JP2018117561A - Paddy field implement - Google Patents

Abstract

PROBLEM TO BE SOLVED: To properly level a paddy field in a paddy field working machine. SOLUTION: The ground leveling portions 9 and 71 are provided so as to be able to move up and down to a leveling position where the ground is leveled by touching the ground surface and a non-leveling position which rises upward from the field surface. A positioning unit 30 for detecting the position of the traveling machine body 50 and a working traveling line acquisition unit for acquiring a working traveling line are provided. It is provided with a discriminating unit for determining non-working travel in which the traveling machine is traveling with the work device 5 stopped, and a control unit for lowering the ground leveling units 9 and 71 to the leveling position in the non-working travel. [Selection diagram] Fig. 1

Description

  The present invention relates to a paddy field work machine such as a riding type rice transplanter or a riding type direct sowing machine that supplies seedlings, seeds, fertilizers, chemicals and other materials to the rice field.

  In a riding-type rice transplanter that is an example of a paddy field work machine, as disclosed in Patent Document 1, a seedling planting apparatus travels substantially straight from one side of the paddy field toward the other side of the paddy field. A work traveling for planting seedlings is performed (corresponding to a work device). Next, when the traveling machine body reaches the other side, the work travel is interrupted, the turn at the other side is performed, and the next work travel is started from the other side toward the one side. , Repeating the running and turning.

  In Patent Document 1, a work travel line in which a traveling machine body travels while planting seedlings with a seedling planting device is set, and a positioning unit that detects the position of the traveling machine body is provided in the traveling machine body. Based on the above, a function for automatically maneuvering the traveling machine body is provided so that the traveling machine body automatically travels along the work traveling line.

Even if the automatic steering function is not provided, a positioning unit may be provided to obtain a work travel line and display the position of the traveling machine body and the work travel line on a display device such as a display.
As a result, the driver can run the traveling machine body along the work traveling line by performing a steering operation while visually recognizing the display device and recognizing the positional relationship between the position of the traveling machine body and the working traveling line. it can.

JP 2008-92818 A

The paddy field machine as described above has a high demand for leveling of the paddy surface because the paddy field machine roughens the paddy surface by the front wheels and the rear wheels when traveling on the paddy field.
It is an object of the present invention to properly level the surface of a paddy field work machine.

The paddy field machine of the present invention is
A working device that is supported by the traveling machine body so as to be movable up and down and supplies materials to the surface;
It is equipped with a leveling position that makes contact with the surface of the field and leveling and a leveling part that can be raised and lowered to a non-leveling position that rises upward from the field,
A positioning unit that detects the position of the traveling machine body, and a work traveling line acquisition unit that acquires a work traveling line on which the traveling machine body travels,
A discriminating unit for discriminating non-working traveling in which the traveling machine body travels with the working device in a stopped state;
When the vehicle is in the non-working travel, a control unit that lowers the leveling unit to the leveling position is provided.

According to the present invention, when work travel is performed based on the positioning unit and the work travel line acquisition unit, in the non-work travel that is appropriately performed at each time point, such as before or after the start of the work travel, during the work travel. The leveling unit is automatically lowered to the leveling position, and the leveling by the leveling unit is performed.
In this way, paying attention to the non-working travel that is performed as appropriate, the leveling by the leveling unit is performed in the non-working travel, so that the leveling of the surface is appropriately performed, and the work of the work device is performed. It will be done accurately.

In the present invention,
The discrimination unit
It is preferable that the non-work travel is determined based on the position of the traveling machine body and the work travel line.

  According to the present invention, since the work travel line on which the work is performed by the work device is recognized as position data, it is possible to appropriately determine non-work travel based on the position of the traveling machine body detected by the positioning unit and the work travel line. Can do.

In the present invention,
The leveling portion is a float provided at a lower portion of the working device;
The controller is
In the non-working travel, it is preferable that the leveling unit is lowered to the leveling position by lowering the work device to the surface while the work device is stopped.

In paddy field work machines such as riding type rice transplanters and riding type direct sowing machines, a float is often provided at the lower part of the working device. In addition to the function of stabilizing the posture of the working device by touching the surface of the float, the float also has a function of leveling the surface by pressing the unevenness of the surface from above.
According to the present invention, in non-working traveling, when the working device is stopped, the working device is lowered to the surface, the float contacts the surface and the surface is leveled, and a float that may be called an existing member is used. It can be used effectively.

In the present invention,
The leveling unit is a leveling device that rotationally drives the leveling body around the horizontal axis in the left-right direction,
A leveling unit lifting device for driving the leveling unit up and down to the leveling position and the non-leveling position is provided,
The discrimination unit
Discriminating the non-working traveling and the traveling working traveling in which the traveling machine body travels along the edge with the working device in an operating state;
The controller is
It is preferable that the leveling unit is lowered to the leveling position by the leveling unit lifting device when the non-working traveling and the rotating work traveling are performed.

Paddy field work machines such as riding type rice transplanters and riding type direct seeders may include a leveling device that rotates and drives the leveling body around the horizontal axis in the left-right direction, and the leveling device has a high leveling function.
According to the present invention, in the non-working traveling, the leveling device is lowered to the leveling position, and the field is leveled by the leveling device.

