of the present invention, when the steering angle from the straight position of the wheel reaches the set angle, the side clutch on the pivot center side is operated in a blocked state, and the wheel on the pivot center side is free to rotate so that the traveling direction of the body is free. This state becomes easy to change, and the position of the gas in the turning in the advancing direction of the gas before the start of turning is detected by the steering angle of the gas and the steering angle from the straight position of the wheel.

In this case, the position of the gas in the turning in the advancing direction of the gas before the start of the turning is disturbed by the disturbance of the turning of the gas in a state in which the advancing direction of the gas tends to change (the state in which the turning of the gas is performed smoothly). The state in which a structure is influenced hardly arises, and the position of the gas in turning in the advancing direction of the gas before turning start can be detected with high accuracy.

(Effects of the Invention)

According to the fifth aspect of the present invention, by effectively using the right and left side clutches of the existing structure, the position of the gas in the turning in the traveling direction of the gas before the turning start can be detected with high accuracy, and the turning end position Can be detected with high accuracy, and the work performed based on the detection of the turning end position can be performed appropriately, and the work performance of the work vehicle can be improved.

[VI]

(Configuration)

A sixth feature of the present invention is to constitute the following in a work vehicle.

An actuator for operating the work device provided in the aircraft in a working state and a non-working state, traveling distance detecting means for detecting a traveling distance of the body, and steering angle detecting means for detecting a steering angle from a straight position of the wheel that can be steered. And

Swing start position detecting means for detecting a swing start position of the body based on the swing start from the work stroke;

A gas position detecting means for detecting the position of the gas in the turning in the traveling direction of the gas before starting the turning by the traveling distance detecting means and the steering angle detecting means based on the detection of the turning starting position detecting means;

A turning end position detecting means for detecting a turning end position of the gas based on the detection of the gas position detecting means;

An operation means for operating the actuator to the non-working state side based on the detection of the swing start position detecting means, and operating the actuator to the work state side based on the detection of the swing end position detecting means;

And changing means for changing the start time of operation of the actuator by the operation means toward the working state side.

(Action)

[VI] -1

In the passenger type rice transplanter which is an example of a work vehicle, as shown, for example in FIG. 8 of patent document 2, turning of the first half (L1 of FIG. 8 of patent document 2), and traveling straight (L2 of FIG. 8 of patent document 2). ) And in the case of turning in the latter half (L3 of FIG. 7 of Patent Document 2), even if the straight traveling lengthens or shortens, the traveling direction of the body before starting of turning (K1, K2 of FIGS. 7 and 8 of Patent Document 2). The turning end position in the reference is often the same position as the turning start position in the traveling direction of the gas before the starting of turning (for example, in a riding type rice transplanter, the turning starting position (in FIG. 8 of Patent Document 2)). The tip position of arrow K1 and the turning end position (tip position of arrow L3 of FIG. 8 of patent document 2) correspond. The state in which the turning start position and the turning end position in the advancing direction of the gas before the turning start are substantially the same is often the same even when the turning is turned back or the back and forth are repeated.

In addition, in the passenger type rice transplanter which is an example of the work vehicle, when the transplantation stroke (corresponding to the work stroke) is completed and the gas reaches the vicinity of the rice paddy field, turning about U turns is performed (Fig. 7 and Fig. 2 of Patent Document 2). 8), as described above, since the turning start position and the turning end position in the traveling direction of the gas before the turning start are approximately the same position, after the turning start position is detected (specifically), the moving direction of the gas before the turning start starts. (See K1 and K2 of FIG. 7 and FIG. 8 of patent document 2) WHEREIN: If a position of the gas in turning can be detected, a turning end position in the advancing direction of the gas before turning initiation can be detected.

[VI] -2

According to the sixth aspect of the present invention, the traveling distance of the gas and the steering angle from the straight position of the wheel are used instead of detecting the position of the gas in the turning only by the traveling distance of the gas. By adding the steering angle from the straight position of the wheel, it is possible to detect how far the gas has advanced in which direction.

In this way, if it is possible to detect how far the gas has traveled in which direction, based on this, the traveling direction of the gas before the start of turning (for example, see 100L01 in FIG. 17) (for example, (+ Y) in FIG. 17). (-Y) reference] can detect the position of the gas during turning (for example, 100Y1 in FIG. 18B).

As described above, if the position of the gas in the turning in the advancing direction of the gas before turning start can be detected, the turning start position is detected (specifically) to detect the position of the gas in the turning in the advancing direction of the gas before turning start. Based on the above, the swing end position (for example, a position approximately equal to the swing start position in the advancing direction of the gas before the swing start) can be detected from the swing start position.

In this way, the turning end position is detected based on the detection of the turning start position and the position of the gas in the turning in the traveling direction of the gas before the turning start, thereby avoiding a state in which it is determined that the turning is finished even when the turning is not finished. The turning end position can be detected appropriately, and the working device can be appropriately operated in the working state by the actuator based on the detection of the turning end position.

[VI] -3

As in the sixth aspect of the present invention, when the position of the gas during turning is detected in the traveling direction of the gas before the start of turning, by the steering angle of the body and the steering angle from the straight position of the wheel, the running state and operation of the body An error may occur in each part due to the state of the limb.

Thus, when the work device is operated in the work state by the actuator based on the detection of the swing end position, it is considered that the operation of the work device by the actuator to the work state is not finished at the swing end position ( Due to the need for some time from the start of the actuator to the end of the operation). For example, even before the swing end position is reached, even when the operation to the work state of the work device by the actuator is terminated or the swing end position is reached, the operation to the work state of the work device by the actuator is not finished. Is considered.

According to the sixth aspect of the present invention, in the turning end position, when it is considered that the operation of the work device by the actuator to the working state is not finished, the operation start timing of the actuator is changed to change the turning end position. It is possible to end the operation of the work device by the actuator to the work state. For example, when the swing end position is detected, the operation of the work device by the actuator in the swing end position is terminated at the swing end position by starting the operation of the actuator from a little earlier or starting the operation of the actuator a little later. You can do that.

(Effects of the Invention)

According to the sixth aspect of the present invention, when turning in a work vehicle, the turning end position is detected by detecting the turning end position based on the detection of the turning start position and the position of the gas in the turning in the traveling direction of the gas before the turning start. Can be properly detected, and the work device can be properly operated in the working state based on the detection of the turning end position, thereby improving the work performance of the work vehicle.

According to the sixth aspect of the present invention, the operation start time of the actuator can be changed so that the operation of the work device by the actuator in the swing end position is terminated, and the work device is properly placed in the work state at the swing end position. It became possible to operate it easily, and the working performance of the work vehicle could be improved.

[Etc]

(Configuration)

The other characteristic of this invention is comprised in the working vehicle of the 6th characteristic of this invention as follows.

Based on the traveling distance of the body and the steering angle from the straight position of the wheel, the turning radius of the body and the moving angle of the gas relative to the turning center of the body are detected, and based on the turning radius and the moving angle of the body The said gas position detection means is comprised by a trigonometric function so that the position of the gas in turning in the advancing direction of the gas before the start of the turning may be detected.

(Action)

As described in the foregoing paragraph [VI] -2, if the traveling distance of the body and the steering angle from the straight position of the wheel can detect how far the body has advanced in which direction, for example, FIG. 18 (a) , (b), the turning radius 100R of the body and the turning of the body by the steering angle 100A from the traveling distance 100G of the body and the straight position 100A1 of the wheel 1001. It is possible to detect the moving angle θ at which the body moves with respect to the center 100C (for example, from the wheel base 100W of the wheels 1001 and 1002 or the straight position 100A1 of the wheel 1001). The turning center 100C and the turning radius 100R of the body are detected based on the steering angle 100A and the like, and the movement is based on the turning center 100C and the turning radius 100R of the body and the traveling distance 100G. Detecting the angle [theta]].

According to another feature of the present invention, by detecting the turning radius and the moving angle of the gas, the position of the gas in the turning in the traveling direction of the gas before the starting of the turning can be detected with a trigonometric function with high accuracy (for example, 18B, 100Y1 is detected by R * SIN (θ).

(Effects of the Invention)

According to the other feature of this invention, the position of the gas in turning in the advancing direction of the gas before turning start can be detected with a trigonometric function with high precision, and the turning end position can be detected with high precision, and the turning end position On the basis of the detection of, the work device was able to be properly operated in the working state, thereby improving the work performance of the work car.

[Ⅶ]

(Configuration)

According to a seventh aspect of the present invention, there is provided the following configuration in the work vehicle of the sixth aspect of the present invention.

And traveling speed detecting means for detecting the traveling speed of the body,

The changing means is configured to change an operation start time of the actuator to the working state side by the operating means based on the detection of the traveling speed detecting means.

(Action)

As described in the foregoing paragraph [VI] -3, when the working device is operated in the working state by the actuator based on the detection of the turning end position, the working device is moved to the working state by the actuator at the turning end position. As a state in which the operation is not finished, the following states are considered.

When operating the work device in the working state by the actuator on the basis of the detection of the turning end position, the actuator may be limited due to the limitation in the operating speed of the actuator or the presence of an operation stroke from the non-working state to the working state. It may take some time from the start of the operation until the end of the operation.

Thereby, even if the turning end position is detected appropriately, if the operation of the work device by the actuator is started from this point of time, when the operation of the work device by the actuator is finished, the gas and the work The device is moved slightly from the turning end position.

According to the seventh aspect of the present invention, the operation start timing of the actuator can be changed based on the traveling speed of the gas.

Thereby, for example, when the traveling speed of the gas is high relative to the operating speed of the actuator, the actuator is started from a little earlier for the detection of the expected turning end position, so that the actuator is in the expected turning end position. The operation of the work device to the working state can be finished.

On the contrary, for example, when the traveling speed of the gas is slow relative to the operating speed of the actuator, the actuator starts operation of the actuator a little later than described above with respect to the detection of the expected turning end position. The operation to the work state of the work device can be finished.

(Effects of the Invention)

According to the seventh aspect of the present invention, on the basis of the relationship between the traveling speed of the gas and the operating speed of the actuator, the working device can be appropriately operated in the working state at the turning end position, thereby improving the working performance of the working vehicle. I could make it.

[Etc]

(Configuration)

According to the other characteristic of this invention, it is comprised as follows in the working vehicle of the 6th characteristic of this invention.

And slip rate detecting means for detecting a slip rate of the wheel with respect to the work paper,

Based on the detection of the slip rate detecting means, the changing means is configured to change an operation start time of the actuator to the working state side by the operating means.

(Action)

As described in the foregoing paragraph [VI] -3, when the working device is operated in the working state by the actuator based on the detection of the turning end position, the working device is moved to the working state by the actuator at the turning end position. As a state in which the operation is not finished, the following states are considered.

When detecting the position of the gas in the turning in the traveling direction of the gas before the start of the turning, based on the steering distance from the gas traveling distance and the straight position of the wheel, it is configured to detect the traveling distance of the body by the number of revolutions of the wheel In many cases, it is necessary to assume the slip ratio of the wheel with respect to the work paper. In this case, if the slip ratio of the wheel to the work site is larger than the assumed value, it is considered that the detected value of the travel distance detecting means is larger than the actual travel distance of the body, and if the slip ratio to the work place is smaller than the assumed value, the travel distance It is considered that the detection value of the detection means becomes a value smaller than the traveling distance of the actual gas.

Thus, for example, when the slip ratio of the wheel to the work place is larger than assumed, the turning end position is detected earlier than the proper turning end position, and the actuator is operated based on the detection of the turning end position detecting means. After the operation to the working state of the work device is finished, it is considered to be in a state of reaching the appropriate turning end position.

According to another feature of the present invention, the operation start timing of the actuator can be changed based on the slip ratio of the wheel.

Thereby, when the actuator operates based on the detection of the turning end position detecting means, the operation start time of the actuator is increased or slowed down based on the slip ratio of the wheel with respect to the work place, thereby detecting the turning end position detecting means and turning appropriately. Even if the end position deviates a little, the operation to the work state of the work device by the actuator can be finished at the proper turning end position.

(Effects of the Invention)

According to the other feature of this invention, based on the slip ratio of the wheel with respect to the work paper, it was possible to appropriately operate the work device in the working state at an appropriate turning end position, thereby improving the work performance of the work vehicle.

[Etc]

(Configuration)

According to the other characteristic of this invention, it is comprised as follows in the working vehicle of the 6th characteristic of this invention.

The changing means is configured to change the start time of operation of the actuator to the working state side by the operating means based on the contest of the soil of the working paper.

(Action)

As described in the foregoing paragraph [VI] -3, when the working device is operated in the working state by the actuator based on the detection of the turning end position, the working device is moved to the working state by the actuator at the turning end position. As a state in which the operation is not finished, the following states are considered.

When detecting the position of the gas during the turning in the traveling direction of the gas before the start of turning, based on the traveling distance of the body and the steering angle from the straight position of the wheel, the steering angle from the straight position of the wheel is kept constant. By the contest of the soil of the work paper, it is considered that the turning radius of the gas becomes larger or smaller.

Therefore, it is considered that the turning end position is detected earlier than the proper turning end position or the turning end position is detected later than the appropriate turning end position by the contest of the soil of the work paper. For example, when the turning end position is detected earlier than the proper turning end position, and the actuator is operated based on the detection of the turning end position detecting means, after the operation to the working state of the work device by the actuator is terminated, It is considered to be in a state of reaching the turning end position.

According to another feature of the invention, it is possible to change the start timing of the actuator based on the contest of the soil of the work paper.

Thereby, when the actuator operates based on the detection of the turning end position detecting means, the operation start time of the actuator is increased or slowed down based on the contest of the soil of the work place, thereby detecting the turning end position detecting means and the proper turning end position. Even if a little shift | deviates, operation to the working state of a work device by an actuator can be complete | finished in a suitable turning end position.

(Effects of the Invention)

According to the other feature of this invention, it was possible to appropriately operate the work device in the working state at an appropriate turning end position based on the contest of the soil of the work paper, thereby improving the work performance of the work vehicle.

[Etc]

(Configuration)

According to a sixth aspect of the present invention, the work vehicle of the sixth aspect of the present invention is configured as follows.

The changing means is configured to change the start time of operation of the actuator by the operating means to the working state side when the traveling distance of the gas from the turning start position exceeds a preset set distance.

According to a seventh aspect of the present invention, the work vehicle of the sixth aspect of the present invention is configured as follows.

A steering state detection means for detecting a steering state of the wheel that is capable of steering;

The changing means is configured to change an operation start timing of the actuator to the working state side by the operating means based on the detection of the steering state detecting means.

(Action)

As described in the foregoing paragraph [VI] -3, when the working device is operated in the working state by the actuator based on the detection of the turning end position, the working device is moved to the working state by the actuator at the turning end position. As a state in which the operation is not finished, the following states are considered.

Between the turning start position and the turning end position, for example, the steering operation of the wheel is insufficient than the driver's expectation, and the aircraft may turn largely. Between the turning start position and the turning end position, for example, when the driver is unskilled, the driver may perform steering operation of a wheel different from the normal one. In such a state, for example, as shown in FIG. 19A, the gas may be inclined with respect to the work stroke 100L01.

In the above-mentioned state, when the operation to the working state of the work device by the actuator is performed based on the detection of the turning end position detecting means, the following problem may occur. That is, in the passenger type rice transplanter which is an example of a work vehicle, when the implantation clutch which operates the power to a mother implantation apparatus (equivalent to a work device) in an electric and interrupted state is operated by the actuator in the electric state (work by an actuator) Corresponding to the operation of the apparatus in the working state), as shown in Fig. 19A, a portion 100a1 in which the hair is not transplanted is generated. When the part 100a1 in which the hair is not transplanted arises, it is necessary for a worker to carry out the mock transplantation manually by the part 100a1 in which the hair was not transplanted.

According to the sixth aspect of the present invention, when the traveling distance of the gas from the turning start position exceeds the preset setting distance, it is determined that the body has turned large. According to the seventh aspect of the present invention, it is determined that the driver has performed a wheel steering operation different from the normal one by the steering state of the wheel (speed, acceleration of the wheel steering operation, frequency of steering operation, etc.).

Thereby, when the actuator is operated based on the detection of the turning end position detecting means, the operation start time of the actuator is made to be faster or slower based on the traveling distance of the body or the steering state of the wheel.

For example, as shown in Fig. 19A, in the case where the portion 100a1 to which the hair is not transplanted occurs, the position shown in Fig. 19B by accelerating the operation start time of the actuator ( In 100E31), it is possible to end the operation of the implant clutch by the actuator in the electric state.

For example, even when the turning end position 100E3 is not reached, when the operation of the implantation clutch by the actuator in the electric state is terminated (above the paper surface above the position 100E31 in Fig. 19B). When the operation of the implantation clutch by the actuator to the electric state is completed], by slowing the start time of the actuator operation, the position of the implantation clutch by the actuator in the position 100E31 shown in FIG. The operation of the furnace can be terminated.

(Effects of the Invention)

According to the sixth aspect of the present invention, it is possible to appropriately operate the work device in the working state based on the traveling distance of the body and the steering state of the wheels, thereby improving the work vehicle working performance.

[Etc]

(Configuration)

According to the other characteristic of this invention, in the working vehicle in any one of the characteristics of this invention, it may be comprised as follows.

When the actuator is operated on the non-working state side based on the detection of the swing start position detecting means, the swing start position detecting means to end the operation of the actuator to the non-working state side by the operating means to the swing start position. Correction means for correcting the detection of?

(Action)

As described in the foregoing paragraph [VI] -2, when the swing end position is detected based on the detection of the position of the gas in the swing in the traveling direction of the gas before the swing start, the swing end position is detected. The boundary between the stroke and the turning start may be ambiguous, and it may be difficult to detect (specify) the turning start position.

According to the other feature of this invention, even if detection of a turning start position is performed by the turning start position detection means, when an operation to the non-working state of the working apparatus by an actuator is started based on detection of a turning start position, When the operation of the non-working state of the work device is finished, this time point is corrected (changed) to the swing start position.

In this case, it is easy to detect the end of the operation of the non-working state of the work device by the actuator as compared with the boundary between the work stroke and the turning start and the detection of the turning end position as described in the foregoing paragraph [VI] -2. By operating the work device in the working state by the actuator on the basis of this, the turning start position can be made clear by the fact that there is little contradiction in making the end of the operation of the work device by the actuator into the non-working state as the turning start position. Could.

According to the other characteristic of this invention, when turning position is made clear and a turning end position is detected from a turning start position based on the detection of the position of the gas in turning in the advancing direction of the gas before starting of turning, turning turning ends The position is detected with high accuracy.

(Effects of the Invention)

According to the other feature of this invention, turning start position of the operation apparatus by an actuator to the non-working state can be made into a turning start position, and the turning end position is detected with high precision from a turning start position. It became possible to operate the work device in a working state at an appropriate turning end position properly, thereby improving work vehicle working performance.

[Ⅷ]

(Configuration)

An eighth feature of the present invention resides in the following description of the non-non-working vehicle.

An artificial operating tool which is artificially operated by manipulating a work device provided in the body in an artificially non-working state, and first operating means for operating the working device in a non-working state based on steering operation of the front wheel,

The turning start position of the gas is detected based on the operation of the work device by the artificial operating tool or the first operating means in the non-working state, and the position where the turning stroke of the predetermined gas is performed from the turning start position of the base is performed. Setting means for setting the turning end position of

Gas position detecting means for detecting a position of a turning stroke of the gas;

And a second operation means for operating the work device in a working state based on the detection of the turning end position of the gas by the gas position detecting means,

Of the turning end position of the base based on the operation of the work apparatus by the artificial operating tool into the non-working state, and the turning end position of the base based on the operation of the working apparatus by the first operating means in the non-working state. Correction means for moving the turning end position of the base body based on the operation to the non-working state by the first operating means by the first operating means to the turning start position side in accordance with the turning stroke of the base unit is provided.

(Action)

For example, as shown in FIG. 25, it is assumed that operation by the artificial operating tool to the non-working state is performed, and the turning start position 200E11 and the turning end position 200E31 are set. In this case, since the operation to the non-working state of the work device by the manipulating operation tool is often performed in a state where the front and rear direction of the body is orthogonal to the rice pad 200B, the turning start position 200E11 and the turning end are The position 200E31 becomes almost the same position from the rice field 200B.

For example, as shown in FIG. 26, operation to the non-working state of the working apparatus by a 1st operating means (steering operation of a front wheel) is performed, and turning start position 200E12 and turning end position 200E32 are performed. It is assumed to be set. In this case, the operation in the non-working state of the work device is performed in a state in which the front and rear direction of the body is inclined in the turning direction with respect to the rice paddle 200B, and the turning end position 200E32 of the body is turned to the turning start position 200E12. It is assumed that the position is spaced apart from the rice field 200B.

According to the eighth aspect of the present invention, as shown in FIG. 26, the turning end position 200E32 based on the operation of the work device into the non-working state by the first operating means (steering operation of the front wheel). A is moved (corrected) to the turning start position 20012 side according to the turning strokes 200L1 and 200L2 of the base, and is based on the operation of the work device in the non-working state by the first operating means (steering operation of the front wheel). The turning end position 200E32 approaches the turning end position 200E31 based on the operation to the non-working state of the work device by the manipulating operation tool (the difference between the two becomes small).

As a result, when the work device is operated in the working state based on the detection of the swing end position, the first operating means (the front wheel) Even when the turning end position is based on the operation of the work apparatus in the non-working state by steering operation, the work end position (turning start position) and the work start position (turning end position) of the work apparatus are almost the same from the rice paddy field. .