In paddy field work machines such as a riding type rice transplanter and a riding type direct seeding machine, there is a case where a traveling work traveling is performed in which the traveling machine body travels along the ridge along with the ridges separately from the normal work traveling. When the work travel is repeated, the paddy surface is often rough because it often becomes a place where the traveling body turns.
According to the present invention, since the leveling device is lowered to the leveling position and the field is leveled by the leveling device in the rotating work traveling, the work traveling is performed, so the work of the working device is accurate even when the field is rough. It is often done.

In the present invention,
It is preferable that an automatic travel control unit for automatically maneuvering the travel aircraft body is provided so that the travel aircraft body travels along the work travel line based on the position of the travel aircraft body.

  According to the present invention, since the traveling machine body automatically travels along the work travel line and performs the work, the work of the work device can be performed with high accuracy.

In the present invention,
For the non-working travel,
When a state in which the operation is interrupted to replenish the material and the vehicle travels to a predetermined position at the time of dredging, and a state in which the replenishment of the material is completed and the vehicle travels to a position at which the work is resumed from the predetermined position at the time of dripping is included. Is preferred.

  In paddy field machines, for example, when materials such as seedlings, seeds, fertilizers, chemicals, fuel, etc. are reduced, the work is interrupted, the traveling machine body is moved to a predetermined position on the coast and stopped, and the material is removed from the paddy. Replenish. When the replenishment of the material is completed, the traveling machine body is caused to travel from a predetermined position on the heel to a position where the work is resumed, and the work is resumed.

  According to the present invention, focusing on the non-working traveling for replenishment of materials as described above, the leveling by the leveling unit is performed, so that the leveling of the surface is appropriately performed, and the working device Will be performed with high accuracy.

It is a whole side view of a riding type rice transplanter. It is a whole top view of a riding type rice transplanter. FIG. 3 is a schematic plan view showing a steering operation system for front wheels, a transmission system for front wheels and rear wheels. It is a figure which shows the cooperation state of a control apparatus and each part. It is a top view which shows the setting state of a work travel line and a turning line. It is a top view which shows the setting state of a work travel line and a turning line. It is a top view which shows the setting state of a work travel line and a turning line. It is a top view which shows the driving | running | working state along the work travel line and turning line of a traveling body. It is a top view which shows the driving | running | working state along the work travel line and turning line of a traveling body. It is a top view which shows the driving | running | working state along the work travel line and turning line of a traveling body. It is a top view which shows the driving | running | working state in the rotation work driving | running | working of a traveling body. It is a top view which shows the setting state of the work travel line and turning line different from the state shown in FIG. It is a top view which shows the driving | running | working state to the predetermined position on the heel. In the 1st other form of implementation of invention, it is a top view which shows the driving | running | working state to the predetermined position on the side of a heel.

In the embodiment of the present invention, a 6-row riding type rice transplanter, which is an example of a paddy field machine that performs planting work in a paddy field, is shown.
The front-rear direction and the left-right direction in the embodiment of the present invention are described as follows unless otherwise specified. When the traveling machine body 50 travels, the forward traveling direction is “front”, and the backward traveling direction is “rear”. The direction corresponding to the right side is “right” and the direction corresponding to the left side is “left” based on the forward posture in the front-rear direction.

(Overall configuration of riding rice transplanter)
As shown in FIG. 1 and FIG. 2, the riding type rice transplanter drives the link mechanism 3 and the link mechanism 3 to be raised and lowered at the rear part of the traveling machine body 50 including the right and left front wheels 1 and the right and left rear wheels 2. A hydraulic cylinder 4 is provided, and a seedling planting device 5 (corresponding to a working device) is supported at the rear of the link mechanism 3.

  As shown in FIGS. 1 and 2, the seedling planting device 5 is rotatable to the right and left sides of the rear portion of the planting transmission case 6 and the planting transmission case 6 arranged at predetermined intervals in the left-right direction. The rotating case 7 is supported, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9 (corresponding to a leveling part), a seedling platform 10 and the like.

  As shown in FIG.1 and FIG.2, the three floats 9 are provided in the lower part of the seedling planting apparatus 5 so that it may rank with the left-right direction. Each of the floats 9 is positioned between and in front of the two pairs of rotating cases 7 and the planting arms 8 (for two strips), and the three floats 9 have a full width of seedling planting by the seedling planting device 5. It is arranged so that it may span.

  As shown in FIGS. 1 and 2, the float 9 has a function of stabilizing the posture of the seedling planting device 5 by touching the paddy surface and a function of leveling the paddy surface by pressing the unevenness of the paddy surface from above. I have. Since the right and left floats 9 are disposed behind the right and left rear wheels 2, the ground surface roughened mainly by the right and left rear wheels 2 is leveled.

  As will be described later (automatic lifting control of the seedling planting device), the central float 9 is connected to the seedling planting device 5 from the paddle (center float 9) in the automatic lifting control of the seedling planting device 5. It is also used to detect height.

  As shown in FIG. 4, right and left markers 19 are provided on the right and left side portions of the seedling planting device 5, and the working posture to contact the rice field and the retracted posture away from the rice field (see FIG. 4). ). The right and left markers 19 are provided with an arm portion 19a supported by the seedling planting device 5 so as to be swingable up and down, and a rotating body 19b supported at the tip of the arm portion 19a so as to freely rotate. An electric motor 21 is provided for operating the right and left markers 19 to the working posture and the retracted posture.

(Transmission system for front and rear wheels)
As shown in FIGS. 1 and 3, the power of the engine 31 provided at the front of the traveling machine body 50 is transmitted to the hydrostatic continuously variable transmission 33 and the transmission case 34 via the transmission belt 32. From the auxiliary transmission (not shown) inside the transmission case 34 to the right and left front wheels 1 via the front wheel differential mechanism (not shown) and the transmission shaft (not shown) inside the front axle case 35. Communicated.

  As shown in FIGS. 1 and 3, the power of the sub-transmission device includes a transmission shaft 36, an input shaft 38 of the rear axle case 37, a bevel gear 38a fixed to the input shaft 38, a bevel gear 39a meshing with the bevel gear 38a, and a bevel gear 39a. It is transmitted to the right and left rear wheels 2 via a fixed transmission shaft 39 and right and left side clutches 40.

  As shown in FIGS. 1, 2, and 4, a shift lever 45 is provided on the left side of the steering handle 20, and the shift lever 45 and the continuously variable transmission 33 serve as a linkage mechanism (not shown). Are mechanically connected to each other. By means of the shift lever 45, the continuously variable transmission 33 can be operated steplessly from the neutral position N to the forward side F and the reverse side R.

  As shown in FIG. 3, a steering member 41 is swingably supported around a longitudinal axis P <b> 2 at the bottom of the mission case 34, and a tie rod 42 extends between the steering member 41 and the right and left front wheels 1. It is connected. As shown in FIGS. 1 and 2, a steering handle 20 is provided on the front side of the driver's seat 13, and the steering handle 20 and the steering member 41 are mechanically connected via a steering shaft 11 (see FIG. 4). Has been.

  As a result, as shown in FIGS. 3 and 4, the steering member 41 is swung by the steering handle 20. By operating the steering handle 20, the right and left front wheels 1 are moved from the straight travel position A1. The steering operation can be performed over the right and left steering limits A3.

  As shown in FIG. 3, the right and left side clutches 40 are of a frictional multi-plate type and are urged to a transmission state by a spring (not shown). The right and left operation shafts 43 that operate the right and left side clutches 40 against the springs in the disconnected state are supported downward by the rear axle case 37, and the steering member 41 and the right and left operation shafts 43 are supported. The right and left operation rods 44 are connected to each other. The right and left operation rods 44 are provided with long holes 44 a as interchangeable portions at the connection portions with the right and left operation shafts 43.

  As shown in FIG. 3, when the right and left front wheels 1 are steered within the range of the rectilinear position A1 and the right and left set angles A2, due to the interchange of the long holes 44a of the right and left operation rods 44, The right and left side clutches 40 are operated in a transmission state. Accordingly, the traveling machine body 50 moves forward (reverse) in a state where power is transmitted to the right and left front wheels 1 and the right and left rear wheels 2 (the transmission state of the right and left side clutches 40).

As shown in FIG. 3, when the right and left front wheels 1 are steered to the right steering limit A3 side beyond the right set angle A2, the range of the long hole 44a of the right operating rod 44 is exceeded. The right operating rod 44 is pulled, and the right side clutch 40 is operated to be disconnected by the right operating shaft 43.
Thus, power is transmitted to the right and left front wheels 1 and the left rear wheel 2 (turning outside) (the transmission state of the left side clutch 40), and the right rear wheel 2 (turning center side) (the right side clutch). The traveling machine body 50 turns to the right in the state of free rotation of the 40 interruption state.

As shown in FIG. 3, when the right and left front wheels 1 are steered to the left steering limit A3 side beyond the left set angle A2, the range of the long hole 44a of the left operating rod 44 is exceeded. The left operating rod 44 is pulled, and the left side clutch 40 is operated to the disconnected state by the left operating shaft 43.
Accordingly, power is transmitted to the right and left front wheels 1 and the right rear wheel 2 (turning outside) (the transmission state of the right side clutch 40), and the left rear wheel 2 (turning center side) (left side clutch). The traveling machine body 50 turns to the left in the state of free rotation of the 40 disconnection state.

  As shown in FIG. 3, when the right and left front wheels 1 are steered from the right (left) steering limit A3 side to the right (left) set angle A2 to the straight traveling position A1 side, they are in a shut-off state. The operated right (left) side clutch 40 is operated to the transmission state, and the right and left side clutches 40 are returned to the transmission state.

(Power transmission system to seedling planting equipment)
As shown in FIGS. 1 and 4, in the transmission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 through the planting clutch 26 and the PTO shaft 25, and planting is performed. An electric motor 28 for operating the clutch 26 to a transmission and disconnection state is provided.

  As shown in FIGS. 1 and 2, when the planting clutch 26 is operated in the transmission state, the rotary case 7 is turned in the direction shown in FIG. The planting arm 8 is driven to rotate clockwise, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling platform 10 and plant them on the rice field. When the planting clutch 26 is operated in the disconnected state, the seedling bed 10 and the rotating case 7 are stopped.

(Leveling equipment)
As shown in FIG. 1, a leveling device 71 (corresponding to a leveling portion) is supported at the front portion of the seedling planting device 5.

  As shown in FIG. 1, at the right and left ends of the seedling planting device 5, right and left support cases 72 are supported swingably up and down around a horizontal axis P3 in the left-right direction and extend to the front side. Has been. A drive shaft (not shown) is rotatably supported around the horizontal axis P4 in the left-right direction over the front portions of the right and left support cases 72, and a large number of leveling bodies 73 are supported in the left-right direction on the drive shaft. They are connected in a line. Thereby, the leveling body 73 is arrange | positioned over the full width of the seedling planting by the seedling planting apparatus 5 in the front side of the float 9. FIG.