(Effects of the Invention)

According to the eighth aspect of the present invention, even if the turning end position is based on the operation of the work device by the artificial operating tool into the non-work state, the work device is not operated by the first operating means (steering operation of the front wheel). Even in the turning end position based on the operation of, the work end position (turning start position) and the work start position (turning end position) of the work device can be configured to be almost the same position from the rice paddy, For example, it was easy to perform the turning transplantation stroke in a riding type rice transplanter, and the workability of a Munnon work car was improved.

[Etc]

(Configuration)

Another feature of the present invention resides in the following description of the non-non-working vehicle of the eighth feature of the present invention.

A traveling distance detecting means for detecting a traveling distance of the body and a steering angle detecting means for detecting a steering angle from a straight position of the front wheel,

The turning radius of the body and the steering angle from the straight position of the front wheel detect the turning radius of the body and the moving angle of the body with respect to the turning center of the body, and based on the turning radius and the moving angle of the body The gas is detected by a trigonometric function to detect the position of the gas in the advancing direction of the gas before starting the turning, and to detect the position of the gas in the advancing direction of the gas before starting the turning as the position of the turning stroke of the gas. Configure the position detecting means.

(Action)

As described in the foregoing paragraph [1], as a configuration for detecting the position of the turning stroke of the gas, it may be configured to detect the traveling distance of the gas from the turning start and set it as the position of the turning stroke of the gas. This configuration is based on the thinking that turning around the rice paddies of Munon working cars is the same turning (formal turning), and the position that the turning stroke of the gas is derived from the traveling distance of the gas from the turning start. That's the way.

However, if the turning near the rice paddy becomes larger or smaller than the assumption due to the difference in the driver's control, since the precondition "formal turning" is not established in the above-described configuration, only the traveling distance of the aircraft from the turning start, The position of the turning stroke of the body cannot be detected with high accuracy, and the turning end position cannot be detected with high accuracy.

According to another feature of the present invention, the traveling distance of the body and the steering angle from the straight position of the front wheel are used, and the steering angle from the straight position of the front wheel is added to the traveling distance of the body to determine how in which direction the body is. It can be detected whether it has progressed. If it is possible to detect how far the gas has progressed in any direction, even if the turn near the rice paddy is larger or smaller than assumed, regardless of this, the direction in which the gas proceeds prior to the start of turning (for example, see 200L01 in FIG. 25). For example, it is possible to detect the position of the gas (see 200Y1 in FIG. 27B) in FIG. 25 (+ Y) (-Y).

For example, as illustrated in FIGS. 27A and 27B, the steering angle 200A from the traveling distance 200G of the body and the straight position 200A1 of the front wheel 2001 is used to determine the It is possible to detect the turning radius 200R and the moving angle θ at which the body moves with respect to the turning center 200C of the body (for example, the wheel base 200W of the front wheel 2001 and the rear wheel 2002). (B) The center of revolution 200C and the radius of revolution 200R of the body are detected based on the steering angle 200A from the straight position 200A1 of the front wheel 2001, and the center of revolution 200C of the body and the radius of revolution 200R. And the moving angle θ of the gas based on the traveling distance 200G of the gas]. By detecting the turning radius and the moving angle of the gas, the position of the gas in the advancing direction of the gas before the turning start can be detected with a trigonometric function (for example, in FIG. 27B). , 200 * 1 is detected by R * SIN (θ).

According to another feature of the present invention, even if the turning near the rice paddy becomes larger or smaller than assumed, irrespective of this, the turning start position is detected if the position of the gas in the traveling direction of the gas before the turning start can be detected. By setting (setting), the turning end position can be detected with high accuracy from the turning start position based on the position of the gas in the advancing direction of the gas before the turning start.

(Effects of the Invention)

According to another feature of the present invention, by detecting the position of the gas in the advancing direction of the gas before the start of turning, the turning end position can be detected with high accuracy, and the working device is properly operated based on the detection of the turning end position. It became possible to operate in a state, and the working performance of the work car was improved.

The present invention is a tractor configured to be capable of lifting and lowering a rotary tillage device (equivalent to a work device) at a rear portion of a body, or a combine supporting a lifting portion (equivalent to a work device) at a front part of the body so as to be able to lift and drive. It can also be applied to work vehicles such as. As the detection of the traveling distance of the body, it is also possible to detect the traveling distance of the body by GPS as well as the rotational speed of the wheel.

In addition, the present invention supports a tractor configured to be capable of elevating and connecting a rotary tillage device (equivalent to a work device) to a rear portion of the body so as to be capable of elevating and driving a harvesting portion (equivalent to the work device) to a front portion of the body. It can also be applied to work vehicles such as a combine. As the detection of the traveling distance of the body, it is also possible to detect the traveling distance of the body by GPS as well as the rotational speed of the wheel. Instead of the powdered fertilizer in the hopper 10014, it can be applied to a working fertilizer containing a liquid fertilizer, a powdered phase or a liquid medicine, rice seed, or the like. Lifting the work device (e.g., passage) to the ascending state (non-working state) raised from the work site and the descending state (work state) grounded to the work site without involving operating the work clutch in the electric and shut-off state It can also be applied to working vehicles possibly supported.

In addition, the present invention supports a tractor configured to be capable of lifting and lowering a rotary tillage device (equivalent to a work device) at the rear of the body, and a lifter (equivalent to the work device) is supported at the front of the body to be capable of lifting and lowering. It can also be applied to work vehicles such as a combine. It is also possible to configure the gas position detecting means 2005 1 by GPS. Instead of the powdered fertilizer in the hopper 20014, it can be applied to a working fertilizer with a liquid fertilizer, a powdered phase, a liquid medicine, rice seed, or the like. Rising (non-working state) and work in which the work device (e.g., crumpler) is raised from the work site without involving the operation of the work clutches (transplant and fertilization clutches 20026, 20027) in the electric and shut-off state. It can also be applied to work vehicles that are supported to be lifted and lowered to the ground (work state).

[One]

As shown in Fig. 1, the link mechanism 3 is elevated in the rear portion of the base supported by the front wheels 1 (equivalent to the wheels) on the right and left sides and the rear wheels 2 (equivalent to the wheels) on the right and left sides. The single-acting hydraulic cylinder 4 which is supported so that it can lift and drive the link mechanism 3 is provided, The mother implant apparatus 5 is supported by the back part of the link mechanism 3, and an example of a work vehicle The phosphorus riding type rice transplanter is comprised. Munon is generally formed with a layer of mud or water on the lower hard surface G1, and the top surface of the layer of mud or water is the farm surface G2, and the front wheels 1 on the right and left sides, the right and left sides The rear wheels 2 run on the ground plate G1.

As shown in FIG. 1, the parent implant device 5 includes three transplant transmission cases 6, a rotation case 7 rotatably supported on the left and right sides of the rear part of the implant transmission case 6, and a rotation case ( A pair of implanted arms 8, a plurality of floats 9, a mother loading table 10, and the like, which are provided at both ends of 7), are configured in a six-joint type. The rear side of the driver's seat 13 is provided with a hopper 14 for storing powdered fertilizer and four feeding units 15 in two sets, and a blower 16 is provided under the driver's seat 13. have. The floater 17 is provided in the float 9, and the hose 18 is connected over the drawing | feeding-out part 15 and the topplate 17. FIG.

As shown in Figs. 1 and 5, markers 19 on the right and left sides are provided on the right and left sides of the parent implantation apparatus 5, and the working posture of forming the ground surface by grounding to the farmland G2 ( 1) and the storage posture (refer FIG. 5) spaced apart upwards from the farmland G2. The right and left markers 19 are arm portions 19a supported by the parent implant device 5 so as to swing up and down, and a rotatable body 19b freely supported on the tip of the arm portion 19a. It is configured to include, the electric motor 21 for operating the right and left markers 19 in the working posture and storage posture is provided, the electric motor 21 is operated by the control device 23.

[2]

Next, the electric system to the front wheel 1 of the right and left side, and the rear wheel 2 of the right and left side is demonstrated.

As shown in FIG. 2, the power of the engine 31 is transmitted to the hydrostatic stepless speed changer 33 and the mission case 34 through the electric belt 32, and the sub-shift inside the mission case 34. From the device (not shown), it is transmitted to the front wheels 1 on the right and left sides through the front wheel differential gear mechanism (not shown) and the transmission shaft (not shown) of the front axle case 35. As shown in FIGS. 1 and 5, the hydrostatic stepless speed changer 33 is configured to be steplessly shifted from the neutral position to the forward side and the reverse side, and is provided with a shift lever provided on the left side of the steering wheel 20. The hydrostatic type CVT 33 is operated by (45).

As shown in FIGS. 2 and 3, the power of the sub transmission is bevel gear 38a fixed to the transmission shaft 36, the input shaft 38 of the rear axle case 37, the input shaft 38, and the bevel gear. Bevel gear 39a meshing with 38a, transmission shaft 39 to which bevel gear 39a is fixed, side clutches 40 on the right and left sides, and transmission that are externally rotatably fitted to the transmission shaft 39 Transmission to the right and left rear wheels 2 through the gear 60, the large-diameter transmission gear 62, the transmission shaft 63, the transmission shaft 63a of the transmission shaft 63, and the large-diameter transmission gear 64. do.

As shown in FIG. 2, a trapezoidal steering member 41 in a planar view is supported around the longitudinal axis P2 of the lower part of the mission case 34 so as to be swingable, and is operated by the steering wheel 20. The steering member 41 is configured to rock, and the tie rod 42 is connected to the steering member 41 and the front wheels 1 on the right and left sides. Thereby, by operating the steering wheel 20, steering operation of the right and left front wheels 1 (steering member 41) can be carried out from the straight position A1 to the right and left steering limits A3. have.

As shown in FIG. 3, the right and left side clutches 40 are integrally rotated and slide by a spline structure on the clutch case 40a and the electric shaft 39 fixedly rotatably fixed to the electric gear 60. The operation member 40b on the pressing side (motor state side) of the operation member 40b externally fitted, the plurality of friction plates 40c disposed between the clutch case 40a and the operation member 40b, and the friction plate 40c. ), The spring 40d and the like are provided, and the right and left side clutches 40 are pressed in the electric state by the spring 40d.

2 and 3, the right and left operating shafts 43 for sliding the operating members 40b of the right and left side clutches 40 downwardly to the rear axle case 37. It is supported, and the right and left operating rods 44 are connected through the steering member 41 and the right and left operating shafts 43 through the lower side of the front axle case 35. The long hole 44a as a pliability is provided in the connection part with the right and left operation shaft 43 in the right and left operation rod 44. As shown in FIG.

2 and 3, if the front wheels 1 (steering member 41) on the right and left sides are steered in the range of the straight position A1, the set angles A2 on the right and left sides, By the fusion of the long holes 44a of the right and left operating rods 44, the right and left side clutches 40 are operated in an electric state. As a result, the gas moves forward (reverses) in a state where power is transmitted to the front wheels 1 on the right and left sides, and the rear wheels 2 on the right and left sides (the transmission state of the right and left side clutches 40).

As shown in Figs. 2 and 3, when the front wheels 1 (steering member 41) on the right and left sides are steered to the right side of the steering limit A3 beyond the set angle A2 on the right side, The operation rod 44 on the right side is pulled out over the range of the long hole 44a of the operation rod 44, and the operation member 40b of the right side clutch 40 is driven by the operation shaft 43 on the right side. Is operated to slide, and the side clutch 40 on the right side is operated in a blocked state. As a result, power is transmitted to the front wheels 1 on the right and the left and the rear wheels 2 on the left side (swing outside) (the transmission state of the side clutch 40 on the left side), and the rear wheels 2 on the right side (the turning center side) In the state where) (blocking state of the right side clutch 40) rotates freely, the body turns to the right.

2 and 3, when the front wheels 1 (steering member 41) on the right and left sides are steered to the left side of the steering limit A3 beyond the set angle A2 on the left side, The operation rod 44 on the left side is pulled over the range of the long hole 44a of the operation rod 44, and the operation member 40b of the left side clutch 40 is driven by the operation shaft 43 on the left side. 3 is operated to slide to the left side of the paper surface of Fig. 3, and the side clutch 40 on the left side is operated in a blocked state. As a result, power is transmitted to the front wheels 1 on the right and the left, and the rear wheels 2 on the right side (swing outside) (the transmission state of the side clutch 40 on the right side), and the rear wheels 2 on the left side (the turning center) Side) (blocking state of the left side clutch 40) in the state of free rotation, the body turns to the left.

[3]

Next, a description will be given of a driving system to the planting device 5 and the feeding portion 15.

As shown in FIG. 1 and FIG. 5, in the mission case 34, the power branched from immediately before the sub transmission is transferred to the mother implant device 5 through the implant clutch 26 and the PTO shaft 25. Power transmitted and branched from immediately before the sub transmission is transmitted to the feeding unit 15 through the fertilizing clutch 27 and the driving rod 30, and transmits and blocks the implantation and fertilizing clutches 26 and 27. The electric motor 28 which operates in a state is provided.

As shown in Figs. 1 and 5, when the implantation clutch 26 is operated in the electric state, the rotating case 7 is driven by the parent mounting table 10 to be reciprocated in the horizontal direction. It is driven to rotate in the counterclockwise direction of the paper surface, and the transplant arms 8 alternately take out the hair from the lower portion of the mother loading table 10 and transplant it to the farm surface G2. When the implant clutch 26 is operated in the blocked state, the reciprocating transverse drive of the mother loading table 10 and the rotation drive of the rotary case 7 stop.

As shown in FIG. 1 and FIG. 5, when the fertilizing clutch 27 is operated in an electric state, fertilizer is dispensed by the feeding unit 15 by a predetermined amount from the hopper 14 and blown by the blower 16. The fertilizer is supplied to the top plate 17 through the hose 18, and the fertilizer is supplied to the farmland G2 through the top plate 17. When the fertilizing clutch 27 is operated in the blocked state, the feeding unit 15 stops, and the supply of fertilizer to the farmland G2 is stopped.

[4]

Next, the automatic elevation control means 61 of the transplanting apparatus 5 will be described.

As shown in FIG. 5, the automatic lift control means 61 is provided in the control device 23. The rear portion of the center float 9 is supported so as to be able to swing up and down around the horizontal axis P1 of the mother implant device 5, and detects the height of the center float 9 with respect to the mother implant device 5. A potentiometer 22 is provided, and the detection value of the potentiometer 22 is input to the control apparatus 23. With the progress of the gas, the center float 9 follows the farmland G2, and the height of the center float 9 with respect to the parent implant device 5 is determined by the detection value of the potentiometer 22. By detecting, the height from the farmland G2 (center float 9) to the mother transplant apparatus 5 can be detected.

As shown in FIG. 5, the hydraulic valve 4 is provided with a control valve 24 for rapidly supplying and operating hydraulic oil, and the control valve 24 is operated by the control device 23. When hydraulic oil is supplied to the hydraulic cylinder 4 by the control valve 24, the hydraulic cylinder 4 contracts to move the transfer unit 5 upward, and the control valve 24 drives the hydraulic cylinder 4 When the hydraulic oil is discharged, the hydraulic cylinder 4 is extended and the transfer unit 5 descends.

As shown in FIG. 5, the height of the center float 9 relative to the mother transplant apparatus 5 (the height from the farmland G2 (the center float 9) to the mother implant apparatus 5). On the basis of this, the mother transplant apparatus 5 is held at the set height from the farmland G2 (detected value of the potentiometer 22 (up-down interval between the potentiometer 22 and the center float 9)). Is maintained at the set value}, the control valve 24 is operated so that the hydraulic cylinder 4 is stretched and operated, and the parent implant device 5 is automatically lifted up (above, the operating state of the automatic lift control means 61). .

[5]

Next, the lift lever 11 will be described.

As shown in Fig. 1 and Fig. 5, the lifting lever 11 is provided on the right and left side of the driver's seat 13, and the lifting lever 11 is moved to the automatic position, the rising position, the neutral position, the lowering position, and the implantation position. It is comprised so that operation is possible, and the operation position of the lifting lever 11 is input to the control apparatus 23. As shown in FIG. The potentiometer 29 which detects the up-and-down angle of the link mechanism 3 with respect to a base is provided, and the detection value of the potentiometer 29 is input into the control apparatus 23. As shown in FIG.

As shown in FIG. 5, in the state which operated the lifting lever 11 to the up position, the neutral position, the down position, and the implantation position (state which does not operate the lifting lever 11 to an automatic position), As described, the control valve 24 and the electric motors 21 and 28 are operated by the control device 23. In this case, the functions of the up position U and the down position D of the operation lever 12 described in [6] described later do not operate, and the right and left marker positions R, L of the operation lever 12 are not operated. Only the function of works.

As shown in FIG. 5, when the lifting lever 11 is operated to the lifted position, the automatic lifting control means 61 stops, and the implantation and fertilizing clutches 26 and 27 are operated in the blocked state, and the right and left sides are operated. The marker 19 is operated in the storage position, the hydraulic cylinder 4 is contracted and the parent implant device 5 is raised. If the potentiometer 29 detects that the parent implant device 5 has reached the upper limit position while the elevating lever 11 is operated to the raised position, the control valve 24 is operated to the neutral position to operate the hydraulic cylinder. (4) stops automatically.

As shown in FIG. 5, when the lifting lever 11 is operated to the lowered position, the automatic lifting control means 61 stops, and the implantation and fertilizing clutches 26 and 27 are operated in a blocked state, and the right and left sides are operated. The control valve 24 is operated to the discharge position, the hydraulic cylinder 4 is extended and the mother implant device 5 is lowered, and the central float 9 ) Is grounded to the farmland G2, the automatic lifting control means 61 is activated, and the mother transplant apparatus 5 is grounded to the farmland G2 and stopped. The parent implanter 5 so that the detection value of the potentiometer 22 (up and down distance between the potentiometer 22 and the center float 9) is kept at the set value from the surface G2. ) Will automatically move up and down>.

As shown in Fig. 5, when the elevating lever 11 is operated in the neutral position, the automatic elevating control means 61 stops, and the implantation and fertilizing clutches 26 and 27 are operated in a blocked state, and the right and left sides are operated. The control valve 24 is operated to the neutral position and the hydraulic cylinder 4 stops in the state in which the marker 19 is operated in the storage position.

In this way, by operating the elevating lever 11 to the raised position, the neutral position, and the lowered position, the mother transplant apparatus 5 can be raised and lowered to an arbitrary height and stopped.

As shown in Fig. 5, when the lift lever 11 is operated to the implantation position, the automatic lift control means 61 is operated to implant and fertilize while the markers 19 on the right and left sides are operated in the storage position. The clutches 26 and 27 are operated in the electric state. As a result, the rotation case 7 is driven to rotate as the mother loading table 10 is reciprocated from side to side, and the implanted arms 8 take out the hair alternately from the lower portion of the mother loading table 10. The fertilizer is implanted into the farmland G2, and the fertilizer is dispensed by the feeding unit 15 by a predetermined amount from the hopper 14, and the fertilizer is blown through the hose 18 by the blowing of the blower 16. Is supplied to the farmland G2 through the top plate 17.

[6]

Next, the operation lever 12 will be described.

As shown to FIG. 1 and FIG. 5, the operation lever 12 is provided in the right side horizontal side of the lower side of the steering wheel 20, and the operation lever 12 extends horizontally outward on the right side. The operation lever 12 is operated in the cross direction of an upward rising position U, a downward falling position D, a rear right marker position R and a front left marker position L from the neutral position N. It is comprised so that it is pressed in the neutral position N, and the operation position of the operation lever 12 is input into the control apparatus 23. As shown in FIG.

In the state which operated the lifting lever 11 to the automatic position, the function of the operation lever 12 operates as follows, and the control valve 24 and the electric motors 21 and 28 are operated by the control apparatus 23 as follows. Manipulated.

As shown in FIG. 5, when the operation lever 24 is operated to the raised position U (when operated to the raised position U and operated to the neutral position N), the implantation and fertilization clutches 26 and 27 are carried out. Is operated in the shut-off state, the automatic lift control means 61 is stopped, the markers 19 on the right and left sides are operated in the storage position, the control valve 24 is operated to the supply position, and the hydraulic cylinder 4 Is contracted and the parent implant device 5 is raised. When the potentiometer 29 detects that the parent implant device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 automatically stops.

As shown in FIG. 5, when the operation lever 12 is operated to the lowered position D (when operated to the lowered position D and operated to the neutral position N), the automatic lift control means 61 stops. Then, the implantation and fertilization clutches 26 and 27 are operated in the blocked state, the control valve 24 is operated to the discharge position while the marker 19 on the right and left sides are operated in the storage position, and the hydraulic cylinder 4 ), When the mother transplant apparatus 5 descends and the float 9 in the center is grounded to the farmland G2, the automatic lift control means 52 operates, and the mother transplant apparatus 5 is farmland. It becomes grounded and stopped in the surface G2. (The mother implantation apparatus 5 is hold | maintained at the set height from the farmland G2 (detected value of the potentiometer 22 [potentiometer 22 and center. So that the upper and lower intervals of the float 9 of the float 9 are maintained at the set value.

As described above, after operating the operation lever 12 to the lowered position D (after operating to the lowered position D to the neutral position N), the operation lever 12 is lowered again ( In operation D), the implantation and fertilization clutches 26 and 27 are operated in an electric state while the automatic lift control means 61 is operated.

As shown in Fig. 5, when the operation lever 12 is operated to the right marker position R (when operated to the right marker position R and operated to the neutral position N), the marker 19 on the right side is It is operated in working posture. When the operation lever 12 is operated to the left marker position L (when operated to the left marker position L and operated to the neutral position N), the marker 19 on the left side is operated in the action posture.

[7]

Next, the structure regarding control at the time of turning near a rice field is demonstrated.