  As shown in FIG. 1, an elevating member 74 is externally fitted to an intermediate portion of the drive shaft, and an elevating motor 75 (equivalent to a leveling unit elevating device) that drives the elevating member 74 to elevate is provided. The leveling device 71 is lifted and lowered by the lifting motor 75 to a leveling position (see FIG. 1) where the leveling body 73 comes in contact with the field and a non-leveling position that is greatly raised upward from the field.

  The power transmitted to the transmission shaft 39 shown in FIG. 3 is transmitted through a ground leveling clutch (not shown) provided in the rear axle case 37, and the transmission shaft connected across the rear axle case 37 and the leveling device 71 ( (Not shown) and transmitted to the leveling device 71. The drive shaft and leveling body 73 is rotationally driven around the horizontal axis P4 in the counterclockwise direction in FIG.

  When the leveling device 71 is lowered to the leveling position, the leveling clutch is automatically operated to the transmission state, and when the traveling machine body 50 travels (a state where power is transmitted to the transmission shaft 39), The leveling body 73 is rotationally driven as described above. When the leveling device 71 is operated to rise to the non-leveling position, the leveling clutch is automatically operated to be disconnected, and the leveling body 73 stops.

As shown in FIG. 1, in the leveling device 71, the leveling position is a position that is substantially the same height as the float 9, and the non-leveling position is a position that is greatly raised upward from the position of the float 9.
As will be described later, when the seedling planting device 5 is lowered to the paddy field and the float 9 is grounded to the paddy field, and the leveling device 71 is lowered to the leveling position, the leveling body 73 is grounded to the paddy field. Yes, when the leveling device 71 is raised to the non-leveling position, the leveling body 73 moves away from the surface.
When the seedling planting device 5 is lifted from the paddy surface and the float 9 is moved upward from the paddy surface, the leveling body 73 is not touched to the paddy field and is moved upward from the paddy field even if the leveling device 71 is lowered to the leveling position. is seperated.

(Automatic lifting control of seedling planting device)
As shown in FIG. 4, the rear portion of the central float 9 is supported so as to be swingable up and down around the horizontal axis P <b> 1 of the seedling planting device 5, and the height of the central float 9 with respect to the seedling planting device 5. The height sensor 22 of the potentiometer type which detects this is provided, and the detection value of the height sensor 22 is input to the control device 23. As the traveling machine body 50 advances, the center float 9 follows the surface of the field, and the height from the field (center float 9) to the seedling planting device 5 is detected by the detection value of the height sensor 22. be able to.

  As shown in FIG. 4, the lifting operation unit 57 is provided as software in the control device 23, and the control valve 24 that supplies and discharges hydraulic oil to and from the hydraulic cylinder 4 is operated by the lifting operation unit 57. When the control valve 24 is operated to the raised position, hydraulic oil is supplied to the hydraulic cylinder 4, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the control valve 24 is operated to the lowered position, the hydraulic oil is discharged from the hydraulic cylinder 4, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered.

  As shown in FIG. 4, in the operating state of the automatic lifting control, the lifting operation is performed so that the seedling planting device 5 is maintained at the set height from the rice field based on the height from the surface to the seedling planting device 5. The control valve 24 is operated by the part 57, the hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down. Thereby, the planting depth of the seedling is maintained at the set depth.

(Control lever)
As shown in FIGS. 1, 2, and 4, an operation lever 12 is provided on the right lateral side below the steering handle 20, and the operation lever 12 extends to the right lateral outer side. The operation lever 12 has an upper first ascending position UU1, a second ascending position UU2, a lower first descending position DD1, a second descending position DD2, a rear right marker position MR, and a front left marker position. It is configured to be operable in the ML cross direction, and is biased to the neutral position N 1, and the operation position of the operation lever 12 is input to the control device 23.

  As shown in FIG. 4, an angle sensor 29 that detects the vertical angle of the link mechanism 3 with respect to the traveling machine body 50 is provided, and the detection value of the angle sensor 29 is input to the control device 23. A clutch operation unit 58 and a marker operation unit 59 are provided in the control device 23 as software.

  As described later (operation of each part based on operation of the operation lever), the control valve 24 is operated to the raised, neutral, and lowered positions by the lifting operation unit 57 based on the operation of the operation lever 12. The above-mentioned automatic raising / lowering control of the seedling planting device 5 is in an activated state and a stopped state.

  As described later (operation of each part based on operation of the operation lever), the electric motor 28 is operated by the clutch operation unit 58 based on the operation of the operation lever 12, and the planting clutch 26 is transmitted and disconnected. The electric motor 21 is operated by the marker operation unit 59, and the right and left markers 19 are operated to the action posture and the retracted posture.

(Activation of each part based on operation of the control lever)
As shown in FIG. 4, when the operation lever 12 is operated to the second ascending position UU2, the planting clutch 26 is operated in the disconnected state, the automatic lifting control of the seedling planting device 5 is stopped, and the right and left markers 19 is operated to the retracted position, the control valve 24 is operated to the raised position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised. When the angle sensor 29 detects that the seedling planting device 5 has reached the upper limit position, the control valve 24 is operated to the neutral position, and the hydraulic cylinder 4 stops.