As shown in FIG. 5, the operation position of the shift lever 45 is input to the control device 23. As shown in FIG. 2, the bracket 46 is fixed to the horizontal side surface at the right side of the mission case 34, and the potentiometer 47 (corresponding to the steering angle detection means) is fixed to the bracket 46. The linkage rod 48 is connected through the lower side of the front axle case 35 over the steering member 41 and the potentiometer 47. The position of the steering member 41 is detected by the potentiometer 47, the detection value of the potentiometer 47 is input to the control device 23, and the right side is detected by the detection value of the potentiometer 47. And the steering angle A from the straight position A1 of the front wheel 1 (steering member 41) on the left side is detected.

As shown in Figs. 3 and 4, a ring member 49 having a large number of small irregularities formed on the outer circumference thereof is fixed to the electric gear 60 so as to be integrally rotatable, and the right and left rotational speed sensors of the proximity sensor type ( 50 (corresponding to the traveling distance detecting means) is fixed to the upper right and left sides of the rear axle case 37 so as to face the ring member 49, and the detection value of the right and left rotational speed sensors 50 is controlled. It is input in (23). As a result, pulses are transmitted from the right and left rotational speed sensors 50 so as to correspond to the unevenness of the ring member 49, and the right and left rearwards are controlled by the pulses of the right and left rotational speed sensors 50. FIG. The rotation speed of the wheel 2 can be detected.

As shown in FIGS. 3 and 4, the rear axle case 37 includes a central portion 37a to which the transmission shaft 36 is connected, and right and left first case portions 37b to be bolted to the central portion 37a. And the right and left second case portions 37c and the like that are bolted to the right and left first case portions 37b. The seat part 37d and the opening hole 37e are formed in the upper part of the 1st case part 37b of the right side and the left side of the rear axle case 37, and the two screw holes 37f are formed in the seat part 37d. It is formed, and the right side and left side 1st case part 37b of the rear axle case 37 is comprised by the same thing, and is comprised by common left and right. The right side and the left side second case 37c of the rear axle case 37 are constituted by the same thing, and are configured to share left and right.

As shown in FIG.3 and FIG.4, the rotation speed sensor 50 of the right side and the left side is equipped with the fixing bracket 50a and the connection part 50b of a harness (not shown). The right and left rotational speed sensors 50 are inserted into the openings 37e of the rear axle case 37 (the right and left first case portions 37b), and the bolts 61 are rotated on the right and left sides. From the bracket 50a of the sensor 50, it inserts into one screw hole 37f of the rear axle case 37 (the right case part 1st case part 37b), and the rotation speed sensor of the right and left sides ( 50) is fixed to the rear axle case 37 (the first case portion 37b on the right and left sides).

3 and 4, the rear axle case 37 (right and left sides) is formed by the seat portion 37d of the rear axle case 37 (the first case portion 37b on the right and left sides). The positions of the right and left rotational speed sensors 50 relative to the first case portion 37b are determined (the right and left rotational speed sensors 50 do not break in contact with the ring member 49). , The interval between the right and left rotational speed sensors 50 and the ring member 49 is set to a predetermined value. By using one screw hole 37f of the rear axle case 37 (right and left first case portion 37b), the first case portion 37b of the right and left sides of the rear axle case 37 Even if it is comprised by the same thing and is shared by right and left, the bracket 50a of the rotation speed sensor 50 of the right and left is located on the upper side, and the connection part 50b of the rotation speed sensor 50 of the right and left is located below. You can.

As shown in FIG. 3 and FIG. 4, the right and left sides are rotated by the right and left rotation speed sensors 50 through the clutch case 40a and the ring member 49 of the right and left side clutches 40. Since the rotation speed of the rear wheel 2 on the left side is detected, the right and left rotation speed sensors 50 are operated even when the right and left side clutches 40 are operated in the electric state or in the shut off state. The rotation speed of the rear wheel 2 of a right side and a left side can be detected.

As shown in FIG. 5, the gas position detecting means 51 is provided in the control device 23. As shown in Fig. 7, the gas position detecting means 51 is used in the gas position Y1 (the gas advancing direction before the start of turning) in the gas advancing direction (+ Y) (-Y) of the transplant strokes L01 and L02. (Corresponding to the position of the gas during the turning), (in other words, detecting the coordinates of the gas during the turning in the traveling direction of the gas before starting the turning). As described in the following [8] to [12], the gas position detecting means 51 makes the gas position Y1 in the advancing direction (+ Y) (-Y) of the gas of the transplantation strokes L01 and L02. ) Is detected.

In the passenger-type rice transplanter provided with the 8-row type | mold transplanting apparatus 5, in the vicinity of a rice field, as shown in FIG. We perform the latter turning stroke L5, the latter advance stroke L6 and enter into the next transplant stroke L02 (corresponding to work stroke) from one transplant stroke L01 (equivalent to work stroke).

The backward stroke L1, the forward stroke L2 of the first half, the first swing stroke L3, the straight stroke L4, the second swing stroke L5, and the second forward stroke L6 will be described in the following [8] to [12].

[8]

Next, the reverse stroke L1 at the time of turning near the rice field and the forward stroke L2 of the first half will be described based on FIGS. 6 and 7.

When one transplantation stroke L01 is finished, the driver performs transplantation (down state of the parent implant device 5, the electrically operated state of the transplant and fertilization clutches 26, 27, and the right and left side clutches 40 Motorized state] When the body is advanced toward the ricefield B and the front end portion of the gas reaches the ricefield B (step S1), the shift lever 45 is operated to a neutral position to stop the gas (step S2) (transfer step L01). ).

The driver stops and raises the mother transplant apparatus 5 by the elevating lever 11 or the operation lever 12 (a state of blocking of the transplant and fertilizing clutches 26 and 27, the state of raising the mother implant apparatus 5). (Steps S3 and S4), the shift lever 45 is operated to the reverse side to advance the body (step S5). When the body moves backward by the desired traveling distance, the shift lever 45 is operated to the neutral position to stop the body (step S6) (reverse stroke L1).

The driver operates the shift lever 45 toward the forward side to advance the aircraft (step S7). When the aircraft moves forward by the desired traveling distance, the driver operates the steering wheel 20 to rotate the front wheels 1 on the right and left sides in the turning direction. Operate steering. If the front wheels 1 (steering member 41) on the right and left sides are steered beyond the set angle A2 on the right side (left side) to the steering limit A3 side on the right side (left side), it is described in the preceding paragraph [2]. As described above, in the state where the side clutch 40 on the outside of the swing is maintained in the electric state, the side clutch 40 on the swing center side is operated in the blocked state, so that the front wheels 1 on the right and left sides of the right (left) It is detected that the steering operation has been performed beyond the set angle A2 to the steering limit A3 side on the right side (left side) (step S8) (forward movement L2 in the previous half).

In step S3, when the transplanting and fertilizing clutches 26 and 27 are operated in the shut-off state, the gas position detecting means 51 causes the gas in the traveling direction (+ Y) (-Y) of the gas of the transplanting strokes L01 and L02. Position Y1 is set to "0 (origin)", and "0 (origin)" is set as the cutoff position E1 of the implantation and fertilization clutches 26 and 27 (step S101), and the gas position detection means. By 51, detection (integration) of the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 is started (step S102).

When the body moves backward (reverse stroke L1), the average value (negative value) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) (equivalent to the traveling distance of the gas) Is detected (integrated) as the position Y1 of the gas in the advancing direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02. When the gas moves forward (front forward stroke L2), the average value (plus value) of the pulses (speeds of the right and left rear wheels 2) of the speed sensor 50 on the right and left sides (to the traveling distance of the gas) Equivalent) is detected (integrated) as the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas of the transplantation strokes L01 and L02 (step S102).

Thus, in the reverse stroke L1 and the forward stroke L2 in the first half, the average value (plus and minus values) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) is Is detected (integrated) as the position (Y1) of the gas in the traveling direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02, and the front wheels 1 on the right and left sides are on the right (left) side. It is maintained until it is detected that the setting angle A2 has been reached (steps S5 to S8).

If the right and left side clutch 40 is in an electric state, the difference does not occur in the rotational speed of the right and left rear wheels 2, but in the reverse stroke L1 and the forward stroke L2 in the first half, the right or left side clutch ( Assuming that there is a possibility that the steering wheel 20 can be operated until 40 is operated in the blocked state, the pulses of the right and left rotational speed sensors 50 (rotation of the right and left rear wheels 2) The average value (plus and minus values) is detected (integrated) as the position Y1 of the gas in the advancing direction (+ Y) (-Y) of the gas in the transplant steps L01 and L02 (step S102).

[9]

Next, the turning process L3 of the first half at the time of turning near a rice field is demonstrated based on FIG. 6 and FIG.

When it is detected that the front wheels 1 (steering member 41) on the right and left sides have reached the set angle A2 on the right side (left side) (when the side clutch 40 on the pivot center side is operated in a blocked state) ( Step S8), the position Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 at this time is set as the cutoff position E2 of the side clutch 40 on the pivot center side. (Step S9).

Thereby, in the turning stroke L3 of the first half from the interruption position E2 of the side clutch 40 of the turning center side, by the gas position detection means 51 based on following formula 1 [Y2 (plus value) ] Is calculated and the calculated [Y2 (plus value)] is detected (integrated) as the position Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 (step S103). ).

Equation 1: Y2 = R * SIN (θ)

R: Turn radius of the body

θ: moving angle of gas

As shown in Fig. 8A, when the steering angle A is determined from the straight position A1 of the front wheels 1 (steering member 41) on the right and left sides, the pivot center C of the body is determined. ) Is judged to be located on the extension line of the axles 65 (see FIG. 3) of the rear wheels 2 on the right and left sides, and the wheel bases W (right and left front wheels) of the front wheels 1 and the rear wheels 2. From the axle of 1) and the axle 65 (refer to FIG. 3) of the right and left rear wheels 2, and the straight position A1 of the right and left front wheels 1 (steering member 41). Based on the steering angle A of, the pivot center C of the body is detected. When the center of rotation C of the gas is detected, the distance between the center of the left and right of the gas and the center of rotation C of the gas is detected as the radius of gyration R of the gas.

As shown in (a) and (b) of FIG. 8, the pulse of the rotational speed sensor 50 on the rotational center side in the state where the rotational center C and the rotational radius R of the gas are detected. Rotational speed of the rear wheel 2 on the center side] detects the traveling distance G of the body (corresponding to an arc portion with respect to the turning radius R of the gas), and the turning center C and turning radius of the body. The movement angle θ of the body is detected based on R and the traveling distance G of the body.

As described above, [Y2 (plus value)] is calculated based on equation 1 by the turning radius R and the moving angle θ of the gas, and the traveling direction of the gas of the transplant strokes L01 and L02 (+ Y). It is detected as the position Y1 of the gas at (-Y) (step S103). In this case, whenever the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is changed, the turning center C and the turning radius R of the body are changed. The traveling distance G of the base and the moving angle θ of the base are detected, and [Y2 (plus value)] is calculated by the equation (1).

When it is detected that the front wheels 1 (steering member 41) on the right and left sides have reached the set angle A2 on the right side (left side) (when the side clutch 40 on the pivot center side is operated in a blocked state) ( Step S8), the pulse (the rotation speed of the rear wheel 2 of the rotation outer side) of the rotation speed rotation sensor 50 is newly detected from the interruption position E2 of the side clutch 40 of the rotation center side (integration) Based on this value and the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41), the turning angle F1 of the body is detected from "0". (Accumulation) is performed (steps S201, S202).

In this case, how much the direction of the current gas has changed with respect to the direction of the gas at the cutoff position E2 (transfer stroke L01) of the side clutch 40 on the turning center side is a rotational speed sensor ( Detection based on a pulse of 50) (the number of revolutions of the rear wheel 2 outside the turning) and the steering angle A from the straight position A1 of the front wheel 1 (steering member 41) on the right and left sides. This detection value is detected (integrated) as the turning angle F1 of the gas.

When the turning angle F1 of the body is 90 degrees, the direction of the body is in the state completely facing side with respect to the direction of the body at the blocking position E2 (transfer stroke L01) of the side clutch 40 on the turning center side. When the turning angle F1 of the body is 180 degrees, the direction of the body is opposite to the direction of the body at the blocking position E2 (transfer stroke L01) of the side clutch 40 on the turning center side ( Transplant administration L02).

When the front wheels 1 (steering member 41) on the right and left sides are steered in the pivoting direction, when the pulse of the rotational speed sensor 50 outside the pivoting (the rotational speed of the rear wheels 2 on the pivoting outside) becomes large, (If accumulated), it is detected (integrated) that the gas swing angle F1 is increased by an increase in the pulse of the rotational speed sensor 50 (the rotation speed of the rear wheel 2 on the outside of the swing). On the contrary, in the state in which the front wheels 1 (steering member 41) on the right and left sides have been steered to the straight position A1, the pulse of the rotational speed sensor 50 on the outside of the turning (the rotation of the rear wheel 2 on the outside of the turning). Even if the number increases (accumulates), it is detected (accumulation) that the gas has just gone straight and that the swing angle F1 of the gas has not changed.

[10]

Next, the straight-forward stroke L4 at the time of turning near a rice field is demonstrated based on FIG. 6 and FIG.

When entering the straight stroke L4 from the turning stroke L3 of the first half (when the steering wheel 41 on the right and left sides (steering member 41) is steered to the straight position A1 side beyond the set angle A2 of the right side (left)) , The right and left side clutches 40 are in an electric state. In the straight stroke L4, since the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is "0", the turning radius R of the body is infinite. And (Y2) calculated by Equation 1 described in the preceding item [9] becomes "0".

Thereby, even in the straight stroke L4, even if the position Y1 of the gas in the traveling direction (+ Y) (-Y) of the graft stroke L01 and L02 is detected (accumulated), it moves from the first turning stroke L3 to the straight stroke L4. It does not change from the value when we entered. Similarly, even if the gas turning angle F1 is detected (integrated), it does not change from the value (90 degrees) when it enters the straight stroke L4 from the turning stroke L3 of the first half.

[11]

Next, the later turning process L5 at the time of turning near a rice field is demonstrated based on FIG. 6 and FIG.

When entering the rear turning stroke L5 from the straight stroke L4 (the right and left front wheels 1 (steering member 41) are beyond the set angle A2 of the right (left), the steering limit (A3) of the right (left) Side steering operation | movement to the side}, similarly to the turning stroke L3 of the first half described in the preceding paragraph [9], the side clutch 40 of the turning center side will be cut off in the state which the side clutch 40 of the turning outer side was maintained in the electric state. Manipulated.

Steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) similarly to the turning stroke L3 of the first half described in the preceding paragraph [9] in turning stroke L5 of the latter half. Each time is changed, the center of revolution (C) and the radius of revolution (R) of the body, the travel distance (G) of the body, and the moving angle (θ) of the body are detected. ] Is calculated, and [Y2 (negative value)] is detected (integrated) as the position Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 (step S103). In this case, since the rotation angle F1 of the base body exceeds 90 degrees, it becomes [Y2 (negative value)].

[12]

Next, the advancing step L6 of the latter half of the turning time near the rice field will be described based on FIGS. 6 and 7.

When entering the rearward forward stroke L6 from the latter half turn stroke L5 (the right and left front wheels 1 (steering member 41) are steered to the straight position A1 side beyond the set angle A2 of the right (left) side. }, The right and left side clutches 40 are in an electric state.

In this case, if the turning angle F1 of the body reaches the turning set angle FA1 (for example, 150 degrees) (step S10), it is determined that turning near the rice field is performed as usual, and the right side And when it is detected that the front wheel 1 (steering member 41) on the left side has been operated beyond the set angle A2 on the right side (left side) to the straight position A1 side (step S11), transplantation steps L01 and L02 at this time The position Y1 of the gas in the advancing direction (+ Y) (−Y) of the gas is set as the end position E3 of the second turning stroke L6 (step S12).

At the same time, the mother transplant apparatus 5 in a raised state maintains the shut-off state of the transplant and fertilization clutches 26 and 27, and the mother implant apparatus 5 descends (step S13), and the center float 9 Is lifted to the farmland G2, the automatic lifting control means 52 is activated, and the mother transplant apparatus 5 is grounded to the farmland G2 and stopped. The parent implanter 5 so that the detection value of the potentiometer 22 (up and down distance between the potentiometer 22 and the center float 9) is kept at the set value from the surface G2. ) Will automatically move up and down>.

In the latter forward stroke L6 from the end position E3 of the rear swing stroke L6, when the gas moves forward, the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) The average value (negative value) of is detected (integrated) as the position Y1 of the gas in the advancing direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 (step S104). In this case, since the turning angle F1 of the body exceeds 90 degrees, the average value (minus value) of pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) Becomes

In the latter forward stroke L6, for example, when the gas moves backward for correction of the gas direction, the average value of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2) ( A positive value) is detected (integrated) as the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the transplant steps L01 and L02 (step S104). In this case, since the turning angle F1 of the body exceeds 90 degrees, the average value (plus value) of the pulses of the right and left rotation speed sensors 50 (the rotation speed of the right and left rear wheels 2). Becomes

As described above, when the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 reaches "O (origin)" (step S14), the transplantation stroke L01, In the traveling direction (+ Y) (-Y) of the body of L02, it is judged that the position E4 of the transverse side of the interruption position E1 of the transplantation and fertilization clutches 26 and 27 was reached, and the transplantation clutch 26, 27) is operated in the electric state (step S15). Therefore, it enters into the next transplantation stroke L02 afterwards.

In step S10, when the turning angle F1 of the body does not reach the turning set angle FA1 (for example, 150 degrees), it is determined that turning near the rice field is not performed as usual, and after that The operations of steps S11 to S15 are not performed. As a result, the driver then operates the lifting lever 11 or the operation lever 12 to perform the operation of lowering, transplanting, and fertilizing the clutches 26 and 27 of the parent implant device 5.

[Another form for carrying out the invention]

In [9] and [11] of the above-mentioned [Mode for Invention], the steering angle A from the straight position A1 of the front wheel 1 (steering member 41) of the right and left sides is Whenever it changes, the center of revolution (C) and the radius of revolution (R) of the body, the travel distance (G) of the body, the detection of the angle of movement of the body (θ), [Y2 (value of plus)], The calculation of [Y2 (negative value)] and the detection (integration) of the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas of the transplantation strokes L01 and L02 are performed instead of the following. You may comprise as follows.

In the first half swing stage L3 (the second half swing stage L5) shown in FIG. 7, nine regions having a range of 10 degrees (corresponding to a predetermined angle range) (regions of 0 to 10 degrees, 10 to 20 degrees) In degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 to 90 degrees Area), and the turning radius R of one gas (the turning radius R of the body corresponding to the angle of the center of the area) is set in each of the nine areas.

For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is 5 degrees. (R) (refer FIG. 8 (a)) is set as the turning radius R of one base | substrate in the area of 0 degree-10 degree.

If the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) exists in an area of 0 degrees to 10 degrees, the front wheels 1 (steering members) on the right and left sides are present. (41)], even if the steering angle A from the straight position A1 is changed, regardless of this, the traveling distance of the gas using the turning radius R of the gas in one of the regions of 0 to 10 degrees. (G), detection of the moving angle (θ) of the gas, calculation of [Y2 (plus value)], [Y2 (negative value)] by equation 1, the traveling direction of the gas of the transplant strokes L01, L02 (+ Y (Y) of the gas position Y1 at (−Y) is performed.

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. Detection of the traveling distance (G) of the body, the moving angle (θ) of the body, using the turning radius (R) of one of the regions of, [Y2 (plus value)], [Y2 ( Negative value)] and detection (integration) of the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02.

[Second Different Embodiment for Implementing the Invention]

Instead of the above-described [mode for carrying out the invention] and [the first mode for carrying out the invention], the configuration may be as follows.

In the first half swing stage L3 (the second half swing stage L5) shown in FIG. 7, nine regions having a range of 10 degrees (corresponding to a predetermined angle range) (regions of 0 to 10 degrees, 10 to 20 degrees) In degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 to 90 degrees Area), and the turning radius R of one gas (the turning radius R of the body corresponding to the maximum angle of the area) is set in each of the nine areas.

For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) is 10 degrees. (R) (refer FIG. 8 (a), (b)) is set as the turning radius R of one gas of the area | region of 0 degree | time-10 degree | times.

Even if the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) enters an area of 0 degrees to 10 degrees from 0 degrees (straight position A1), transplantation is performed. Detection (integration) of the position Y1 of the gas in the advancing direction (+ Y) (-Y) of the strokes L01 and L02 is not performed. When the steering angle A from the straight position A1 of the right and left front wheels 1 (steering member 41) reaches 10 degrees, the turning radius R of one body in the region of 0 to 10 degrees ) And 10 degrees, detection (integration) of the position Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas of the transplantation strokes L01 and L02 is performed based on equation (1), and the value is 0 degrees. It is set as the integrated value (total value) from -10 degree | times.

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. 20 degrees, 30 degrees using the turning radius R of the gas of the area | region of. 10 to 20 degrees. Turning radius of gas in one of the areas of… By using Equation 1, detection (integration) of the position Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the transplantation strokes L01 and L02 is performed. … Let it be the integrated value (total value) in.

[Third Different Embodiment for Implementing the Invention]

In the above-described [mode for carrying out the invention], [the first embodiment for carrying out the invention], and [the second other embodiment for carrying out the invention], it may be configured as follows.

As shown in FIG. 9 and FIG. 10, a ring gear 66 of almost the same outer diameter as the transmission gear 64 is fixed to the axle 65 of the rear wheels 2 on the right and left sides. In the first case part 37b on the right and left sides of the rear axle case 37, the support shaft 68 is supported by the support member 67 on the upper part of the intermediate part in the front-rear direction of the base, and the small-diameter gear 58 ) And the large-diameter gear 59 are supported by the support shaft 68 so as to be integrally rotatable, and the small-diameter gear 58 is engaged with the ring gear 66. In the first case part 37b on the right and left sides of the rear axle case 37, the seat part 37d and the opening hole 37e are formed in the upper part of the intermediate part of the front-back direction, and the proximity sensor type | mold The seat portion 37d and the opening hole 37e of the first case portion 37b on the right and left sides of the rear axle case 37 so that the right and left rotational speed sensors 50 face the large diameter gear 59. It is fixed at.