  As shown in FIG. 4, when the operation lever 12 is operated to the second lowered position DD2, the planting clutch 26 is operated in a disconnected state, the automatic raising / lowering control of the seedling planting device 5 is stopped, and the right and left markers In a state where 19 is operated to the retracted position, the control valve 24 is operated to the lowered position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the center float 9 comes in contact with the rice field, the seedling planting device 5 comes into contact with the rice field and is stopped by the automatic raising / lowering control of the seedling planting device 5. When the operation lever 12 is operated again to the second lowered position DD2, the planting clutch 26 is operated in the transmission state in the operating state of the automatic lifting control of the seedling planting device 5.

  As shown in FIG. 4, when the planting clutch 26 is operated in the disengaged state and the right and left markers 19 are operated in the retracted posture while the automatic raising / lowering control of the seedling planting device 5 is stopped, as shown in FIG. 12 is operated to the first raised position UU1, the control valve 24 is operated to the raised position, the hydraulic cylinder 4 is contracted, and the seedling planting device is only operated while the operating lever 12 is operated to the first raised position UU1. 5 goes up. When the operation lever 12 is operated to the neutral position N1, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

  As shown in FIG. 4, when the planting clutch 26 is operated in the disengaged state and the right and left markers 19 are operated in the retracted posture while the automatic raising / lowering control of the seedling planting device 5 is stopped, as shown in FIG. 12 is operated to the first lowered position DD1, the control valve 24 is operated to the lowered position, the hydraulic cylinder 4 is extended, and the seedling planting device is only operated while the operation lever 12 is operated to the first lowered position DD1. 5 goes down. When the operation lever 12 is operated to the neutral position N1, the control valve 24 is operated to the neutral position and the descent of the seedling planting device 5 is stopped.

  As described above, the seedling planting device 5 can be raised and lowered only while the operation lever 12 is operated to the first raised position UU1 and the first lowered position DD1. Can be raised and lowered to a height of

  As shown in FIG. 4, when the operation lever 12 is operated to the right marker position MR, the right marker 19 is operated to the action posture. When the operation lever 12 is operated to the left marker position ML, the left marker 19 is operated to the action posture.

(Configuration for detecting the position of the traveling aircraft and the orientation of the traveling aircraft)
As shown in FIG. 1 and FIG. 2, right and left support frames 16 are provided on the right and left portions of the front part of the traveling machine body 50, and a preliminary seedling stand 15 is supported on the support frame 16. . A support frame 17 is connected over the upper portions of the right and left support frames 16.

  As shown in FIGS. 1 and 2, a measuring device 30 (corresponding to a positioning unit) is attached to a portion of the support frame 17 that is located at the left and right center CL of the traveling machine body 50 in plan view. The measuring device 30 includes a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measuring device (not shown) that detects the inclination (pitch angle, roll angle) of the traveling machine body 50. The measuring device 30 outputs positioning data indicating the position of the traveling machine body 50.

  As shown in FIGS. 1 and 2, an inertia measuring device 48 that measures inertia information is attached to a portion of the rear axle case 37 that is positioned at the left and right center CL of the traveling machine body 50 in plan view. The inertial measurement of the inertial measurement device 48 and the measurement device 30 is configured by an IMU (Internal Measurement Unit).

  A typical example of the above-described satellite positioning system (GNSS) is a GPS (Global Positioning System). The GPS uses a plurality of GPS satellites that orbit the earth, a control station that tracks and controls the GPS satellites, and a receiver that is included in the object to be measured (the traveling vehicle body 50). The position of the device is measured.

The inertial measurement device 48 includes a gyro sensor (not shown) that can detect the angular velocity of the yaw angle of the traveling machine body 50 (the turning angle of the traveling machine body 50), and an acceleration sensor that detects acceleration in three axial directions orthogonal to each other. (Not shown). The inertia information measured by the inertial measurement device 48 includes azimuth change information detected by the gyro sensor and position change information detected by the acceleration sensor.
Thereby, the position of the traveling machine body 50 and the orientation of the traveling machine body 50 are detected by the measuring device 30 and the inertial measuring device 48.

(Configuration related to automatic driving of the vehicle)
As shown in FIGS. 1, 2, and 4, the operating position of the shift lever 45 is input to the control device 23. A center mascot 14 is provided at a position of the left and right center CL of the traveling machine body 50 in a plan view at the front portion of the traveling machine body 50. A steering motor 51 for operating the steering handle 20 (steering member 41) is provided, and a transmission motor 53 for operating the transmission lever 45 is provided.

  As shown in FIG. 4, the traveling machine body 50 includes a Wi-Fi unit 47 corresponding to a smartphone 46 (portable information terminal) carried by the driver. The smartphone 46 and the Wi-Fi unit 47 communicate with each other wirelessly according to the Wi-Fi standard, and the Wi-Fi unit 47 and the control device 23 are connected by CAN. The smartphone 46 and the external computer 49 can communicate with each other by wireless data communication via the Internet.

  As shown in FIG. 4, the saddle position acquisition unit 52, the determination unit 54, the work travel line acquisition unit 55, the turning line acquisition unit 56, the control unit 60, the work travel line setting unit 61, the automatic travel control unit 62, and the turning line setting. The control device 23 includes a unit 63, an automatic turning control unit 64, and a display control unit 65 as software.

  As shown in FIGS. 2 and 4, a push button type operation unit 18 that artificially operates the automatic traveling control unit 62 and the automatic turning control unit 64 in an activated state and a stopped state is provided in the grip portion of the transmission lever 45. The operation signal of the operation unit 18 is input to the control device 23. A display device 27 composed of a liquid crystal display or the like is provided on the front side of the steering handle 20.