As a result, pulses are transmitted from the right and left rotation speed sensors 50 so as to correspond to the gear teeth of the large-diameter gear 59, and the right and left rear wheels ( The rotation speed of 2) is enlarged and detected through the ring gear 66, the small diameter gear 58, and the large diameter gear 59. Thereby, the resolution of the traveling distance G of the gas by the rotation speed sensor 50 of the right and left sides can be improved.

[13]

As shown in Fig. 11, the link mechanism 1003 is elevated in the rear portion of the base supported by the front wheels 1001 (corresponding to the wheels) on the right and left sides, and the rear wheels 1002 (corresponding to the wheels) on the right and left sides. A single-acting hydraulic cylinder 1004 that is supported and capable of lifting and lowering the link mechanism 1003 is provided, and a parent implant device 1005 (corresponding to a work device) is supported on the rear portion of the link mechanism 1003. The passenger-type rice transplanter which is an example of a work vehicle is comprised. Munon is generally formed with a layer of mud or water on the lower hard surface 100G1, and the top surface of the layer of mud or water is farmland 100G2, and the front wheels 1001 on the right and left sides, the right and left sides The rear wheel 1002 runs with the ground plate 100G1 grounded.

As illustrated in FIG. 11, the parent implant device 1005 includes three implanted transmission cases 1006, a rotation case 1007 and a rotation case supported rotatably on left and right sides of the rear portion of the transplant transmission case 1006. A pair of implanted arms 1008, a plurality of floats 1009, a mother loading stand 10010, and the like, which are provided at both ends of 1007, are configured in a six-joint type. The rear side of the driver's seat 10013 is provided with a hopper 10014 for storing powdered fertilizer and three feeding units 10015 (corresponding to a work device) in units of two, and has a blower under the driver's seat 10013. 10016 is provided. The floater 10017 is provided in the float 1009, and the hose 10018 is connected over the feeding part 10015 and the topplate 10017.

As shown in Figs. 11 and 15, markers 10019 on the right and left sides are provided on the right and left sides of the parent implantation apparatus 1005, and the working posture of grounding on the farmland 100G2 to form an indicator ( 11) and a storage posture (see FIG. 15) spaced upwardly from the farmland 100G2. The markers 10019 on the right and left sides support the arm portion 10019a supported by the parent implant device 1005 so as to swing up and down, and the rotatable body 10019b freely rotatably supported at the distal end of the arm portion 10019a. It is comprised, and the electric motor 10021 which operates the marker 10019 of the right and left sides to an action posture and a storage posture is provided, and the electric motor 10021 is operated by the control apparatus 10023.

[14]

Next, the electric system to the front wheels 1001 on the right and left sides and the rear wheels 1002 on the right and left sides will be described.

As shown in FIG. 12, the power of the engine 10031 is transmitted to the hydrostatic stepless speed change apparatus 10033 and the mission case 10034 through the transmission belt 10032, and the subshift inside the mission case 10034. From the device 100 (not shown), the front wheel differential gear mechanism (not shown) and the transmission shaft (not shown) of the front axle case 10035 are transmitted to the right and left front wheels 1001.

As shown in FIG. 11 and FIG. 15, the hydrostatic stepless speed change apparatus 10033 is configured to be steplessly shifted from the neutral position to the forward side and the reverse side. The hydrostatic stepless speed change apparatus 10033 is operated by the shift lever 10045 provided on the left side of the steering wheel 10020, and the operation position of the shift lever 10045 is input to the control apparatus 10023.

As shown in FIGS. 11 and 12, the power of the sub transmission is bevel gear 10038a fixed to the transmission shaft 10036, the input shaft 10038 of the rear axle case 10037, the input shaft 10038, and the bevel gear. Bevel gear 10039a meshing with 10038a, bevel gear 10039a are transmitted to rear wheels 1002 on the right and left side through fixed electric shaft 10039, side clutches 10040 on the right and left sides.

As shown in FIG. 12, a trapezoidal steering member 10041 is pivotally supported around the longitudinal axis 100P2 of the lower portion of the mission case 10034 in a planar manner, and is controlled by the steering wheel 10020. The steering member 10041 is configured to rock, and the tie rod 10042 is connected to the steering member 10041 and the front wheels 1001 on the right and left sides. Thereby, by operating the steering wheel 10020, the steering wheel 1001 (steering member 10041) of the right and left can be steered from the straight position 100A1 to the right and left steering limit 100A3. have.

As shown in FIG. 12, the right and left side clutches 10040 are configured in a friction multi-plate type and are pressed in an electric state. The right and left operating shafts 10043 for operating the right and left side clutches 10040 in a blocked state are supported downward by the rear axle case 10037, and the steering member 10041 and the right and left operating shafts are supported. Through 10043, the right and left operating rods 10044 are connected through the lower side of the front axle case 10035. The long hole 10044a as a pliability is provided in the connection part with the right and left operation shaft 10043 in the right and left operation rod 10044. As shown in FIG.

As shown in Fig. 12, if the front wheels 1001 (steering member 10041) on the right and left sides are steered in the range of the straight position 100A1 and the set angles 100A2 on the right and left sides, the right and left sides are steered. By the flexibility of the long hole 10044a of the operating rod 10044, the side clutch 10040 of the right and left sides is operated in the electric state. Thereby, the gas advances (reverses) in the state where power is transmitted to the front wheels 1001 on the right and left sides, and the rear wheels 1002 on the right and left sides (motorized states of the right and left side clutches 10040).

As shown in Fig. 12, when the front wheel 1001 (steering member 10041) on the right and the left is steered to the right steering limit 100A3 side beyond the set angle 100A2 on the right side, the right operating rod ( The operation rod 10044 on the right side is pulled out beyond the range of the long hole 10044a of the 10044, and the side clutch 10040 on the right side is operated in a blocked state by the operation shaft 10043 on the right side. As a result, power is transmitted to the right and left front wheels 1001 and the left rear wheel 1002 (turning outside) (the transmission state of the left side clutch 10040), and the right rear wheel 1002 (the turning center side) ), The body is turned to the right in a state in which (the blocked state of the right side clutch 10040) is free to rotate.

As shown in Fig. 12, when the front wheel 1001 (steering member 10041) on the right and the left side is steered to the left side of the steering limit 100A3 beyond the set angle 100A2 on the left side, the operation rod ( The left side operation rod 10044 is pulled over the range of the long hole 10044a of 10044, and the left side clutch 10040 is operated in the interrupted state by the left side operation shaft 10043. Thereby, power is transmitted to the front wheel 1001 on the right side and the left side, and the rear wheel 1002 on the right side (the turning outside side) (electrical state of the side clutch 10040 on the right side), and the rear wheel 1002 on the left side (the turning center side) In the state where) (blocking state of the left side clutch 10040) is free to rotate, the base body turns to the left.

[15]

Next, the electric system to the mother implantation apparatus 1005 and the feeding part 10015 is demonstrated.

As shown in FIG. 11 and FIG. 15, in the mission case 10034, the power branched from immediately before the sub transmission is transferred to the parent implant device 1005 through the implant clutch 10026 and the PTO shaft 10025. Delivered. Power diverged from immediately before the sub transmission is transmitted to the feeding unit 10015 through the fertilizing clutch 10027 and the driving rod 10030, and the implantation and fertilizing clutches 10026 and 10027 are operated in an electric and disconnected state. The electric motor 10028 (equivalent to an actuator) is provided.

As shown in Figs. 11 and 15, when the implant clutch 10026 is operated in an electric state, the rotating case 1007 is driven by the parent loading table 10010 being driven reciprocally to the left and right. It is driven to rotate in the counterclockwise direction of the paper surface, and the transplantation arm 1008 alternately extracts the hair from the lower portion of the mother loading table 10010 and transplants it into the farmland 100G2. When the implant clutch 10026 is operated in the blocked state, the reciprocating transverse drive of the mother loading table 10010 and the rotation drive of the rotary case 1007 are stopped.

As shown in FIG. 11 and FIG. 15, when the fertilizing clutch 10027 is operated in an electric state, fertilizer is dispensed by the feeding unit 10015 by a predetermined amount from the hopper 10014 and blown by the blower 10016. The fertilizer is supplied to the top plate 10017 through the hose 10018, and the fertilizer is supplied to the farmland 100G2 through the top plate 10017. When the fertilizing clutch 10027 is operated in a blocked state, the feeding unit 10015 stops, and the supply of fertilizer to the farmland 100G2 is stopped.

[16]

Next, the automatic lift control means 10061 of the mother implantation apparatus 1005 will be described.

As shown in FIG. 15, the automatic lift control means 10061 is provided in the control device 10023. The rear portion of the center float 1009 is supported so as to swing up and down around the transverse center 100P1 of the mother transplant apparatus 1005, and detects the height of the center float 1009 relative to the mother implant apparatus 1005. A potentiometer 10022 is provided, and the detection value of the potentiometer 10022 is input to the control apparatus 10023. The height of the center float 1009 with respect to the parent implant device 1005 is determined by the detection value of the potentiometer 10022 by the center float 1009 following the progress of the gas to the farmland 100G2. By detecting, the height from the farmland 100G2 (the center float 1009) to the mother transplant apparatus 1005 can be detected.

As shown in FIG. 15, the control valve 10024 is configured to supply and operate hydraulic oil to the hydraulic cylinder 1004, and the control valve 10024 is operated by the control device 10023. When hydraulic oil is supplied to the hydraulic cylinder 1004 by the control valve 10024, the hydraulic cylinder 1004 contracts and the mother transplant apparatus 1005 is raised, and the hydraulic valve 10024 is lifted from the hydraulic cylinder 1004 by the control valve 10024. When the hydraulic oil is discharged, the hydraulic cylinder 1004 is extended and the mother transplant apparatus 1005 is lowered.

As shown in FIG. 15, the height of the center float 1009 with respect to the mother transplant apparatus 1005 (the height from the farmland 100G2 (the center float 1009) to the mother implant apparatus 1005)). On the basis of this, the detection value of the potentiometer 10022 (up-and-down spacing of the potentiometer 10022 and the center float 1009) is maintained so that the mother transplant apparatus 1005 is maintained at the set height from the farmland 100G2. The control valve 10024 is operated so that the hydraulic cylinder 1004 is stretched and operated, and the parent implant apparatus 1005 is automatically lifted (above, the operating state of the automatic lift control means 10061) so as to be maintained at the set value.

[17]

Next, the lifting lever 10011 will be described.

As shown in Figs. 11 and 15, the lifting lever 10011 is provided on the right side of the driver's seat 10013, and the lifting lever 10011 is moved to the automatic position, the rising position, the neutral position, the lowering position, and the implantation position. It is comprised so that operation is possible, and the operation position of the lifting lever 10011 is input into the control apparatus 10023. The potentiometer 10029 which detects the up-and-down angle of the link mechanism 1003 with respect to a base is provided, the detection value of the potentiometer 10029 is input into the control apparatus 10023, and the link mechanism 1003 with respect to a base is provided. The height of the parent implantation apparatus 1005 with respect to the body can be detected by detecting the vertical angle of the ().

As shown in FIG. 15, in the state which operated the lifting lever 10011 to the up position, the neutral position, the down position, and the implantation position (state which does not operate the lifting lever 10011 to an automatic position), As described, the control valve 10024 and the electric motors 10021 and 10028 are operated by the control device 10023 to operate the hydraulic cylinder 1004 and the implant and fertilization clutches 10026 and 10027. In this case, the functions of the raised position 100U and the lowered position 100D of the operation lever 10012 described later do not operate, and the right and left marker positions 100R and 100L of the operation lever 10012 do not operate. Only the function of works.

As shown in Fig. 15, when the elevating lever 10011 is operated in the ascending position, the automatic elevating control means 10061 stops, and the implantation and fertilizing clutches 10026 and 10027 are operated in the blocked state, and the right and left sides are operated. The marker 10019 is operated in a storage position, and the hydraulic cylinder 1004 contracts and the mother transplant apparatus 1005 is raised. When the potentiometer 10029 detects that the parent implant device 1005 has reached the upper limit position while the elevating lever 10011 is operated in the raised position, the hydraulic cylinder 1004 automatically stops.

As shown in Fig. 15, when the elevating lever 10011 is operated in the lowered position, the automatic elevating control means 10061 is stopped, and the implantation and fertilizing clutches 10026, 10027 are operated in the blocked state, and the right and left sides are operated. In the state where the marker 10019 is operated in the storage position, the hydraulic cylinder 1004 is extended and the mother transplant apparatus 1005 is lowered. When the center float 1009 is grounded to the farmland 100G2, the automatic elevating control means 10061 is activated, and the mother transplant apparatus 1005 is grounded to the farmland 100G2 and stopped. So that 1005 is maintained at the set height from the farmland 100G2 (to detect the potentiometer 10022 (up and down distance between the potentiometer 10022 and the center float 1009) at the set value), Parent implant device 1005 automatically lifts and lowers>.

As shown in Fig. 15, when the elevating lever 10011 is operated to the neutral position, the automatic elevating control means 10061 is stopped, and the implantation and fertilizing clutches 10026 and 10027 are operated in the blocked state, and the right and left sides are operated. The hydraulic cylinder 1004 stops in the state in which the marker 10019 was operated in the storage position.

In this way, by operating the elevating lever 10011 to the raised position, the neutral position, and the lowered position, the mother transplant apparatus 1005 can be raised and lowered to an arbitrary height and stopped.

As shown in Fig. 15, when the lifting lever 10011 is operated in the transplant position, the automatic lifting control means 10061 operates to transplant and fertilize while the markers 10019 on the right and left sides are operated in the storage position. The clutches 10026 and 10027 are operated in the electric state. Thereby, the rotation case 1007 is rotationally driven with the mother loading stand 10010 being reciprocated horizontally driven from side to side, and the implanted arm 1008 takes out the hair alternately from the lower part of the mother mounting stand 10010, The fertilizer is implanted into the farmland 100G2, and the fertilizer is dispensed by the feeding unit 10015 by a predetermined amount from the hopper 10014, and the fertilizer is blown through the hose 10018 by the blowing of the blower 10016. Is supplied to the farmland (100G2) through the top plate 10017.

[18]

Next, the operation lever 10012 will be described.

As shown to FIG. 11 and FIG. 15, the operation lever 10012 is provided in the right side horizontal side of the lower side of the steering wheel 10020, and the operation lever 10012 extends horizontally outward on the right side. The operation lever 10012 is crosswise from the neutral position 100N in the cross direction of the upwardly rising position 100U, the downwardly falling position 100D, the rear right marker position 100R and the front left marker position 100L. It is comprised so that operation is possible, it is pressed to the neutral position 100N, and the operation position of the operation lever 10012 is input into the control apparatus 10023.

In the state where the lifting lever 10011 is operated in the automatic position, the control valve 10024 and the electric motors 10021 and 10028 are controlled by the control device 10023 based on the operation of the operation lever 10012 as described below. ) Is operated, and hydraulic cylinder 1004, implantation and fertilization clutches 10026, 10027 are operated.

As shown in FIG. 15, when the operation lever 10012 is operated to the raised position 100U (if operated to the elevated position 100U to operate to the neutral position 100N), the implantation and fertilization clutches 10026 and 10027 Is operated in a blocked state so that the automatic lift control means 10061 stops, the hydraulic cylinder 1004 contracts and the mother transplant apparatus 1005 is raised, and the markers 10019 on the right and left sides are stored as described below. Manipulated in posture. When the potentiometer 10029 detects that the parent implant device 1005 has reached the upper limit position, the hydraulic cylinder 1004 automatically stops.

As shown in FIG. 15, when the operation lever 10012 is operated to the lowered position 100D (when operated to the lowered position 100D and operated to the neutral position 100N), the automatic lift control means 10061 stops. In addition, the implant and fertilization clutches 10026 and 10027 are operated in the blocked state, and the hydraulic cylinder 1004 is extended and operated by the marker 10019 on the right and left sides in the storage position so that the parent implant device 1005 is operated. Descend. When the center float 1009 is grounded to the farmland 100G2, the automatic lift control means 10061 is operated, and the mother transplant apparatus 1005 is grounded to the farmland 100G2 and stopped. The apparatus 1005 is maintained at the set height from the farmland 100G2 (the detection value of the potentiometer 10022 (up and down distance between the potentiometer 10022 and the center float 1009) is kept at the set value). When the parent implant device 1005 is automatically lifted and lifted>.

As described above, after operating the operation lever 10012 to the lowered position 100D (after operating the lowered position 100D to the neutral position 100N), the operation lever 10012 is lowered again to the lowered position ( In operation 100D), the implantation and fertilization clutches 10026 and 10027 are operated in an electric state while the automatic lift control means 10061 is operated.

As shown in FIG. 15, the following operation is performed in the state in which the height of the mother implantation apparatus 1005 detected by the potentiometer 10029 is lower than predetermined height set previously.

In the state where the marker 10019 on the right side (left side) has been operated in the storage position, the operation lever 10012 is set to the right marker position 100R (left marker position 100L) or more for a first set time (comparative short time). By operating over, the marker 10019 on the right side (left side) is operated in the action posture.

In the state in which the marker 10019 on the right side (left side) was operated in the operating position, the operation lever 10012 was moved to the right marker position 100R (left marker position 100L) than the second set time (first set time). When the operation is performed over a long time), the marker 10019 on the right side (left side) is operated in the storage position.

As shown in FIG. 15, when the mother transplant apparatus 1005 rises and the height of the mother implant apparatus 1005 detected by the potentiometer 10029 becomes higher than a predetermined height set in advance, The markers 10019 on the right and left sides are operated in the storage position. In the state where the height of the parent implant apparatus 1005 detected by the potentiometer 10029 is higher than a predetermined height set in advance, the operation lever 10012 is moved to the right and left marker positions 100R and 100L as described above. Even if it is operated with, the markers 10019 on the right and left sides are held in the storage position irrespective of this.

[19]

Next, the structure regarding control at the time of turning near a rice field is demonstrated.

11 and 12, the reinforcement right and left frames 10049 are connected across the rear portion of the mission case 10034 and the gas frame 10066. FIGS. 12, 13, and 14 As shown in the figure, the bracket 10046 is fixed inside the body of the frame 10049 on the left side, and the boss portion 10062 is fixed to the bracket 10046. The potentiometer 10047 (corresponding to the steering angle detection means) is fixed to the upper portion of the boss portion 10062, and the rotatable detection shaft 10047b connected to the potentiometer 10047 connects the boss portion 10062. It extends downward through it, and the detection arm 10047a is being fixed to the lower part of the detection axis 10047b. The linkage rod 10048 is connected through the lower side of the front axle case 10035 over the steering member 10041 and the detection arm 10047a of the potentiometer 10047.

As shown in FIGS. 12 and 13, in the floor 10063 located between the driver's seat 10013 and the steering wheel 10020, at the transverse outside of the frame 10049 and the potentiometer 10047 on the left side. The fuel tank 10064 is supported below the left side of the floor 10063. The potentiometer 10047 is disposed between the right and left frames 10049 and positioned above the bottom face 10064a of the fuel tank 10064.

As shown in FIG. 12 and FIG. 15, the position of the steering member 10041 is detected by the potentiometer 10047, and the detection value of the potentiometer 10047 is input to the control device 10023. The steering angle 100A from the straight position 100A1 of the front wheel 1001 (steering member 10041) of the right and left sides is detected by the detection value of the centimeter 10047.

As shown in FIG. 12 and FIG. 15, the right and left rotation speed sensors 10050 (corresponding to the traveling distance detecting means) are provided in the rear axle case 10037, and the right and left rotation speed sensors 10050. It is comprised so that the rotation speed of the lower side of the side clutch 10040 of the right side and the left side may be detected, and the detection value of the right side and left side rotation speed sensor 10050 is input into the control apparatus 10023. As a result, the rotation speed of the right and left rear wheels 1002 is detected by the right and left rotation speed sensors 10050 irrespective of the transmission state and the shut-off state of the right and left side clutches 10040.

As shown in FIG. 15, the gas position detecting means 10051, the turning start position detecting means 10052, the turning end position detecting means 10053, the correcting means 10054, and the changing means 10055 are provided in the control apparatus 10023. ), Traveling speed detecting means 10056 and operating means 10057 are provided. In the state where the lifting lever 10011 is operated in the automatic position, the gas position detecting means 10051, the turning start position detecting means 10052, the turning end position detecting means 10053, the correcting means 10054, and the changing means. 10055, the traveling speed detecting means 10056 and the operating means 10057 operate as described in the following [20] to [25].

As shown in FIG. 17, the gas position detecting means 10051 is a gas position 100Y1 (starting turn) in the gas traveling direction (+ Y) (-Y) of the transplant strokes 100L01 and 100L02 (corresponding to the work stroke). (Corresponding to the position of the gas in the turning in the advancing direction of the preceding gas) (in other words, detecting the coordinates of the gas in the turning in the advancing direction of the gas before starting the turning). As described in the following [20] to [25], by the gas position detecting means 10051, the gas position 100Y1 in the traveling direction (+ Y) (-Y) of the gas of the transplantation strokes 100L01 and 100L02. Is detected.

In the passenger type rice transplanter equipped with the 6-row type | mold transplanting apparatus 1005, as shown in FIG. 17, the turning stroke 100L1 of the first half and the turning stroke 100L2 of the latter half are performed in the vicinity of a rice field (field 100B), and 1 We may enter the next transplant stroke 100L02 from meeting transplant stroke 100L01. The turning stroke 100L1 of the first half and the turning stroke 100L2 of the latter half are demonstrated in the following [20]-[25].

[20]

Next, one transplantation stroke 100L01 and the first swing stroke 100L1 (operation of the swing start position detecting means 10052, the operation means 10057 and the correction means 10054) will be described based on FIG. 16 and FIG. 17. do.

The aircraft reached the rice paddy field (rice paddy 100B) and operated once with the transplantation stroke 100L01 (operation state of the automatic lift control means 10061 in the descending state of the parent transplant apparatus 1005, and the electric state of the transplanting and fertilizing clutches 10026, 10027). , When the driven state of the right and left side clutches 10040] is finished, when the turning end position (the position on the left side of the paper surface of E1 in Fig. 17) in the last transplantation stroke is reached, the driver turns to the operation lever ( The 10012 is operated to the rising position 100U (the operation to the rising position 100U to the neutral position 100N) (step S1).

As described in the above [18], when the operation lever 10012 is operated to the elevated position 100U (operated to the elevated position 100U to operate to the neutral position 100N) (step S1), the implant and fertilization clutch 10026 and 10027 are operated in a shut-off state (step S2) (based on the detection of the turning start position detecting means 10052, the operating means 10057 operates the actuator 10028 to the non-working state side. Equivalent], the automatic lift control means 10061 stops (step S3). The hydraulic cylinder 1004 contracts and the mother transplant apparatus 1005 is raised (step S4), and the markers 10019 on the right and left sides are operated in the storage position (step S5). When the potentiometer 10029 detects that the parent implant device 1005 has reached the upper limit position, the hydraulic cylinder 1004 automatically stops.

When the operation signal by operating the operation lever 10012 to the raised position 100U is input to the control apparatus 10023 (corresponding to the turning start from the working state), the turning start position detecting means 10052 causes the transplantation. The position 100Y1 of the gas in the travel direction (+ Y) (-Y) of the strokes 100L01 and 100L02 is set to "0 (origin)", and "0 (origin)" is detected as the turning start position 100E1. (Set). After the turning start position 100E1 is detected (set), the turning means 10054 and the "0 (home position) are corrected by the correction means 10054 so that the time after the elapse of the setting time becomes the turning start position 100E1. Is corrected (steps S101 and S103).

At the same time, the turning start position 100E1 and "0 (origin)" corrected by the correcting means 10054 are set as the turning end position 100E3 (step S102). In this case, the above-described set time can be arbitrarily changed to long and short.

[21]

Next, the correction | amendment of the turning start position 100E1 by the correction means 10054 as described in the preceding item [20] is demonstrated.

When the fertilizing clutch 10027 is operated in the shut-off state, the feeding unit 10015 immediately stops, and the stopping start position 100E1 and the stopping of the feeding unit 10015 coincide with each other. Thus, when the fertilizing clutch 10027 is used as a reference, Even if the operating lever 10012 was operated to the raised position 100U, there is no problem even if the turning start position 100E1 is detected (set).

Similarly, when the shift lever 10045 is operated to the neutral position, in addition to the hydrostatic stepless speed change apparatus 10033 being operated to the neutral position to stop the gas, the mother implanting device ( Power is not transmitted to 1005 and the dispensing unit 10015, and the parent implantation apparatus 1005 (rotation case 1007, implantation arm 1008) and the dispensing unit 10015 stop immediately. As a result, the swing start position 100E1 coincides with the neutral position of the shift lever 10045 (the parent implantation apparatus 1005 (rotation case 1007, implantation arm 1008) and the stopper of the feeding unit 10015). do.

When the shift lever 10045 is operated to the reverse side, the control valve 10024 is operated to the supply position by the control device 10023 so that the hydraulic cylinder 1004 is contracted and the mother implant device 1005 is automatically operated. Configured to ascend.

When the shift lever 10045 is operated to the reverse side, the reverse (reverse) power is transmitted from the hydrostatic stepless transmission 10033 to the parent implant device 1005 and the feeding unit 10015, but transmits the power of the forward Since the one-way clutch (not shown in FIG. 100) which cuts off the power of the reverse is provided, even if the shift lever 10045 is operated to the reverse side, the power of the reverse is cut off by the one-way clutch, and the parent implant device 1005 (rotation case ( 1007), implantation arm 1008] and feeding section 10015 stop immediately. Thereby, the operation to the reverse side of the turning start position 100E1 and the shift lever 10045 (the parent implantation apparatus 1005 (rotation case 1007, implantation arm 1008) and stop of the feeding unit 10015)) This matches.

On the other hand, even when the implantation clutch 10026 is operated in the interrupted state, the rotation case 1007 and the implantation arm 1008 may be delayed and stopped, and the parent implantation apparatus 1005 [ The rotation of the rotary case 1007 and the implanted arm 1008 may be a delayed position.

This means that when the implant clutch 10026 is operated in a blocked state, the rotation case 1007 is in a position parallel to the farmland 100G2 (both sides of the pair of transplant arms 1008 are located above the farmland 100G2). Present state], so that the rotation case 1007 is operated even if the implantation clutch 10026 is operated in a blocked state at the moment of the posture in which the rotation case 1007 is parallel to the farmland 100G2. Does not stop immediately, but rotates about 180 degrees by rotational inertia.

Therefore, when it is in the above-mentioned state, even if the implantation clutch 10026 is operated in the interruption | blocking state, about one simulation may be performed by the implantation arm 1008.

Thereby, after the operation signal by which the operation lever 10012 was operated to the raised position 100U is input to the control apparatus 10023 (after the turning start position 100E1 is detected (set)), By correcting the time after the elapsed time as the swing start position 100E1, the stop of the swing start position 100E1 and the parent implant device 1005 (rotation case 1007, implant arm 1008) (by the operating means 10057). End of the actuator 10028 to the non-working state side] can be matched.

[22]

Next, the turning step 100L1 (operation of the gas position detecting means 10051) of the first half will be described based on FIGS. 16 and 17.

As described in the foregoing paragraph [20], when the operator manipulates the operation lever 10012 to the raised position 100U, the driver operates the steering wheel 10020 at about the same time to operate the front wheel 1001 (steering member 10041) on the right and left sides. ) Is steered in the turning direction to enter the turning stroke 100L1 of the first half. If the front wheels 1001 (steering member 10041) on the right and left sides are steered beyond the set angle 100A2 on the right side (left side) to the steering limit 100A3 side on the right side (left side) (step S6), the preceding paragraph [14] ], The side clutch 10040 of the turning center side is operated in the interruption | blocking state, in the state in which the side clutch 10040 of the turning outer side was maintained in the electric state (step S7).

When detection (setting) and correction of the turning start position 100E1 are performed in step S101, the gas position detecting means 10051 uses the gas position detecting means 10051 to advance the gas flow direction (+ Y) in the transplant strokes 100L01 and 100L02. The detection of the position 100Y1 of the gas at (-Y) is started (step S104).

Equation 2: 100Y1 = 100R * SIN (θ)

100R: turning radius of the aircraft

θ: moving angle of gas from turning start position 100E1

As shown in Fig. 18A, when the steering angle 100A from the straight position 100A1 of the front wheel 1001 (steering member 10041) on the right and left sides is determined, the pivot center 100C of the body is determined. ) Is judged to be located on the extension line of the axle 10065 (see FIG. 12) of the rear wheel 1002 on the right and left sides, and the wheel base 100W (right and left front wheels) of the front wheel 1001 and the rear wheel 1002. Distance between the axle of 1001 and the axle 10065 (see FIG. 12) of the right and left rear wheels 1002 and the straight position 100A1 of the right and left front wheels 1001 (steering member 10041). Based on the steering angle 100A, the pivot center 100C of the body is detected. When the pivot center 100C of the gas is detected, the distance between the left and right centers of the body and the pivot center 100C of the gas is detected as the pivot radius 100R of the body.

As shown in Figs. 18A and 18B, the pulse of the rotational speed sensor 10050 on the pivot center side in the state where the pivot center 100C and the pivot radius 100R of the gas are detected. Rotational speed of the rear wheel 1002 on the center side] detects the traveling distance 100G of the body (corresponding to an arc portion with respect to the turning radius 100R of the gas), the turning center 100C of the body, and the turning radius. The movement angle θ of the body is detected based on 100R and the traveling distance 100G of the body. As described above, the gas position 100Y1 in the traveling direction (+ Y) (-Y) of the gas of the transplantation strokes 100L01 and 100L02 based on the equation 2 by the turning radius 100R and the moving angle θ of the gas. Is detected (step S104).

[23]

Next, the turning step 100L1 (gas turning angle 100F1 of the first half) of the first half will be described based on FIGS. 16 and 17.

When detection (setting) and correction of the turning start position 100E1 are performed in step S101, the pulse of the rotation speed sensor 10050 (rotation speed of the rear wheel 1002 outside turning) from the turning start position 100E1. ] Is detected (integrated) and based on this value and the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041), the turning angle of the body 100F1 Is detected (integrated) from "0" (steps S105, S106).

In this case, with respect to the direction of the gas at the turning start position 100E1 (transfer stroke 100L01), the angle of the direction of the current gas is the pulse of the rotational speed sensor 10050 outside the turning [rear outside wheel ( Rotational speed of 1002] and the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041), and this detection value is detected based on the turning angle of the body ( 100F1) is detected (integrated) (steps S105 and S106).

When the rotational angle 100F1 of the body is 90 degrees, the direction of the gas is completely lateral to the direction of the gas at the turning start position 100E1 (transfer stroke 100L01), and the turning angle of the gas 100F1. When it is 180 degrees, it is a state (direction of transplantation 100L02) which the direction of a body opposes with respect to the direction of the body in the turning start position 100E1 (transfer process 100L01).

When the front wheels 1001 (steering member 10041) on the right and left sides are steered in the turning direction, when the pulse of the rotational speed sensor 10050 outside the turning (the rotation speed of the rear wheel 1002 on the turning outside) becomes large, (If accumulated), it is detected (integrated) that the gas swing angle 100F1 is increased by an increase in the pulse of the rotational speed sensor 10050 (the rotation speed of the rear wheel 1002 on the rotational outside). On the contrary, in the state in which the front wheels 1001 (steering member 10041) on the right and left sides have been steered to the straight position 100A1, the pulse of the rotational speed sensor 10050 outside the turning (rear of the rear wheel 1002 on the turning outside). Even if the number increases (accumulates), it is detected (accumulation) that the gas has just gone straight and that the rotation angle 100F1 of the gas has not changed.

Thereby, in the range of 0 degree (turning start position 100E1)-90 degree (boundary position 100E2) of gas rotation angle 100F1, in the preceding paragraph [21], it is the case of the gas of 100L01 and 100L02 of transplantation stroke. The position 100Y1 of the gas in the advancing direction (+ Y) (-Y) is spaced apart from the turning start position 100E1 by (+ Y).

[24]

Next, the turning step 100L2 (operation of the gas position detecting means 10051) in the second half will be described based on FIG. 16 and FIG. 17.

When the turning angle 100F1 of the body exceeds 90 degrees (boundary position 100E2), it is determined that the body has entered the second turning stroke 100L2. Since the direction of the latter turning stroke 100L2 becomes the reverse direction with respect to the direction of the gas in the turning stroke 100L1 of the first half, the position of the gas in the traveling direction (+ Y) (-Y) of the gas of the transplant strokes 100L01 and 100L02 (100Y1). ) Approaches a turning start position 100E1 (turning end position 100E3).

In this case, if the turning angle 100F1 of the body reaches the turning set angle 100FA1 (for example, 150 degrees) (step S8), it is determined that the turning is performed near the rice paddy field (the rice paddy 100B) as usual. do. When entering the latter half of the turning stage 100L2, the driver operates the steering wheel 10020 to move the right and left front wheels 1001 (steering member 10041) beyond the set angle 100A2 of the right side (left). Operation is performed at 100A1 (step S9). Thereby, the side clutch 10040 of the turning center side is operated by the electric state (step S10), and a base enters a straight state.

When the gas enters the straight state, the calculation by Equation 2 is not performed, and the average value (negative value) of the pulses of the right and left rotation speed sensors 10050 (the rotation speed of the right and left rear wheels 1002) It is detected (integrated) as the position 100Y1 of the gas in the travel direction (+ Y) (-Y) of the gas for the transplantation strokes 100L01 and 100L02 (step S104).

[25]

Next, the turning stage 100L2 (operation of the turning end position detecting unit 10052, the traveling speed detecting unit 10056, and the operating unit 10057) in the second half will be described based on FIG. 16 and FIG.

The right and left front wheels 1001 (steering member 10041) are operated beyond the set angle 100A2 on the right side (left side) to the straight position 100A1 side (step S9), and the side clutch 10040 on the pivot center side. ) Is operated in the electric state (step S10), at the same time, the implantation and fertilization clutches 10026 and 10027 are kept in a blocked state, and the mother implantation apparatus 1005 automatically descends (step S11).

When the center float 1009 is grounded to the farmland 100G2, the automatic lift control means 10061 is activated, and the mother transplant apparatus 1005 is grounded to the farmland 100G2 and stopped. The apparatus 1005 is maintained at the set height from the farmland 100G2 (the detection value of the potentiometer 10022 (up and down distance between the potentiometer 10022 and the center float 1009) is kept at the set value). And the state in which the mother transplant apparatus 1005 automatically moves up and down> (step S12).

In the above-described state, since the turning end position 100E3 is present, pulses of the rotational speed sensor 10050 of the right and left rotational speed sensors 10050 (the rotational speed of the right and left rear wheels 1002) are detected by the traveling speed detecting means 10056. The average value is differentiated and the traveling speed 100V of the gas is detected (step S13). At the time when the traveling speed (100 V) of the gas is detected, the position 100Y1 of the body in the travel direction (+ Y) (-Y) of the gas for the transplantation stroke 100L01 and 100L02 is compared with the turning end position 100E3, If it is the traveling speed (100V) of the current gas, it is predicted how long afterwards the turning end position 100E3 will be reached (turning end position detecting means 10052 having reached the turning end position 100E3). Is predicted to be detected by ") (step S14).

In this case, the gas is based on the operating position of the shift lever 10045 instead of the configuration for differentially processing the average value of the pulses of the right and left rotation speed sensors 10050 (the rotation speed of the right and left rear wheels 1002). The traveling speed detecting means 10056 may be configured to detect the traveling speed 100V of the vehicle, and the traveling speed 100V of the body is detected based on the rotational speed of the engine 10031 and the operation position of the accelerator (not shown). You may comprise the traveling speed detection means 10056 so that it may become.

When operating the implanted and fertilized clutches 10026 and 10027 from the cutoff state to the electric state by the electric motor 10028, the operating speed of the electric motor 10028 has a limit and the operating stroke from the cutoff state to the electric state. Is present, the operation signal in the electric state is output from the control device 10023 to the electric motor 10028 until the operation of the implantation and fertilizing clutches 10026 and 10027 in the electric state is finished. The operation time of is recognized beforehand.

In this way, when it is predicted how long the turning end position 100E3 is reached after the elapse of time (step S14), the position before the time portion of the above-described operation time is changed by the change means 10055 to the starting position 100E4. (Step S15).

When the position 100Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas for the transplant stroke 100L01 and 100L02 reaches the start position 100E4 (step S16), the electric motor 10028 is released from the control device 10023. The operation signal in the low-powered state is output, and the transplanting and fertilizing clutches 10026 and 10027 start to operate in the electric state from the shut-off state (based on the detection of the turning end position detecting means 10053, the operation means 10057). Corresponding to the state in which the actuator 10028 is operated to the working state side by means of)] (corresponding to the state in which the operation start time of the actuator 10028 by the operating means 10057 to the working state side by the changing means 10055 is changed. ] (Step S17).

As a result, when the swing position detecting means 10053 detects the swing end position 100E3, the operation of the implantation and fertilization clutches 10026 and 10027 by the electric motor 10028 to the electric state is almost terminated at the same time as the detection. The start of supply of the fertilizer to the farmland 100G2 by the simulated transplantation start by the mother transplant apparatus 1005 (rotation case 1007, transplant arm 1008) and the feeding section 10015 is the turning end position. 100E3 (turning start position 100E1). Therefore, it enters into the next transplantation stroke 100L02 afterwards.

In step S8, if the turning angle 100F1 of the body does not reach the turning set angle 100FA1 (for example, 150 degrees), it is determined that turning near the rice field is not performed as usual, and after that The operations of steps S9 to S17 are not performed. As a result, the driver then operates the elevating lever 10011 or the operating lever 10012 to operate the descending, transplanting, and fertilizing clutches 10026, 10027 in the electric state of the parent implant device 1005.

[Fourth alternative form for carrying out the invention]

In the above-mentioned [form for inventing], as shown in FIG. 15, by providing slip rate detection means 10058, the change means 10055 may be comprised so that it may operate as follows.

The slip rate detecting means 10058 detects slip rates of the rear wheels 1002 on the right and left sides as follows.

Rear wheel 1002 of the turning outer side (motor state of side clutch 10040) by the relationship between the driving force of the rear wheel 1002 of the turning outer side (motor state of side clutch 10040), and the friction coefficient of half table 100G1. It is considered that slip occurs or does not occur. If power is not transmitted to the rear wheel 1002 of the turning center side (blocked state of the side clutch 10040), and the rear wheel 1002 of the turning center side (blocked state of the side clutch 10040) is free to rotate, Since the rotation of the rear wheel 1002 on the pivot center side (blocked state of the side clutch 10040) is a resistance from the shaft 100G1 based on the friction coefficient of the shaft 100G1, the pivot center side (side clutch 10040). It is considered that the slip hardly occurs in the rear wheel 1002 in the blocked state.

As a result, in the first and second half swing strokes 100L1 and 100L2, the rear wheel 1002 on the pivot center side (blocking state of the side clutch 10040) hardly generates slip along with the traveling of the aircraft, and thus the rear wheel 100G1. Since it is considered to rotate along the direction, the pulse (speed of rotation) of the rotation speed sensor 10050 of the turning center side (blocking state of the side clutch 10040), and the rotation speed of the turning outside (electric state of the side clutch 10040) Based on the ratio with the pulse (rotation speed) of the sensor 10050, the slip ratios of the rear wheels 1002 on the right and left sides with respect to the light disk 100G1 are detected.

For example, with respect to the pulse (speed of rotation) of the rotation speed sensor 10050 of the turning center side (blocking state of the side clutch 10040), the rotation speed sensor of the turning outside (motorized state of the side clutch 10040) ( When the pulse (number of revolutions) of 10050 is a range of the predetermined pulse number (number of revolutions) in consideration of the inner and outer ring wheels of the rear wheels 1002 on the turning outside and the turning center side, the turning outside (motor state of the side clutch 10040) It can be determined that no slip has occurred in the rear wheel 1002 of FIG.

On the contrary, with respect to the pulse (speed) of the rotation speed sensor 10050 of the turning center side (blocking state of the side clutch 10040), the rotation speed sensor 10050 of the turning outside (motor state of the side clutch 10040) is used. If the pulse (rotation speed) exceeds the predetermined pulse number (rotation speed) mentioned above, the pulse (rotation speed) of the rotation speed sensor 10050 of the rotation outer side (motor state of the side clutch 10040), and rotation On the basis of the ratio with the pulse (speed) of the rotation speed sensor 10050 on the center side (blocking state of the side clutch 10040), the slip ratios of the right and left rear wheels 1002 with respect to the light disk 100G1 are detected. do.

Thereby, as shown in FIG. 16 of the above-mentioned [Mode for Invention], the slip ratio of the rear wheel 1002 of the right and left sides is detected between steps S6 to S9, and the starting position ( When setting 100E4), the slip ratios of the right and left rear wheels 1002 are taken into account. For example, when the slip ratios of the right and left rear wheels 1002 are large, the starting position 100E4 approaches the turning end position 100E3 where it is predicted.

For example, when the slip ratios of the right and left rear wheels 1002 are very large, even if the turning end positions 100E3 are not actually reached, the travel direction (+ Y) of the gas of the transplant strokes 100L01 and 100L02 (-Y) Since the position 100Y1 of the gas at () may reach the turning end position 100E3, in this case, the starting end position than the position where the turning end position detecting means 10053 detects the turning end position 100E3. Move 100E4 to the next transplant stroke 100L02 side.

As described above, the changing means 10055 operates based on the traveling speed detecting means 10056 and the slip rate detecting means 10058.

Instead of the slip rate detecting means 10058 as described above, the slip rate detecting means 10058 may be configured as follows.

(1) The driver sets the slip ratios of the rear wheels 1002 on the right and left sides by manually operating a dial switch (not shown).

(2) The actual travel distance of the aircraft is detected by GPS, and the rear travel wheels 1002 of the right and left sides are compared by comparing the actual travel distance of the aircraft with the pulse (speed) of the right or left rotational speed sensor 10050. ), The slip ratio is detected.

(3) The simulation groove | channel spacing in the state where the slip ratio of the right and left rear wheel 1002 is "0" is calculated | required beforehand. In the transplanting strokes 100L01 and 100L02, a simulation of the gaps of the simulated trees transplanted to the farmland 100G2 by the parental transplant apparatus 1005 is performed, and the actual simulated groove intervals and the slip ratios of the right and left rear wheels 1002 The slip ratios of the rear wheels 1002 on the right and left sides are detected by comparing the simulated groove intervals in the state of "0".

[Fifth alternative mode for carrying out the invention]

In the form for carrying out the invention, the change means 10055 may be configured to operate as follows.

In the automatic lift control means 10061, the control sensitivity is configured to be artificially set to the sensitive side and the insensitive side. In this case, in general, if the mud of the farmland 100G2 is hard, the control sensitivity of the automatic lift control means 10061 is set to the insensitive side, and if the mud of the farmland 100G2 is soft, the automatic lift control means 10061. Set the control sensitivity on the sensitive side. As a result, as shown in FIG. 16 of the above-described [Mode for Invention], when setting the start position 100E4 in step S15, the control sensitivity of the automatic lift control means 10061 is set to farmland 100G2. We consider as contest (contest of soil of work place) of mud.