(Acquisition of position data of borderline)
As shown in FIG. 5, for example, in a paddy field provided with paddles B1, B2, B3, and B4, position data of paddle lines B11, B21, B31, and B41 of paddles B1 to B4 and position data of an exit B23 of paddy field Is obtained in advance by any one (or a plurality) of methods shown in the following (1) to (5) and stored in the computer 49, for example.

(1) The measuring device 30 shown in FIG. 1 and FIG. 2 is removed from the traveling machine body 50, and the worker with the measuring device 30 walks along the shoreline B11-B41. Is obtained as position data of the border lines B11 to B41 and position data of the exit B23 of the paddy field.

(2) By running the riding type rice transplanter shown in FIGS. 1 and 2 (with the measuring device 30 attached) along the shoreline B11 to B41, the position of the traveling machine body 50 by the measuring device 30 is determined. The positioning data shown is obtained as the position data of the border lines B11 to B41 and the position data of the exit B23 of the paddy field.

  In this case, the measuring device 30 is attached to a portion located at the left and right center CL of the traveling machine body 50, and the outer end portion of the traveling machine body 50 (the seedling planting device 5) is located on the edge line B11 to B41. Therefore, from the positioning data indicating the position of the traveling machine body 50 by the measuring device 30, the position outside the traveling machine body 50 (seedling planting device 5) by a half of the lateral width is the position data of the border lines B11 to B41 and the paddy field. The correction is performed so that the position data of the exit B23 is obtained.

(3) The same riding type rice transplanter (or another riding type rice transplanter or riding type seeder equipped with the measuring device 30) travels (works) in the past and then travels on the paddy field 50. Is obtained as position data of the border lines B11 to B41 and position data of the paddy field exit B23. In this case, the correction described in the previous item (2) is performed.

(4) Various work vehicles such as a combine and a tractor equipped with the measuring device 30 have traveled (worked) in the past (or present) on the farm field (paddy field) and determined the position of the work vehicle that has traveled on the farm field (paddy field). When the positioning data shown is obtained, this positioning data is used as the position data of the border lines B11 to B41 and the position data of the exit B23 of the paddy field.

(5) If there is a commercially available storage medium that records the position data of the border lines B11 to B41 and the position data of the exit B23 of the paddy field, this storage medium is used.

(Work travel line and turning line settings) (Part 1)
As shown in FIG. 5, when the riding type rice transplanter arrives in the vicinity of the paddy field (position K1 of the traveling machine body 50), the position data of the coast line B11 to B41 and the position data of the paddy field exit B23 are transferred from the computer 49 to the smartphone 46. Sent to. The position data of the border lines B11 to B41 and the position data of the paddy field exit B23 are transmitted from the smartphone 46 to the Wi-Fi unit 47 and sent from the Wi-Fi unit 47 to the control device 23.

  The state shown in FIG. 5 is a state where the riding type rice transplanter is located at the entrance B22 of the paddy field. In this case, even if the riding type rice transplanter is not located at the paddy field entrance B22, if the riding type rice transplanter arrives in the vicinity of the paddy field other than the paddy field entrance B22, the position data of the border lines B11 to B41 and the paddy field The position data of the exit B23 is transmitted from the computer 49 to the smartphone 46.

  Thereby, the shoreline B11-B41 is acquired and memorize | stored in the heel position acquisition part 52 as position data of ridges B1-B4, and the exit B23 of a paddy field is acquired by the heel position acquisition part 52 as position data. Is memorized.

  In this case, the Wi-Fi unit 47 that wirelessly communicates with the smartphone 46 is not provided in the traveling machine body 50, and the position data of the border lines B11 to B41 and the position data of the paddy field outlet B23 are directly transmitted from the computer 49 to the control device 23. May be acquired and stored in the eyelid position acquisition unit 52.

  Based on the position data of the border lines B11 to B41 and the position data of the exit B23 of the paddy field by the work travel line setting unit 61 and the turning line setting unit 63 (setting of the work traveling line and the turning line) (part 2) ) And as shown in FIGS. 5, 6, and 7, the work travel lines L01 to L07 and the turning lines LL1 to LL6 are set. The paddy field is assumed to be a paddy field having a rectangular shape in plan view such that the border lines B11 and B21 are parallel and the border lines B31 and B41 are parallel.

  In this case, as shown in FIG. 11, in the round work runs LD1 to LD4 to be described later, when the last round work run LD4 is finished, the riding type rice transplanter does not change the direction of the traveling machine body 50, and the riding type rice transplanter exits the paddy field exit B23. The work travel lines L01 to L07 and the turning lines LL1 to LL6 are set so as to be able to leave.

(Setting of work travel line and turning line) (Part 2)
As shown in FIG. 5, the headland lines LA1, LA2 along the shoreline lines B11, B21 from the shoreline lines B11, B21 to the center side of the paddy field by the width of the traveling machine body 50 (the seedling planting device 5). Is set. The headland lines LB1 and LB2 are set along the shoreline B31 and B41 at the center side of the paddy field by the lateral width of the traveling machine body 50 (the seedling planting device 5) from the shoreline B31 and B41.

  As shown in FIG. 6, by the work travel line setting unit 61, a plurality of work travel lines L are parallel to the headland lines LB1 and LB2 and parallel to each other between the headland lines LA1 and LA2. A predetermined interval W1 (width of the traveling machine body 50 (the seedling planting device 5)) is set and set over the headland lines LA1 and LA2.