Instead of the control sensitivity of the automatic lift control means 10061, a small arm (not shown) is driven into the farmland 100G2, and the farmland is based on the magnitude of the resistance applied to the arm from the mud of the farmland 100G2. You may comprise so that the mud contest (the contest of the soil of a work paper) of the surface 100G2 may be detected.

[Sixth alternative form for carrying out the invention]

In the form for carrying out the invention, the change means 10055 may be configured to operate as follows.

When detection (setting) and correction of the turning start position 100E1 are performed in step S101 of FIG. 16, the pulse of the rotational speed sensor 10050 (the rotational speed of the rear wheel 1002 on the rotational outer side) of the turning outside or the turning center side is performed. ] Is detected (integrated), and the traveling distance of the gas from the turning start position 100E1 is detected (integrated). When the turning steps 100L1 and 100L2 in the first half and the second half are performed as usual, the traveling distance of the gas from the turning start position 100E1 to the turning end position 100E3 is recognized in advance as the set distance.

Thereby, when the traveling distance of the body from the turning start position 100E1 exceeds the set distance until it reaches the turning end position 100E3, it is judged that the body turned large and turned, for example, FIG. As shown in a), it is determined that the gas is inclined with respect to the work stroke 100L01 (it is determined that the portion 100a1 in which the hair is not transplanted occurs). In such a state, in the steps S13 and S14 in FIG. 16, the prediction is corrected to a slightly earlier value (or a slightly slower value) when making predictions about how long the turning end position 100E3 is reached after the elapse of time. Corrected to).

Therefore, for example, at the position 100E31 shown in FIG. 19B, the implantation by the electric motor 10028 and the operation of the fertilizing clutches 10026 and 10027 to the electric state are terminated, and the mother transplantation device is completed. (1005) The supply of fertilizer to the farmland 100G2 by the mock transplant by the [rotary case 1007, the transplant arm 1008] and the feeding part 10015 is started, and then to the next transplantation stroke 100L02. Enter Thereby, the part 100a1 in which the hair is not transplanted as shown to Fig.19 (a) does not arise.

[Seventh Another Embodiment for Invention]

In the form for carrying out the invention, the change means 10055 may be configured to operate as follows.

When the first and second turning strokes 100L1 and 100L2 shown in FIG. 17 are performed as usual, the front wheels 1001 (steering member) on the right and left sides from the turning start position 100E1 to the turning end position 100E3. (10041), the upper limit value is recognized in advance for each of the speed and acceleration of the steering operation, the frequency of the steering operation, and the like.

Thereby, the speed, acceleration, and frequency of steering operation of the steering operation of the front wheel 1001 (steering member 10041) of the right and left sides until it reaches the turning end position 100E3 from turning start position 100E1. When the steering state detection means 10059 (see FIG. 15) detects that any one of the upper limit values and the like has exceeded the upper limit value, the driver may determine that the front wheel 1001 is different from the normal one based on the detection of the steering state detection means 10059. It is judged that the steering operation has been performed, and it is judged that the gas is inclined with respect to the work stroke 100L01, for example, as shown in Fig. 19 (a) (the part 100a1 without the hair transplantation occurs). Determined].

In such a state, in the steps S13 and S14 in FIG. 16, the prediction is corrected to a slightly earlier value (or a slightly slower value) when making predictions about how long the turning end position 100E3 is reached after the elapse of time. Corrected to). As a result, for example, at the position 100E31 shown in FIG. 19B, the implantation by the electric motor 10028 and the operation of the fertilizing clutches 10026 and 10027 to the electric state are finished, and the mother transplantation is completed. The mock transplant by the apparatus 1005 (rotation case 1007, transplant arm 1008) and the supply of fertilizer to the farmland 100G2 by the feeding part 10015 are started, and then the next transplant stroke 100L02 Enter Thereby, the part 100a1 in which the hair is not transplanted as shown to Fig.19 (a) does not arise.

[Eighth Other Form for Carrying Out the Invention]

In the above-described [form for carrying out the invention], [fourth form for carrying out the invention] to [seventh other embodiment for carrying out the invention], the front wheel 1001 (steering member 10041) on the right and left sides. Whenever the steering angle 100A from the straight position 100A1 of)] is changed, the turning center 100C and turning radius 100R of the body, the traveling distance 100G of the body, and the moving angle θ of the body Detection and the position 100Y1 of the gas in the advancing direction (+ Y) (-Y) of the graft strokes 100L01 and 100L02 by the formula 2 may be configured as follows instead of this.

In the first half swing stroke 100L1 (the second half swing stroke 100L2) shown in FIG. 17, nine regions having a range of 10 degrees (corresponding to a predetermined angle range) (regions of 0 to 10 degrees, 10 to 20 degrees) In degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 to 90 degrees Area), and the turning radius 100R (the turning radius 100R corresponding to the angle of the center of the region) of one gas is set in each of the nine regions.

For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041) is 5 degrees. Reference numeral 100R (see FIG. 18A) is set as the turning radius 100R of one of the gases in the region of 0 degrees to 10 degrees.

If the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041) exists in an area of 0 degrees to 10 degrees, the front wheels 1001 (steering members) on the right and left sides. (10041), even if the steering angle 100A from the straight position 100A1 is changed, regardless of this, the traveling distance of the gas using the turning radius (100R) of the gas in one of the region of 0 to 10 degrees (100G), the detection of the moving angle (θ) of the gas, and the position of the gas (100Y1) in the travel direction (+ Y) (-Y) of the gas of the transplantation strokes 100L01 and 100L02 by the equation (2).

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. Detection of traveling distance (100G) of the gas, movement angle (θ) of the gas by using the turning radius (100R) of the gas in one of the regions of, the travel direction of the gas of the transplantation stroke 100L01, 100L02 (+ Y) (-Y) detects the position of the gas 100Y1.

[Ninth ninth aspect for carrying out the invention]

Instead of the above-mentioned [eighth embodiment for carrying out the invention], it may be configured as follows.

In the first half swing stroke 100L1 (the second half swing stroke 100L2) shown in FIG. 17, nine regions having a range of 10 degrees (corresponding to a predetermined angle range) (regions of 0 to 10 degrees, 10 to 20 degrees) In degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 to 90 degrees Area), and set the turning radius 100R (the turning radius 100R corresponding to the maximum angle of the region) of one gas in each of the nine regions.

 For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041) is 10 degrees. Reference numeral 100R (see Figs. 18A and 18B) is set as the turning radius 100R of one of the gases in the region of 0 degrees to 10 degrees.

Even if the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041) enters an area of 0 degrees to 10 degrees from 0 degrees (straight position 100A1), transplantation is performed. The position (100Y1) of the gas is not detected in the travel direction (+ Y) (-Y) of the gas in the strokes 100L01 and 100L02. When the steering angle 100A from the straight position 100A1 of the right and left front wheels 1001 (steering member 10041) reaches 10 degrees, the turning radius 100R of one body in the region of 0 degrees to 10 degrees. ) And 10 degrees, the position of the gas 100Y1 in the travel direction (+ Y) (-Y) of the gas of the transplantation strokes 100L01 and 100L02 is detected based on the equation (2).

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. 20 degrees, 30 degrees using the turning radius 100R of the gas of the area | region of. 10 to 20 degrees. Turning radius of gas in one of the areas of… By this, the position 100Y1 of the gas in the travel direction (+ Y) (-Y) of the gas of the transplantation strokes 100L01 and 100L02 is detected based on the equation (2).

[26]

As shown in FIG. 20, the link mechanism 2003 is supported by the back mechanism of the base body supported by the front wheel 2001 on the right and left sides, and the rear wheel 2002 on the right and left sides so that the link mechanism 2003 can be lifted and lowered. A single-acting hydraulic cylinder 2004 for elevating and driving a vehicle is provided, and a parent implant device 2005 (corresponding to a work device) is supported at a rear portion of the link mechanism 2003, and a passenger type that is an example of a Munnon work vehicle. The rice transplanter is composed. Munon generally has a layer of mud or water formed on the lower hard surface 200G1, and the top surface of the layer of mud or water is made of farmland 200G2, and the front wheels 2001 on the right and left sides, the right and left sides The rear wheel 2002 is grounded to the turntable 200G1 to travel.

As shown in FIG. 20, the parent implant device 2005 includes three implanted transmission cases 2006, a rotation case 2007 supported on a left and right side of the rear portion of the implanted transmission case 2006, and a rotation case ( A pair of implanted arms 2008, a plurality of floats 2009, a mother loading stand 20010, and the like, which are provided at both ends of 2007), are configured in a six tank type. The rear side of the driver's seat 20013 is provided with a hopper 20014 for storing powdered fertilizer and three feeding units 20015 (corresponding to a work device) in units of two, and has a blower under the driver's seat 20013. 20016 is provided. The float 2009 is provided with a furrower 20017, and the hose 20018 is connected over the feeding part 20015 and the topboard 20017. As shown in FIG.

As shown in Figs. 20 and 22, the right and left markers 20019 are provided on the right and left sides of the parent implantation device 2005, and the working posture of grounding on the farmland 200G2 to form an indicator ( 20) and a storage posture (see FIG. 22) spaced upward from the farmland 200G2. The markers 20019 on the right and left sides support an arm portion 20019a supported by the parent implant device 2005 so as to swing up and down, and a rotatable body 20019b freely rotatably supported on the tip of the arm portion 20019a. It is comprised, and the electric motor 20021 which operates the marker 20019 of the right and left in an operating posture and a storage posture is provided, and the electric motor 20021 is operated by the control apparatus 20023.

[27]

Next, the electric system to the front wheels 2001 on the right and left sides will be described.

As shown in FIG. 21, the power of the engine 20031 is transmitted to the hydrostatic stepless speed change apparatus 20033 and the mission case 20034 through the transmission belt 20032, and the sub transmission device of the mission case 20034 ( From the front wheel differential gear mechanism (not shown) and the transmission shaft (not shown) of the front axle case 20035 to the right and left front wheels 2001. The hydrostatic stepless speed change apparatus 20033 is configured to be steplessly shifted from the neutral position to the forward side and the reverse side, and as shown in FIG. 20, the shift lever 20045 provided on the left side of the steering wheel 20020. The hydrostatic stepless speed change apparatus 20033 is operated.

As shown in FIG. 21, a trapezoidal steering member 20041 in a planar view is swingably supported around the longitudinal axis 200P2 of the lower portion of the mission case 20034, and is operated by the steering wheel 20020. The steering member 20041 is configured to rock, and the tie rod 20042 is connected to the steering member 20041 and the front wheels 2001 on the right and left sides. Thereby, the steering wheel 20020 can be operated to steer the right and left front wheels 2001 (steering member 20041) from the straight position 200A1 over the right and left steering limits 200A3. have.

As shown in FIG.20 and FIG.21, the right side and left side frame 20049 for reinforcement is connected over the rear part of the mission case 20034, and the base frame 20066. As shown in FIG. The potentiometer 20047 (corresponding to the steering angle detection means) is fixed to the inside of the body of the frame 20049 on the left side, and the linkage rod over the detection arm 20047a of the steering member 20041 and the potentiometer 20047. 20048 is connected.

As shown in FIG. 21 and FIG. 22, the position of the steering member 20041 is detected by the potentiometer 20047, the detection value of the potentiometer 20047 is input into the control apparatus 20023, and The steering angle 200A from the straight position 200A1 of the front wheel 2001 (steering member 20041) of the right and left sides is detected by the detection value of the shimometer 20047.

[28]

Next, the electric system to the right and left rear wheels 2002 will be described.

As shown in FIG. 21, power of a sub transmission device (not shown) of the mission case 20034 is fixed to the input shaft 20038 and the input shaft 20038 of the transmission shaft 20036, the rear axle case 20037. Bevel gear 20038a, bevel gear 20039a meshing with bevel gear 20038a, transmission shaft 20039 to which bevel gear 20039a is fixed, right and left side clutches 20040, right and left axles ( 20065) to the right and left rear wheels 2002.

As shown in FIG. 21, the right side and left side clutch 20040 is comprised by the friction multi-plate type, and is pressed in the electric state. The right and left operating shafts 20043 for operating the right and left side clutches 20040 in the blocked state are supported downward by the rear axle case 20037, and the steering member 20041 and the right and left operating shafts are supported. The operating rods 20044 on the right and left sides are connected through the 20043. In the right and left operating rods 20044, long holes 20044a serving as pliers are provided in connection portions with the right and left operating shafts 20043.

As shown in Fig. 21, if the front wheels 2001 (steering member 20041) on the right and left sides are steered in the range of the straight position 200A1 and the set angles 200A2 on the right and left sides, the right and left sides are steered. By the flexibility of the long hole 20044a of the operation rod 20044, the side clutch 20040 of the right side and the left side is operated in the electric state. Thereby, while power is transmitted to the right and left front wheels 2001 and the right and left rear wheels 2002 (electrical state of the right and left side clutches 20040), the body moves straight (forward or backward). do.

As shown in Fig. 21, when the front wheels 2001 (steering member 20041) on the right and left sides are steered beyond the set angle 200A2 on the right side to the right steering limit 200A3 side, the right operating rod ( The operating rod 20044 on the right side is pulled out over the range of the long hole 20044a of 20044, and the right side clutch 20040 is operated in the interrupted state by the operating shaft 20043 on the right side. Thereby, power is transmitted to the front wheel 2001 on the right side and the left side, and the rear wheel 2002 on the left side (swing outside) (the transmission state of the left side clutch 20040), and the right rear wheel 2002 (the turning center side) ), The body is turned to the right in a state in which (the blocked state of the right side clutch 20040) is free to rotate.

As shown in Fig. 21, when the front wheels 2001 (steering member 20041) on the right and left sides are steered beyond the set angle 200A2 on the left side to the left side of the steering limit 200A3, the operation rod on the left side ( The operation rod 20044 on the left side is pulled out beyond the range of the long hole 20044a of 20044, and the left side clutch 20040 is operated in the blocking state by the operation axis 20043 on the left side. Thereby, power is transmitted to the front wheel 2001 on the right side and the left side, and the rear wheel 2002 on the right side (the turning side outside) (electrical state of the side clutch 20040 on the right side), and the rear wheel 2002 on the left side (the turning center side) ), The body is turned to the left in the state in which (the blocked state of the left side clutch 20040) is free to rotate.

As shown in Figs. 21 and 22, the right and left rotation speed sensors 20050 (corresponding to 200 traveling distance detecting means) are provided in the rear axle case 20037, and the right and left rotation speed sensors 20050. Is detected so as to detect the rotational speed of the lower side of the right and left side clutch 20040, and the detection values of the right and left rotation speed sensors 20050 are input to the control device 20023. Thereby, the rotation speed of the right and left rear wheels 2002 is detected by the right and left rotation speed sensors 20050 irrespective of the transmission state and the interruption state of the right and left side clutches 20040.

[29]

Next, the electric system to the mother implantation apparatus 2005 and the feeding part 20015 is demonstrated.

As shown in FIGS. 20 and 22, the power of the sub transmission device (not shown) of the mission case 20034 is transmitted to the mother implant device 2005 through the implant clutch 20026 and the PTO shaft 20025. . The power of the sub transmission device (not shown) of the mission case 20034 is transmitted to the feeding unit 20015 through the fertilizing clutch 20027 and the driving rod 20030, and implants and fertilizing clutches 20026 and 20027. There is provided an electric motor (20028) for operating in a state of electric and shut off.

As shown in Figs. 20 and 22, when the implantation clutch 20026 is operated in the electric state, the rotating case 2007 is driven by the parent loading table 20010 being reciprocated horizontally. It is driven to rotate in the counterclockwise direction of the paper surface, and the transplantation arm 2008 alternately extracts the hair from the lower portion of the mother loading table 20010 and is transplanted to the farmland 200G2. When the implant clutch 20026 is operated in the blocked state, the reciprocating transverse drive of the mother loading table 20010 and the rotation drive of the rotary case 2007 are stopped.

As shown in FIG. 20 and FIG. 22, when the fertilizing clutch 20027 is operated in an electric state, fertilizer is dispensed by the feeding unit 20015 by a predetermined amount from the hopper 20014, and the blower 20016 blows on the blower 20016. The fertilizer is supplied to the top plate 20017 through the hose 20018, and the fertilizer is supplied to the farmland 200G2 through the top plate 20017. When the fertilizing clutch 20027 is operated in the blocked state, the feeding unit 20015 stops, and the supply of fertilizer to the farm land 200G2 is stopped.

[30]

Next, the automatic lift control means 20061 of the mother implantation apparatus 2005 will be described.

As shown in FIG. 22, the automatic lifting control means 20061 is provided in the control apparatus 20023. As shown in FIG. The rear portion of the center float 2009 is pivotably supported up and down around the horizontal axis 200P1 of the parent implant device 2005, and detects the height of the center float 2009 with respect to the parent implant device 2005. A potentiometer 20022 is provided, and the detection value of the potentiometer 20022 is input to the control apparatus 20023. The height of the center float 2009 with respect to the parent implant device 2005 is determined by the detection value of the potentiometer 20022 by the center float 2009 being grounded to the farmland 200G2 with the progress of the gas. By detecting, the height from the farmland 200G2 (center float 2009) to the mother transplant apparatus 2005 can be detected.

As shown in FIG. 22, the hydraulic cylinder 2004 is provided with a control valve 20024 for rapidly supplying and operating hydraulic oil, and the control valve 20024 is operated by the control device 20023. When hydraulic oil is supplied to the hydraulic cylinder 2004 by the control valve 20024, the hydraulic cylinder 2004 contracts and the mother implant apparatus 2005 is raised, and the hydraulic valve 2004 is lifted from the hydraulic cylinder 2004 by the control valve 20024. When the hydraulic oil is discharged, the hydraulic cylinder 2004 is extended and the mother implant device 2005 is lowered.

As shown in FIG. 22, the height of the center float 2009 with respect to the mother transplant apparatus 2005 (the height from the farmland 200G2 (the center float 2009) to the mother implant apparatus 2005)}. On the basis of this, the detection value of the potentiometer 20022 (the upper and lower intervals of the potentiometer 20022 and the center float 2009) is maintained so that the mother transplant apparatus 2005 is maintained at the set height from the farmland 200G2. The control valve 20024 is operated so that the hydraulic cylinder 2004 is stretched and operated, and the parent implant device 2005 is automatically lifted (above, the operating state of the automatic lift control means 20061) so as to be maintained at the set value.

[31]

Next, the lifting lever 20011 will be described.

As shown in Fig. 20 and Fig. 22, the lifting lever 20011 is provided on the right side of the driver's seat 20013, and the lifting lever 20011 is moved to the automatic position, the rising position, the neutral position, the lowering position, and the implantation position. It is comprised so that operation and holding is possible, and the operation position of the lifting lever 20011 is input into the control apparatus 20023. The potentiometer 20029 which detects the up-and-down angle of the link mechanism 2003 with respect to a base | substrate is provided, The detection value of the potentiometer 20029 is input into the control apparatus 20023, The link mechanism 2003 with respect to a base | substrate The height of the parent implantation device 2005 with respect to a body can be detected by detecting the up-and-down angle of ().

As shown in FIG. 22, in the state which operated the lifting lever 20011 to the rising position, the neutral position, the falling position, and the implantation position (state which does not operate the lifting lever 20011 to an automatic position), As described, the control valve 20024 and the electric motors 20021 and 20028 are operated by the control device 20023 to operate the hydraulic cylinder 2004, the implant and fertilization clutches 20026 and 20027, and the markers on the right and left sides ( 20019). In this case, the functions of the raised position 200U and the lowered position 200D of the operation lever 20012 described in [32] described later do not operate, and the right and left marker positions 200R and 200L of the operation lever 20012 are operated. Only the function of works.

As shown in Fig. 22, when the elevating lever 20011 is operated in the ascending position, the automatic elevating control means 20061 stops, and the implantation and fertilizing clutches 20026 and 20027 are operated in the blocked state, and the right and left sides are operated. The marker 20019 is operated in the storage position, and the hydraulic cylinder 2004 is contracted and the mother transplant apparatus 2005 is raised. If the potentiometer 20029 detects that the parent implant device 2005 has reached the upper limit position while operating the lifting lever 20011 in the raised position, the hydraulic cylinder 2004 automatically stops.

As shown in Fig. 22, when the elevating lever 20011 is operated to the lowered position, the automatic elevating control means 20061 is stopped, and the implantation and fertilizing clutches 20026 and 20027 are operated in the blocked state, and the right and left sides are operated. In the state in which the marker 20019 of the was operated in the storage position, the hydraulic cylinder 2004 is extended and the mother transplant apparatus 2005 is lowered. When the center float 2009 is grounded to the farmland 200G2, the automatic lift control means 20061 is operated, and the mother transplant apparatus 2005 is grounded to the farmland 200G2 and stopped. So that (2005) is maintained at the set height from the farmland 200G2 (so that the detected value of the potentiometer 20022 (up and down distance between the potentiometer 20022 and the center float 2009) is kept at the set value), Parent implant device 2005 automatically lifts and lowers>.

As shown in Fig. 22, when the elevating lever 20011 is operated to the neutral position, the automatic elevating control means 20061 is stopped, and the implantation and fertilizing clutches 20026 and 20027 are operated in a blocked state, so that the right and left sides are operated. The hydraulic cylinder 2004 stops in the state in which the marker 20019 of the was operated in the storage position.

In this way, by operating the elevating lever 20011 to the raised position, the neutral position, and the lowered position, the mother implanting device 2005 can be raised and lowered to an arbitrary height and stopped.