  As shown in FIG. 7, work travel lines L01, L02, L03, L04, L05, L06, and L07 are set, and the directions of the work travel lines L01 to L07 (see the arrows of the work travel lines L01 to L07 shown in FIG. 7). Is set.

  As shown in FIG. 7, the start end portions (one end portion) of the work travel lines L01 to L07 are the work start positions C1, C2, C3, C4, C5, C6, and C7. The end portions (the other end portions) of the work travel lines L01 to L07 are work end positions D1, D2, D3, D4, D5, D6, and D7. The work start position at which work is first started is the position K2.

  As shown in FIG. 7, a circular turning line LL1 in a plan view is set in the field so as to connect the work end position D1 and the work start position C2. Similarly, work end position D2 and work start position C3, work end position D3 and work start position C4, work end position D4 and work start position C5, work end position D5 and work start position C6, work end position D6 and work start. Circular turning lines LL2, LL3, LL4, LL5, and LL6 in a plan view are set so as to connect the position C7.

  Accordingly, the work start positions C1 to C7 and work end positions D1 to D7, work travel lines L01 to L07, turning lines LL1 to LL6, and the position of the traveling machine body 50 by the measuring device 30 are displayed on the display device 27 ( (See FIG. 4).

  When the driver determines that there is no problem with the work travel lines L01 to L07 and the turning lines LL1 to LL6 displayed on the display device 27, the driver presses an approval button (not shown). Thereby, the position data of the work travel lines L01 to L07, the work start positions C1 to C7, and the work end positions D1 to D7 are acquired and stored in the work travel line acquisition unit 55 as position data. At the same time, the turning lines LL1 to LL6 are acquired and stored in the turning line acquisition unit 56 as position data.

  As shown in FIG. 12, in the case where there is one doorway B24 in the paddy field, in the rotation work travels LD1 to LD4 to be described later, when the last rotation work travel LD4 is finished, the riding is performed without changing the direction of the traveling machine body 50. The work travel lines L01 to L07 and the turning lines LL1 to LL6 are set so that the type rice transplanter can go out from the rice field entrance / exit B24. The work start position at which work is first started is a position K10.

(Driving to the work start position to start work first)
As shown in FIG. 8, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K <b> 1, the speed change motor is determined by the position of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertia measuring device 48. 53 (shift lever 45) and steering motor 51 (steering handle 20) are operated, and the traveling machine body 50 starts the position K1, travels along the route LC1, and serves as a work start position for starting work first. Stop at position K2.

  As shown in FIG. 8, when the traveling machine body 50 starts the position K1 and starts to enter the route LC1, it is determined by the determination unit 54 that the traveling machine body 50 is not working by the position of the traveling machine body 50 and the work traveling lines L01 to L07. Is done.

  When the determination unit 54 determines that the vehicle is not working, as shown in FIG. 1, the control unit 60 maintains the planting clutch 26 in the disconnected state (the seedling planting device 5 is stopped). Then, the seedling planting device 5 is lowered to the paddy surface, the float 9 is grounded to the paddy surface, and the automatic raising / lowering control of the seedling planting device 5 is activated.

  At the same time, as shown in FIG. 1, the controller 60 operates the lifting motor 75 to lower the leveling device 71 to the leveling position, and the leveling clutch is operated to the transmission state. The display device 27 displays that the position has been lowered. Thereby, the surface of the route LC1 is leveled by the float 9 and the leveling device 71 (leveling body 73).

  As shown in FIG. 8, when the traveling machine body 50 stops at the position K2, the power level is not transmitted to the transmission shaft 39 shown in FIG. 3, thereby stopping the leveling device 71 (leveling body 73). At the same time, the seedling planting device 5 is raised by the control unit 60, the lifting motor 75 is actuated, the leveling device 71 is raised to the non-leveling position, and the leveling clutch is operated in the disconnected state. The display device 27 displays that the leveling device 71 has been raised to the non-leveling position.

  When the traveling machine body 50 moves backward in order to correct the direction of the traveling machine body 50, the seedling planting device 5 is automatically raised, and the traveling machine body 50 is in a state where the float 9 and the leveling device 71 are in contact with the rice field. There will be no situation where the vehicle goes backwards. Next, when the traveling machine body 50 finishes moving backward and starts moving forward, the seedling planting device 5 is lowered to the paddy surface and returns to a state where the paddy surface is leveled by the float 9 and the ground leveling device 71 (the ground leveling body 73). To do.

  The raising / lowering operation of the seedling planting device 5 by the forward and backward movements of the traveling machine body 50 will be described later (traveling of the traveling machine body along the work traveling line and the turning line) (part 1) (part 2) (part 3), (Running of the traveling aircraft along the shoreline and headland line) (Part 1) (Part 2), (Traveling to a predetermined position on the shore) (Part 1) (Part 2) (Part 3) The same is done.

(Travel of traveling machine body along work traveling line and turning line) (Part 1)
As shown in FIGS. 7 and 8, in a state where the work start positions C1 to C7 and the work end positions D1 to D7, the work travel lines L01 to L07, and the turning lines LL1 to LL6 are set, the driver operates the operation unit 18. By performing the operation, the following operation is performed by the automatic traveling control unit 62.