As shown in Fig. 22, when the lifting lever 20011 is operated to the implantation position, the automatic lifting control means 20061 operates to implant and fertilize while the markers 20019 on the right and left sides are operated in the storage position. The clutches 20026 and 20027 are operated in the electric state. As a result, as the mother loading table 20010 is reciprocated in the lateral direction, the rotary case 2007 is driven to rotate, and the implanted arm 2008 is alternately taken out from the lower portion of the mother loading table 20010. The fertilizer is implanted into the farmland 200G2, and the fertilizer is dispensed by the feeding unit 20015 by a predetermined amount from the hopper 20014, and the fertilizer is blown through the hose 20018 by blowing the blower 20016. Is supplied to the farmland 200G2 through the top plate 20017.

[32]

Next, the operation lever 20012 (equivalent to an artificial manipulation tool) will be described.

As shown to FIG. 20 and FIG. 22, the operation lever 20012 is provided in the right side horizontal side below the steering wheel 20020, and the operation lever 20012 extends to the horizontal side outer side of the right side. The operation lever 20012 operates from the neutral position 200N in the cross direction of the upwardly rising position 200U, the downwardly falling position 200D, the rear right marker position 200R, and the front left marker position 200L. It is comprised so that it is pressed in the neutral position 200N, and the operation position of the operation lever 20012 is input into the control apparatus 20023.

In the state where the lifting lever 20011 is operated in the automatic position, the control valve 20024 and the electric motors 20021 and 20028 are controlled by the control device 20023 based on the operation of the operation lever 20012 as described below. ), The hydraulic cylinder 2004, the implant and fertilization clutches 20026, 20027, and the markers 20019 on the right and left sides are operated.

As shown in FIG. 22, when the operation lever 20012 is operated to the raised position 200U (if operated to the elevated position 200U and operated to the neutral position 200N), the implantation and fertilizing clutches 20026 and 20027 ) Is operated in a blocked state so that the automatic lift control means 20061 stops, the hydraulic cylinder 2004 contracts and the mother implant device 2005 is raised, and the markers 20019 on the right and left sides are The posture is operated. When the potentiometer 20029 detects that the mother implantation device 2005 has reached the upper limit position, the hydraulic cylinder 2004 automatically stops.

As shown in Fig. 22, when the operation lever 20012 is operated to the lowered position 200D (when operated to the lowered position 200D and operated to the neutral position 200N), the automatic lift control means 20061 is stopped. In addition, the implant and fertilization clutches 20026 and 20027 are operated in the blocked state, and the hydraulic cylinder 2004 is extended in the state in which the markers 20019 on the right and left sides are operated in the storage posture, so that the parent implant device 2005 is operated. Descend. When the center float 2009 is grounded on the farmland 200G2, the automatic lift control means 20061 is activated, and the mother transplant apparatus 2005 is grounded on the farmland 200G2 and stopped. The apparatus 2005 is maintained at the set height from the farmland 200G2 (to detect the potentiometer 20022 (up and down distance between the potentiometer 20022 and the center float 2009) at the set value). , State that the parent implant device 2005 is automatically elevated.

As described above, after operating the operation lever 20012 to the lowered position 200D (after operating to the lowered position 200D to the neutral position 200N), the operation lever 20012 is lowered again to the lowered position ( 200D) (operating back to the lowered position 200D and operating to the neutral position 200N), the transplanting and fertilizing clutches 20026 and 20027 are in the electric state while the automatic lift control means 20061 is operated. Manipulated.

As shown in FIG. 22, the following operation is performed in the state in which the height of the mother implantation apparatus 2005 detected by the potentiometer 20029 is lower than predetermined height set previously.

In the state where the marker 20019 on the right side (left side) has been operated in the storage position, the operation lever 20012 is set to the right marker position 200R (left marker position 200L) or more for a first set time (comparative short time). By operating over, the marker 20019 on the right side (left side) is operated in the action posture.

In the state in which the marker 20019 on the right side (left side) was operated in the working posture, the operation lever 20012 was moved to the right marker position 200R (left marker position 200L) than the second set time (first set time). When the operation is performed over a long time), the marker 20019 on the right side (left side) is operated in the storage position.

As shown in FIG. 22, when the parent implantation apparatus 2005 raises and the height of the mother implantation apparatus 2005 detected by the potentiometer 20029 becomes higher than predetermined height, the right side of an operation posture. And the marker 20019 on the left side are operated in the storage position. In a state where the height of the parent implantation device 2005 detected by the potentiometer 20029 is higher than a predetermined height set in advance, the operation lever 20012 is moved to the right and left marker positions 200R and 200L as described above. Regardless of this, the markers 20019 on the right and left sides are held in the storage position irrespective of this.

[33]

Next, the structure regarding control at the time of turning near a rice field is demonstrated.

As shown in FIG. 22, the control apparatus 20023 corresponds to the gas position detecting means 20051, the turning start position detecting means 20052 (corresponding to the setting means), and the turning end position detecting means 20053 (corresponding to the setting means). ), First operating means 20054, second operating means 20055, correction means 20056, and automatic raising means 20057.

In the state where the lifting lever 20011 is operated to the automatic position, the gas position detecting means 20051, the turning start position detecting means 20052, the turning end position detecting means 20053, and the first and second operating means 20054. , 20055), the correction means 20056 and the automatic raising means 20057 operate as described in the following [34] to [38]. An artificially operable setting switch 20046 is provided so that the automatic raising means 20057 can be set to the activated and stopped state in the state where the lifting lever 20011 is operated to the automatic position.

As shown in FIG. 25, the gas position detection means 20051 corresponds to the position of the gas 200Y1 (the position of the turning stroke of the gas in the travel direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02. ) (In other words, to detect the coordinates of the gas in the advancing direction of the gas before turning start). As described in the following [34] to [38], by the gas position detecting means 20051, the position of the gas 200Y1 in the traveling direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02. Is detected.

In the passenger type rice transplanter equipped with the 6-row type | mold transplantation apparatus 2005, as shown in FIG. 25, the turning stroke 200L1 of the first half and the 200L2 turning stroke of the latter half are performed in the vicinity of the rice paddy (the rice paddle 200B). , Work stroke 200L01 may enter next work stroke 200L02. The turning stroke 200L1 of the first half and the turning stroke 200L2 of the latter half are demonstrated in the following [34]-[38].

The state which enters the turning stroke 200L1 of the first half, and the turning stroke 200L2 of the latter half based on the operation lever 20012 being operated to the upward position 200U (operated to the upward position 200U and operated to the neutral position 200N), and The turning stroke of the first half on the basis of steering of the right and left front wheels 2001 (steering member 20041) to the steering limit 200A3 side of the right side (left side) beyond the set angle 200A2 of the right side (left side). There are two states of the state entering 200L1 and the later turning process 200L2, and these two states will be described in the following [34] to [38].

[34]

Next, on the basis of the operation lever 20012 being operated to the raised position 200U (operated to the raised position 200U and operated to the neutral position 200N), the turning stroke 200L1 of the first half and the turning stroke 200L2 of the second half are performed. In the entered state, the turning stroke 200L1 of the first half will be described based on FIGS. 23 and 25.

In the work stroke 200L01, the mother transplant apparatus 2005 is grounded to the farmland 200G2, and the operating state of the automatic lift control means 20061, and the electric state of the transplant and fertilization clutches 20026 and 20027 (work apparatus 2005). , Equivalent to the operating state of the 20015], the electric state of the side clutch 20040 on the right and the left side, the state in which the marker 20019 on the right side is operated in an acting posture, and the state in which the marker 20019 on the left side is operated in a storage posture. It shall be made.

In this state, when the body reaches near the rice paddy field, the front-back direction of the body is orthogonal to the rice paddle 200B, and the driver first operates the operation lever 20012 to the raised position 200U (raised position). To 200N to operate in the neutral position 200N] (step S1).

In this way, the implantation and fertilization clutches 20026 and 20027 are operated in the blocked state (step S2) (corresponding to the state in which the work devices 2005 and 20015 are operated in the non-working state by the artificial operating tool 20012), The mother transplant apparatus 2005 and the feeding unit 20015 stop, and the automatic lift control means 20061 stops (step S3). The hydraulic cylinder 2004 is contracted and the mother transplant apparatus 2005 is raised (step S4), and the marker 20019 on the right side is operated in a storage position (step S5). When the potentiometer 20029 detects that the mother implantation device 2005 has reached the upper limit position, the hydraulic cylinder 2004 automatically stops.

When the operation signal by operating the operation lever 20012 to the raised position 200U is input to the control apparatus 20023, at this point of time, the swing start position detecting means 20052 is used to determine the operation strokes 200L01 and 200L02. The position 200Y1 of the gas in the traveling direction (+ Y) (-Y) of the gas is detected (set) as "0 (origin)", and "0 (origin)" is detected as the turning start position 200E11 ( Setting) (step S101).

At the same time, "0 (origin)" is set as the turning end position 200E31 by the turning end position detecting means 20053 (step S102) (the turning of the predetermined gas from the turning starting position 200E11 of the gas). It corresponds to the state which sets the position where stroke 200L1, 200L2 was performed as turning end position 200E31 of a base body. In this case, since the turning start position 200E11 is detected (set) in the state where the front-back direction of the body is orthogonal to the rice pad 200B, when "0 (origin point)" is set as the turning end position 200E31, The turning start position 200E11 and the turning end position 200E31 become almost the same positions from the rice paddle 200B, and the traveling direction (+ Y) (-Y) of the gas of the work strokes 200L01 and 200L02 (the traveling direction of the gas before the starting of the turning) Equivalent to) becomes orthogonal to the rice field 200B.

The driver operates the steering wheel 20020 immediately after operating the operation lever 20012 to the raised position 200U to steer the right and left front wheels 2001 (steering member 20041) in the turning direction. Enters the first half turn 200L1. If the front wheels 2001 (steering member 20041) on the right and left sides are steered beyond the set angle 200A2 on the right side (left side) to the steering limit 200A3 side on the right side (left side) (step S6), the preceding term [27] ], The side clutch 20040 of the turning center side is operated to the interruption | blocking state in the state which the side clutch 20040 of the turning outer side was operated to the electric state (step S7).

When detection (setting) of the turning start position 200E11 is performed in step S101, the gas position detecting means 2005 1 determines the traveling direction (+ Y) of the gas in the work strokes 200L01 and 200L02 based on the following expression (3): Detection of the gas position 200Y1 (corresponding to the position of the gas in the advancing direction of the gas before turning start) at -Y is started (step S103).

Equation 3: 200Y1 = 200R * SIN (θ)

200R: turning radius of the aircraft

θ: moving angle of gas from turning start position 200E11

As shown in Fig. 27A, when the steering angle 200A from the straight position 200A1 of the front wheels 2001 (steering member 20041) on the right and left sides is determined, the center of rotation of the body 200C. ) Is judged to be located on the extension line of the axle 20065 (see FIG. 21) of the rear wheels 2002 on the right and left sides, and the wheel bases 200W (right and left front wheels) of the front wheel 2001 and the rear wheel 2002. The distance between the axle of 2001 and the axle 20065 (see FIG. 21) of the right and left rear wheels 2002 and the straight position 200A1 of the right and left front wheels 2001 (steering member 20041). Based on the steering angle 200A of, the pivot center 200C of the gas is detected. When 200 C of pivot centers of a gas are detected, the distance of the left and right center of a gas, and 200 C of pivot centers of a gas is detected as 200 R of radiuss of a body.

As shown in Figs. 27A and 27B, the pulse of the rotational speed sensor 20050 on the turning center side in the state where the turning center 200C and the turning radius 200R of the gas are detected. Number of revolutions of the rear wheel 2002 on the center side], the traveling distance 200G of the body is detected (corresponding to an arc portion with respect to the turning radius 200R of the gas), and the turning center 200C of the body and the turning radius The movement angle θ of the body is detected based on 200R and the traveling distance 200G of the body. As described above, the gas position 200Y1 in the traveling direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02 based on the equation 3 by the turning radius 200R and the moving angle θ of the gas. Is detected (step S103).

Thereby, in the range of the movement angle (theta) of a gas from 0 degree | time (turning start position 200E11) to 90 degree | times (boundary position 200E2), the advancing direction (+ Y) of the gas of work stroke 200L01, 200L02 (- The position 200Y1 of the gas in Y) is in a state of being spaced apart from the turning start position 200E11 by (+ Y).

[35]

Next, on the basis of the operation lever 20012 being operated to the raised position 200U (operated to the raised position 200U and operated to the neutral position 200N), the turning stroke 200L1 of the first half and the turning stroke 200L2 of the second half are performed. In the entering state, the later turning process 200L2 will be described based on FIGS. 23 and 26.

When the moving angle θ of the body exceeds 90 degrees (boundary position 200E2), it is determined that the body has entered the second turning stroke 200L2. Since the direction of the latter turning stroke 200L2 becomes the reverse direction with respect to the direction of the gas in the turning stroke 200L1 of the first half, the position (200Y1) of the body in the traveling direction (+ Y) (-Y) of the bodies of the working strokes 200L01 and 200L02. ) Approaches a turning start position 200E11 (turning end position 200E31).

When the driver enters the second half of the second turning stroke 200L2, the driver operates the steering wheel 20020 to operate the right and left front wheels 2001 (steering member 20041) to the straight position 200A1 (step S8). Thereby, the side clutch 20040 of the turning center side is operated by the electric state (step S9), and a base enters a straight state. When the gas enters the straight state, the calculation by Equation 3 is not performed, and the average value (the negative value) of the pulses of the right and left rotation speed sensors 20050 (the rotation speed of the right and left rear wheels 2002) is It is detected as the position 200Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02.

The right and left front wheels 2001 (steering member 20041) are operated to the straight position 200A1 side beyond the set angle 200A2 on the right side (left side) (step S8), and the side clutch 20040 on the pivot center side Is operated in the electric state (step S9), at the same time, the mother implantation device 2005 automatically descends in a state where the implantation and fertilization clutches 20026, 20027 are operated in a blocked state (step S10).

When the center float 2009 is grounded to the farmland 200G2, the automatic lift control means 20061 is activated, and the mother transplant apparatus 2005 is grounded to the farmland 200G2 and stopped. The apparatus 2005 is maintained at the set height from the farmland 200G2 (to detect the potentiometer 20022 (up and down distance between the potentiometer 20022 and the center float 2009) at the set value). , The state in which the mother transplant apparatus 2005 automatically moves up and down> (step S11).

When the turning end position detecting means 20053 detects that the position 200Y1 of the gas in the traveling direction (+ Y) (-Y) of the working strokes 200L01 and 200L02 has reached the turning end position 200E31 ( The implantation and fertilization clutches 20026 and 20027 are operated in the electric state by step S12 and the 2nd operation means 20055 (step S13) (2nd operation based on detection of the turning end position detection means 20053). Corresponds to a state in which the working apparatuses 2005 and 20015 are operated in the operating state by the means 20055].

Thereby, supply of the fertilizer to the farm land 200G2 by the mock transplantation apparatus 2005 and the feeding part 20015 by the hair transplant apparatus 2005 is started, and it enters into the following work stroke 200L02.

[36]

Next, the front panel 2001 (steering member 20041) on the right and left sides is steered over the set angle 200A2 on the right side (left side) to the steering limit 200A3 side on the right side (left side). The turning stroke 200L1 of the first half in the state which enters into the turning stroke 200L1 and the latter turning stroke 200L2 is demonstrated based on FIG. 23, FIG. 24, and FIG.

In the work stroke 200L01, the mother transplant apparatus 2005 is grounded to the farmland 200G2, and the operating state of the automatic lift control means 20061, and the electric state of the transplant and fertilization clutches 20026 and 20027 (work apparatus 2005). , Equivalent to the operating state of the 20015], the electric state of the side clutch 20040 on the right and the left side, the state in which the marker 20019 on the right side is operated in an acting posture, and the state in which the marker 20019 on the left side is operated in a storage posture. It shall be made.

When the gas reaches near the ricefield in this state, the front-back direction of the gas is perpendicular to the ricefield 200B. In the state where the setting switch 20046 was operated to the operating position (step S21), the driver operated the steering wheel 20020 without operating the operation lever 20012 to the raised position 200U, so that the right and left front wheels ( 2001) (steering member 20041) is steered in the turning direction to enter the turning stroke 200L1 of the first half.

Thus, when the front wheels 2001 (steering member 20041) on the right and left sides are steered beyond the set angle 200A2 on the right side (left side) to the steering limit 200A3 side on the right side (left side) (step S22), As described in the foregoing paragraph [27], the side clutch 20040 on the pivot center side is operated in a blocked state while the side clutch 20040 on the outside of the swing is operated in an electric state (step S23).

When the potentiometer 20047 detects that the front wheels 2001 (steering member 20041) on the right and left sides have reached the set angle 200A2 on the right side (left side) (detection of the potentiometer 20047) Value is input to the control device 20023], the transplanting and fertilizing clutches 20026, 20027 are operated in the blocked state (step S24) (by the first operating means 20054, based on the steering operation of the front wheel 2001). Corresponds to a state in which the working apparatuses 2005 and 20015 are operated in a non-working state.], The mother implanting apparatus 2005 and the feeding unit 20015 stop, and the automatic lift control means 20061 stops (step S25). . By the automatic raising means 20057, the hydraulic cylinder 2004 contracts and the mother transplant apparatus 2005 is raised (step S26), and the marker 20019 on the right side is operated in a storage position (step S27). When the potentiometer 20029 detects that the mother implantation device 2005 has reached the upper limit position, the hydraulic cylinder 2004 automatically stops.

In this case, if the setting switch 20046 is operated to the stop position (step S21) (stopped state of the automatic lift means 20057), the front wheels 2001 (steering member 20041) on the right and left sides are on the right side (left side). Even when the steering operation is performed to the steering limit 200A3 side on the right side (left side) beyond the set angle 200A2 of Fig. 2), the side clutch 20040 on the turning center side is operated only in the cutoff state, and the process does not proceed to step S24. Therefore, in the state in which the setting switch 20046 is operated to the stop position, as described in the foregoing paragraphs [34] and [35], the driver operates the operation lever 20012 to the raised position 200U (raised position). (200U) to the neutral position (200N)].

[37]

Next, the front panel 2001 (steering member 20041) on the right and left sides is steered over the set angle 200A2 on the right side (left side) to the steering limit 200A3 side on the right side (left side). The detection (setting) of the turning start position 200E12 and the turning end position 20031 in the state which enters into the turning stroke 200L1 and the latter turning stroke 200L2 is demonstrated based on FIG. 24 and FIG.

As described in the foregoing paragraph [36], when the front wheel 2001 (steering member 20041) of the right and left reaches the set angle 200A2 of the right side (left side), it is detected by the potentiometer 20047. [When the detection value of the potentiometer 20047 is input to the control apparatus 20023], at this time, the turning start position detecting means 2005 2 determines the traveling direction (+ Y) of the gas of the work strokes 200L01 and 200L02 ( The position 200Y1 of the gas at -Y is detected (set) as "0 (origin)", and "0 (origin)" is detected (set) as the turning start position 200E12 (step S201).

In this case, when the front wheels 2001 (steering member 20041) on the right and left sides reach the set angle 200A2 on the right side (left side), the front-rear direction of the body with respect to the paddy field 200B is turned in the turning direction. Since the turning start position 200E12 is set at this time, the turning start position 200E12 is inclined with respect to the rice field 200B.

Therefore, as described in the foregoing paragraph [34], when "0 (the origin)" (the turning start position 200E12) is set as the turning end position 200E32 as it is, the turning end position 200E32 also becomes the rice padding 200B. (The turning start position 200E12 and the turning end position 200E32 become different positions from the paddy field 200B) with respect to the turning start position 200E12 with respect to the turning start position 200E12. Spaced from (200B)]. Similarly, when the front wheels 2001 (steering member 20041) on the right and left sides reach the set angle 200A2 on the right side (left side), the travel direction (+ Y) of the body of the work strokes 200L01 and 200L02 (-Y). Is set, the traveling direction (+ Y) (-Y) of the bases of the work strokes 200L01 and 200L02 is inclined at an angle with respect to the paddy field 200B.

In this case, while the right and left front wheels 2001 (steering member 20041) are steered from the straight position 200A1 to the set angle 200A2 of the right side (left side), the aircraft is moved to some extent in the turning direction. Inclination angle (theta) 1 whether it inclines only by the angle is calculated | required previously corresponding to the traveling speed of a body, the operation speed of the steering wheel 20020 by a driver, etc., and is memorize | stored in the control apparatus 20023. As a result, when the turning start position 200E12 is detected (set), the right and left front wheels 2001 (steering member 20041) are steered from the straight position 200A1 to the set angle 200A2 at the right side (left). Inclination angle (theta) 1 is calculated | required based on the traveling speed of the body, the operation speed of the steering wheel 20020 by a driver, etc. until it is operated.

"0 (Origin)" (turning start position 200E12) is temporarily set as the turning end position 200E32 by the turning end position detecting means 20053, and the turning end position 200E32 by the correction means 20056. ) Is set as the turning end position 200E31 by the inclination angle θ1 according to the turning G side (the turning start position 200E12 side according to the turning strokes 200L1 and 200L2 of the gas) (step S202) (man-made operation). The turning end position 200E31 of the gas based on the operation of the work apparatus 2005, 20015 by the sphere 20012 in the non-working state, and the work apparatus 2005, 20015 by the first operating means 20054. Of the base based on the operation by the first operating means 20054 in the non-working state by the first operating means 20054 so that the difference between the turning end positions 200E32 of the base based on the operation in the non-working state becomes small. The turning end position 200E32 is set to the turning start position 200E12 side in the turning strokes 200L1 and 200L2 of the body. Equivalent to the state to move to.

The intersection point 200P3 of the turning stage 200L2 (the trajectory in which the left and right centers of the gas are going to pass) and the turning end position 200E31 in the latter half of the stroke is in the traveling direction (+ Y) (-Y) of the working strokes 200L01 and 200L02. It is set as the position 200Y2 corresponding to the turning end position 200E31 (step S202). As a result, the turning end positions 200E31 and 200Y2 are closer to the rice paddle 200B than the turning end position 200E32 in the direction orthogonal to the rice paddle 200B, and the turning end position 200E12 is turned to the turning end position 200E12. The end positions 200E31 and 200Y2 are in close proximity to each other (almost the same positions).

[38]

Next, the front panel 2001 (steering member 20041) on the right and left sides is steered over the set angle 200A2 on the right side (left side) to the steering limit 200A3 side on the right side (left side). In the state which enters into the turning stroke 200L1 of the second half and the turning stroke 200L2 of the latter half, the turning stroke 200L1 of the first half and the turning stroke 200L2 of the latter half are demonstrated based on FIG. 23, FIG. 24, and FIG.

As described in the foregoing paragraph [37], in the state where the turning start position 200E12 and the turning end position 200E31 (200Y2) are detected (set), the gas position detecting means ( 20051), the detection of the position 200Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the work strokes 200L01 and 200L02 is started based on the following equation (3) (step S203).

Equation 3: 200Y1 = 200R * SIN (θ)

200R: turning radius of the aircraft

θ: travel angle of gas from turning start position 200E2

Thereby, in the range of 0 degree (turning start position 200E12)-90 degree (boundary position 200E2) of gas, the advancing direction (+ Y) of the gas of work stroke 200L01, 200L02 (- The position 200Y1 of the gas at Y) is in a state of being spaced apart from the turning start position 200E12 by (+ Y).

When the moving angle θ of the body exceeds 90 degrees (boundary position 200E2), it is determined that the body has entered the second turning stroke 200L2. Since the direction of the latter turning stroke 200L2 becomes the reverse direction with respect to the direction of the gas in the turning stroke 200L1 of the first half, the position (200Y1) of the body in the traveling direction (+ Y) (-Y) of the bodies of the working strokes 200L01 and 200L02. ) Approaches a turning start position 200E12 (turning end position 200E31 (200Y2)).

When the driver enters the second half of the second turn stroke 200L2, the driver operates the steering wheel 20020 to operate the right and left front wheels 2001 (steering member 20041) to the straight position 200A1 (step S28). Thereby, the side clutch 20040 of the turning center side is operated by the electric state (step S29), and a base enters a straight state. When the gas enters the straight state, the calculation by Equation 3 is not performed, and the average value (the negative value) of the pulses of the right and left rotation speed sensors 20050 (the rotation speed of the right and left rear wheels 2002) is It is detected as the position 200Y1 of the gas in the travel direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02.

The right and left front wheels 2001 (steering member 20041) are operated to the straight position 200A1 side beyond the set angle 200A2 of the right side (left side) (step S28), and the side clutch 20040 on the turning center side Is operated in the electric state (step S29), simultaneously with this, in the state where the implantation and fertilization clutches 20026 and 20027 have been operated in the blocked state, the mother implantation device 2005 automatically descends (step S30).

When the center float 2009 is grounded on the farmland 200G2, the automatic lift control means 20061 is activated, and the mother transplant apparatus 2005 is grounded on the farmland 200G2, whereby it is determined. The apparatus 2005 is maintained at the set height from the farmland 200G2 (to detect the potentiometer 20022 (up and down distance between the potentiometer 20022 and the center float 2009) at the set value). , The mother implanting device 2005 automatically lifts and lowers> (step S31).

The turning end position detecting means 20053 indicates that the position 200Y1 of the gas in the traveling direction (+ Y) (-Y) of the working strokes 200L01 and 200L02 has reached the turning end positions 200E31 and 200Y2. When it is detected (step S32), the implantation and fertilizing clutches 20026, 20027 are operated in the electric state by the second operation means 20055 (step S33) (based on the detection of the turning end position detecting means 20053, Corresponds to the state in which the working apparatuses 2005 and 20015 are operated in the operating state by the second operating means 20055.

Thereby, supply of the fertilizer to the farm land 200G2 by the mock transplantation apparatus 2005 and the feeding part 20015 by the hair transplant apparatus 2005 is started, and it enters into the following work stroke 200L02.

[Tenth Other Aspects for Carrying Out the Invention]

In steps S103 and S203 of Figs. 23 and 24 of the above-mentioned [Mode for Carrying Out the Invention], the gas in the traveling direction (+ Y) (-Y) of the gas of the work strokes 200L01 and 200L02 is based on Equation 3. Rather than configuring the gas position detecting means 2005 1 to detect the position 200Y1, the gas position detecting means 2005 1, the turning start position detecting means 2005 2, and the turning end position detecting means 20053 are as follows. You may comprise.

When the operation signal by operating the operation lever 20012 to the raised position 200U is input to the control apparatus 20023 (step S1), the front wheels 2001 (steering member 20041) on the right and left sides are right. If the operation beyond the set angle 200A2 (left) is detected by the potentiometer 20047 (step S22), integration of the detection value of the rotation speed sensor 20050 on the turning center side starts (turning position detection). Equivalent to the means 20051].

Apart from this, the starting point (corresponding to the turning start positions 200E11 and 200E12) when the integration of the detection value of the rotational speed sensor 20050 on the turning center side is started as the origin (to the turning start position detecting means 20052). Equivalent], a first set value (equivalent to the turning end position 200E31) or a second set value (equivalent to the turning end position 200E31, 200Y2) is set for the origin.

In this case, when the origin is set by operating the operation lever 20012 to the raised position 200U, the first set value is set, and the front wheels 2001 (steering member 20041) on the right and left sides are on the right side (left side). When the origin is set by being operated over the set angle 200A2 of θ, the second set value is set. In turning near the rice fields shown in FIGS. 25 and 26, the turning radius of the body and the traveling distance of the body are recognized in advance, and the detection value of the rotation speed sensor 20050 on the turning center side indicates the position of the body. It is recognized as a value, and the above-mentioned 1st and 2nd set value are previously memorize | stored in the control apparatus 20023.

In the second half turn 200L2, before the detected value (integrated value) of the rotational speed sensor 20050 on the pivot center side reaches the above-mentioned first or second set value, the front wheels 2001 (steering member) on the right and left sides. (20041) is operated beyond the set angle 200A2 on the right side (left side) to the straight position 200A1 side, whereby the side clutch 20040 on the pivot center side is operated in an electric state, and the parent implantation device 2005 is operated. It descends automatically.

Next, when the detected value (integrated value) of the rotation speed sensor 20050 on the turning center side reaches the above-mentioned first or second set value, it is determined that the turning end positions 200E31 and 200E31 (200Y2) have been reached [ Corresponds to the turning end position detecting means 20053], and the implantation and fertilizing clutches 20026 and 20027 are operated in the electric state by the second operating means 20055.

[Eleventh Other Mode for Carrying Out the Invention]

In the above-mentioned [form for inventing], whenever the steering angle 200A from the straight position 200A1 of the front wheel 2001 (steering member 20041) of the right and left sides changes, turning of a body Center 200C and turning radius 200R, gas travel distance 200G, gas travel angle θ, detection of working strokes 200L01 and 200L02 by the equation 3 (+ Y) (-Y) Instead of detecting the position 200Y1 of the gas at, it may be configured as follows instead.

Nine regions (regions of 0 to 10 degrees) having a range of 10 degrees (corresponding to a predetermined angle range) in the turning stroke 200L1 (latter turning stroke 200L2) shown in FIGS. 25 and 26. 20 to 30 degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 degrees Divided by 90 degrees), and the turning radius 200R (the turning radius 200R corresponding to the angle of the center of the region) of one gas is set in each of the nine regions.

For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle 200A from the straight position 200A1 of the right and left front wheels 2001 (steering member 20041) is 5 degrees. Reference numeral 200R (see FIGS. 27A and 27B) is set as the turning radius 200R of one gas in the region of 0 degrees to 10 degrees.

If the steering angle 200A from the straight position 200A1 of the right and left front wheels 2001 (steering member 20041) exists in an area of 0 degrees to 10 degrees, the front wheels 2001 (steering members) on the right and left sides. (20041)], even if the steering angle 200A from the straight position 200A1 is changed, regardless of this, using the turning radius 200R of one of the gases of 0 to 10 degrees, the traveling distance ( 200G), the detection of the movement angle θ of the gas, and the position of the gas 200Y1 in the travel direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02 by Equation 3.

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. Using the turning radius 200R of one of the regions of the gas, the traveling distance of the gas 200G, the detection of the movement angle θ of the gas, the working strokes 200L01 and 200L02 by the gas travel direction (+ Y (-Y) detects the position of the gas 200Y1.

[Twelfth Other Form for Carrying Out the Invention]

Instead of the above-mentioned [eleventh other aspect for carrying out the invention], it may be configured as follows.

Nine regions (regions of 0 to 10 degrees, 10 to 20 degrees) having a range of 10 degrees (corresponding to a predetermined angle range) in the turning stroke 200L1 (the latter turning stroke 200L2) shown in FIG. 27. In degrees, 20 to 30 degrees, 30 to 40 degrees, 40 to 50 degrees, 50 to 60 degrees, 60 to 70 degrees, 70 to 80 degrees, 80 to 90 degrees Area), and the turning radius 200R (the turning radius 200R corresponding to the maximum angle of the region) of one gas is set in each of the nine regions.

For example, in the area of 0 degrees to 10 degrees, the turning radius of the body when the steering angle 200A from the straight position 200A1 of the right and left front wheels 2001 (steering member 20041) is 10 degrees. Reference numeral 200R (see FIGS. 27A and 27B) is set as the turning radius 200R of one gas in the region of 0 degrees to 10 degrees.

Even if the steering angle 200A from the straight position 200A1 of the front wheel 2001 (steering member 20041) of the right and left enters the area | region of 0 degree-10 degree from 0 degree (straight position 200A1), work The position of the gas 200Y1 in the travel direction (+ Y) (-Y) of the gas 200L01 and 200L02 is not performed. When the steering angle 200A from the straight position 200A1 of the right and left front wheels 2001 (steering member 20041) reaches 10 degrees, the turning radius of the gas in one of the regions of 0 to 10 degrees ( By 200R) and 10 degree | times, based on Formula 3, the position of the gas 200Y1 in the traveling direction (+ Y) (-Y) of the gas of work stroke 200L01, 200L02 is performed.

10 to 20 degrees... In the same manner as described above, 10 to 20 degrees. 20 degrees, 30 degrees using the turning radius 200R of the gas of the area | region of. 10 to 20 degrees. Turning radius of one gas in the region of. Thus, the position of the gas 200Y1 in the travel direction (+ Y) (-Y) of the gas in the working strokes 200L01 and 200L02 is detected based on the equation (3).

1 is an overall side view of a passenger rice transplanter;

Fig. 2 is a plan view showing a steering control system for the front wheels on the right and the left side, the front wheels on the right and left sides, and the electric system to the rear wheels on the right and left sides;

3 is a cross-sectional plan view of the vicinity of the first case portion on the left side of the rear axle case;

4 is a longitudinal side view of the vicinity of the first case portion on the left side of the rear axle case;

5 is a diagram illustrating a control system of a control device, gas position detecting means, and automatic lift control means.

Fig. 6 is a diagram showing the flow of control at the time of turning near a rice field.

Fig. 7 is a plan view showing a state of turning when near a rice field.

(A) is a top view which shows the state which detects the wheel base of a wheel, the steering angle from the straight position of a wheel, the turning center of a body, and the turning radius of a body, FIG. 8 (b) shows the turning radius of a body And a plan view showing a state of detecting Y2 by the moving angle.

9 is a cross-sectional plan view of the vicinity of a first case portion on the left side of a rear axle case in a third embodiment for carrying out the invention.

The longitudinal side view of the vicinity of the 1st case part of the left side of the rear axle case in the 3rd other form for implementing this invention.

11 is an overall side view of a passenger rice transplanter;

12 is a plan view showing a steering control system for the front wheels on the right and left sides, a front wheel on the right and left sides, and a transmission system to the rear wheels on the right and left sides;

Fig. 13 is a side view of the vicinity of a potentiometer for detecting steering angles from straight positions of front wheels (steering members) on the right and left sides.

14 is a longitudinal rear view of the vicinity of a potentiometer for detecting steering angles from straight positions of front wheels (steering members) on the right and left sides.

15 shows a gas position detecting means, a turning start position detecting means, a turning end position detecting means, a correction means, a changing means, a traveling speed detecting means, an operating means, an automatic elevating control means, a slip rate detecting means, and steering which are provided in the control apparatus. A diagram showing a control system of state detection means.

Fig. 16 is a diagram showing a flow of control at the time of turning near a rice field.

Fig. 17 is a plan view showing a state of turning when near a rice field.

(A) is a top view which shows the state which detects the wheel base of a wheel, the steering angle from the straight position of a wheel, the turning center of a body, and the turning radius of a body, FIG. 18 (b) shows the turning radius of a body And a plan view showing a state of detecting the position of the gas during the turning in the traveling direction of the gas before the starting of the turning by the moving angle.

FIG. 19 is a plan view showing a state when turning around a rice field in a third and fourth different aspects for carrying out the invention. FIG.

20 is an overall side view of a riding rice transplanter;

Fig. 21 is a plan view showing a steering control system for the front wheels on the right and left sides, the front wheels on the right and left sides, and the electric system to the rear wheels on the right and left sides;

Fig. 22 shows the control system of the gas position detecting means, the turning start position detecting means, the turning end position detecting means, the first and second operating means, the correcting means, the automatic raising means, and the automatic elevating control means provided in the control apparatus; drawing.

FIG. 23 is a diagram showing the flow of control in a state of entering the first turning stroke and the second turning stroke based on the operation lever being operated in the lifted position (operated in the lifted position and operated in the neutral position). FIG.

Fig. 24 shows the front wheel (steering member) on the right side and the left side steered over the set angle of the right side (left side) to the steering limit side of the right side (left side), in the state of entering the first turning stroke and the second turning stroke. A diagram illustrating the flow of control.

Fig. 25 is a plan view showing a state of entering the swing stroke in the first half and the swing stroke in the second half based on the operation lever being operated in the lifted position (operated in the lifted position and operated in the neutral position).

Fig. 26 shows a state of entering the first turning stroke and the second turning stroke based on the steering operation of the right and left front wheels (steering members) over the set angle of the right (left) over the steering limit side of the right (left). Top view shown.

(A) is a top view which shows the state which detects the wheel base of a wheel, the steering angle from the straight position of a wheel, the turning center of a body, and the turning radius of a body, and FIG. 27 (b) shows the turning radius of a body And a plan view showing a state of detecting the position of the gas during the turning in the traveling direction of the gas before the starting of the turning by the moving angle.

<Explanation of symbols for the main parts of the drawings>

1: wheel

2: wheel

40: side clutch

47: steering angle detection means

50: traveling distance detecting means

51: gas position detection means

A: Steering angle from the straight position of the steerable wheel

A1: straight position

A2: setting angle

C: center of revolution of the aircraft

G: Mileage of the aircraft

L01, L02: Work Stroke

R: Turn radius of the body

Y: advancing direction of gas before turning start

Y1: position of the gas in the turn in the direction of travel of the gas before the start of the turn

θ: moving angle

1001: Wheel

1002: Wheel

1005, 10015: work device

10028: Actuator

10047: steering angle detection means

10050: travel distance detection means

10051: gas position detection means

10052: Turning start position detection means

10053: turning end position detecting means

10054: correction means

10055: means of change

10056: traveling speed detection means

10057: operation means

10058: slip rate detection means

10059: steering state detection means

100A: Steering angle from the straight position of the steerable wheel

100A1: Straight position

100A2: setting angle

100C: center of rotation of the gas

100E1: Turning start position

100E3: End position of turning

100G: mileage of the aircraft

100L01, 100L02: Work Stroke

100R: turning radius of the aircraft

100V: travel speed of the aircraft

+ Y, -Y: direction of travel of the gas before the start of turning

100Y1: position of the gas in the turning in the advancing direction of the gas before starting of the turning

θ: moving angle of gas

2001: Front wheels

2005, 20015: Work device

20012: Artificial Manipulator

20047: steering angle detection means

20050: mileage detection means

20051: driving position detecting means

20052, 53: setting means

20054: first operating means

20055: second operation means

20056: Correction means

200A: Steering Angle

200A1: Straight position

200C: center of revolution of the gas

200E11, 200E12: turning start position

200E31, 200E32: End position of turning

200G: mileage of the aircraft

200L1, 200L2: Turning Stroke

200R: turning radius of the aircraft

+ Y, -Y: direction of travel of the gas before the start of turning

200Y1: position of the gas in the advancing direction of the gas before the start of turning

θ: moving angle

Claims (14)

delete delete delete delete delete Traveling distance detecting means for detecting a traveling distance of the body, steering angle detecting means for detecting a steering angle from a straight position of the wheel which can be steered, If it is determined that the gas is started from the work stroke, the gas position for detecting the position of the gas during the turning in the traveling direction of the gas before it is determined that the gas is started by the traveling distance detecting means and the steering angle detecting means. Detecting means, An actuator for operating the work device provided in the aircraft in a working state and a non-working state, traveling distance detecting means for detecting a traveling distance of the body, and steering angle detecting means for detecting a steering angle from a straight position of the wheel that can be steered. And Turning start position detecting means for detecting a turning start position of the gas when it is determined that the turning of the gas is started from the work stroke; Gas position detecting means for detecting the position of the gas during the turning in the traveling direction of the gas before starting the turning by the traveling distance detecting means and the steering angle detecting means; It is provided with the turning end position detection means which detects the turning end position of a base body, Operating means for operating said actuator to the non-working state side after detecting by said turning start position detecting means, and operating said actuator to the working state side after detecting in said turning end position detecting means, And a change means for changing an operation start time of the actuator to the work state side by the operation means. 7. A traveling speed detecting means according to claim 6, further comprising a traveling speed detecting means for detecting a traveling speed of the body, And the changing means is configured to change an operation start time of the actuator by the operating means to the working state side after detecting by the traveling speed detecting means. Traveling distance detecting means for detecting a traveling distance of the body, steering angle detecting means for detecting a steering angle from a straight position of the wheel which can be steered, If it is determined that the gas is started from the work stroke, the gas position for detecting the position of the gas during the turning in the traveling direction of the gas before it is determined that the gas is started by the traveling distance detecting means and the steering angle detecting means. Detecting means, A manipulating operation tool capable of operating the work device provided in the body in a non-working state, and first operation means for operating the work device in the non-working state when it is determined that the front wheel has been steered; The turning start position of the gas is detected by operation of the work device by the artificial operating tool or the first operating means to the non-working state, and the position where the turning stroke of the predetermined gas is performed from the turning start position of the gas is performed. Setting means for setting as the turning end position; Gas position detecting means for detecting a position of a turning stroke of the gas; And a second operating means for operating the work device in a working state after detecting the turning end position of the gas by the gas position detecting means, The difference between the turning end position of the gas by the operation to the non-working state of the work device by the artificial operating tool and the turning end position of the gas by the operation to the non-working state of the work device by the first operating means is small And a correction means for moving the turning end position of the body by the operation of the work device by the first operating means to the non-working state so as to move to the turning start position side in accordance with the turning stroke of the base. Traveling distance detecting means for detecting a traveling distance of the body, steering angle detecting means for detecting a steering angle from a straight position of the wheel which can be steered, If it is determined that the gas is started from the work stroke, the gas position for detecting the position of the gas during the turning in the traveling direction of the gas before it is determined that the gas is started by the traveling distance detecting means and the steering angle detecting means. Detecting means, A traveling distance detecting means for detecting a traveling distance of the body, a steering angle detecting means for detecting a steering angle from a straight position of the wheel that can be steered, and an implantation clutch for transmitting power to a parent implant device supported by the body; , When the implantation stroke is finished and the implantation clutch is operated in the blocked state, the direction of travel of the gas in the implantation stroke is set as the reference direction, and the gas in the reference direction when the implantation clutch is operated in the blocked state. When the position is set as the origin, the traveling distance detecting means and the steering angle detecting means make the reference direction a positive value and a direction opposite to the reference direction a negative value, and turns near the ricefield from the origin. The control device is provided with a gas position detecting means for detecting an integrated value of components in the reference direction of the traveling distance of the gas in the control apparatus, and the control device uses the integrated value detected by the gas position detecting means. A work vehicle, configured to detect a turning end position of a vehicle. The work vehicle according to claim 9, wherein the control device is configured to detect the turning end position of the gas when the integrated value detected by the gas position detecting means becomes zero. The control apparatus according to claim 10, wherein the control device is configured to detect the turning end position of the gas when the integrated value detected by the gas position detecting means becomes zero in the latter forward stroke at the time of turning near the ricefield. Working car. The work vehicle according to claim 10, wherein the transplant clutch is configured to operate in an electric state when the turning end position of the body is detected by the control device. The vehicle according to any one of claims 9 to 12, wherein the vehicle is driven by a steering angle from the straight position of the wheel detected by the steering angle detecting means and the traveling distance of the body detected by the traveling distance detecting means. The criterion of the traveling distance of the gas at the time of turning near the bank by detecting the turning radius of and the moving angle of the gas with respect to the turning center of the gas and calculating using the turning radius and the moving angle of the gas. And said gas position detecting means is configured to detect a component in a direction. The method according to claim 13, wherein a plurality of regions having a predetermined angle range is set for the steering angle from the straight position of the wheel, and a turning radius of one body is set in each of the plurality of regions, When the steering angle from the straight position of the wheel enters one of a plurality of regions, the turning distance of the gas in the region in which the steering angle from the straight position of the wheel enters is used to And the gas position detecting means is configured to detect a component in the reference direction.

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