  As shown in FIG. 8, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K2, the control valve 24 is operated by the elevating operation unit 57, as will be described later, and the clutch operation unit 58 is operated. Thus, the planting clutch 26 (electric motor 28) is operated, the right and left markers 19 (electric motor 21) are operated by the marker operation unit 59, and the display device 27 is operated by the display control unit 65.

  Based on the position of the traveling machine body 50 by the measuring device 30 and the inertial information by the inertial measuring device 48 as described later (traveling of the traveling machine body along the work traveling line and the turning line) (part 2), the control unit 60, the automatic travel control unit 62, and the automatic turning control unit 64 operate the shift lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51).

  The automatic travel control unit 62 operates the shift lever 45 (transmission motor 53) to the first shift position F1 (see FIG. 4) on the forward side F, so that the traveling machine body 50 travels along the work travel lines L01 to L07. Thus, the steering handle 20 (steering motor 51) is operated so that the position of the measuring device 30 is positioned on the work travel lines L01 to L07.

  The automatic turning control unit 64 operates the speed change lever 45 (the speed change motor 53) to the second speed change position F2 (see FIG. 4) on the forward side F, and the traveling machine body 50 travels along the turning lines LL1 to LL6. Thus, the steering handle 20 (steering motor 51) is operated so that the position of the measuring device 30 is located in the turning lines LL1 to LL6. In this case, the second shift position F2 is on the lower speed side (neutral position N side) than the first shift position F1.

  A work mode in which the automatic traveling control unit 62 is activated (the automatic turning control unit 64 is stopped) and a turning mode in which the automatic turning control unit 64 is activated (the automatic traveling control unit 62 is stopped) are set. The control unit 60 performs switching to the work mode and switching to the turning mode.

In the work mode, it is assumed that the traveling speed of the traveling machine body 50 is relatively high, the steering operation of the front wheel 1 is performed in a relatively small range near the straight traveling position A1, and the steering operation speed of the front wheel 1 is relatively low. Has been.
The automatic travel control unit 62 is provided with a control function suitable for the above-described state when operating the speed change lever 45 (speed change motor 53) and the steering handle 20 (steering motor 51).

In the turning mode, the traveling speed of the traveling machine body 50 is relatively low, the steering operation of the front wheel 1 is performed in a large range over the right and left steering limits A3, and the steering operation speed of the front wheel 1 is relatively high. A state is assumed.
The automatic turning control unit 64 is provided with a control function suitable for the above-described state when operating the transmission lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51).

(Travel of traveling machine body along work traveling line and turning line) (Part 2)
As shown in FIG. 8, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K2, the operation mode is switched.

  As a result, the shift lever 45 (transmission motor 53) is operated to the first shift position F1 to start the traveling machine body 50, and the steering handle 20 (steering motor 51) is operated to move the traveling machine body 50 to the work travel line L01. The display device 27 displays that the traveling machine body 50 has started traveling.

  In this case, the seedling planting device 5 is lowered to the surface from a position just before the seedling planting device 5 (planting arm 8) reaches the work start position C1, and the automatic lifting control of the seedling planting device 5 is activated. Then, the right marker 19 is operated to the acting posture (the left marker 19 is in the retracted posture). It is displayed on the display device 27 that the seedling planting device 5 has been operated to descend onto the rice field and that the right marker 19 has been operated to the action posture.

  As shown in FIGS. 8 to 9, when the seedling planting device 5 (planting arm 8) reaches the work start position C1, the planting clutch 26 is operated in a transmission state, and seedling planting is started from the work start position C1. Is started. The display device 27 displays that seedling planting has started.

Thus, as shown in FIG. 9, seedlings are planted while the traveling machine body 50 travels along the work travel line L01, and the right marker 19 is used to position the rice field corresponding to the work travel line L02. An index is formed (see the position K3 of the traveling machine body 50).
In this case, the determination unit 54 determines that the traveling is performed based on the position of the traveling machine body 50 and the work traveling lines L01 to L07, and the leveling device 71 is maintained at the non-leveling position by the control unit 60.

(Travel of the traveling machine along the work travel line and the turning line) (Part 3)
As shown in FIG. 9, when the seedling planting device 5 (planting arm 8) reaches the work end position D <b> 1, the planting clutch 26 is operated in a disconnected state (stopping seedling planting), and the right marker 19 is operated. Is operated in the retracted position.

  In parallel with this, when the traveling machine body 50 reaches the work end position D1, the traveling machine body 50 shifts from the work traveling line L01 to the turning line LL1, and the work mode is switched to the turning mode.

  Thus, in a state where the shift lever 45 (transmission motor 53) is operated to the second shift position F2 and the seedling planting device 5 is lowered to the paddy surface (the operation state of the automatic lifting control of the seedling planting device 5). The traveling machine body 50 travels (turns) along the turning line LL1 (see the position K4 of the traveling machine body 50). The display device 27 displays that seedling planting has stopped, that the right marker 19 has been operated to the retracted position, and that turning in the right direction has started.

  In this case, the determination unit 54 determines that the vehicle is in non-working traveling based on the position of the traveling machine body 50 and the work traveling lines L01 to L07. The elevator motor 75 is operated by the control unit 60, the leveling device 71 is lowered to the leveling position, and the leveling clutch is operated to the transmission state. The leveling device 71 is lowered to the leveling position. It is displayed on the display device 27. Thereby, the surface of the turning line LL1 is leveled by the float 9 and the leveling device 71 (leveling body 73).

  As shown in FIG. 9, in the turning line LL1 (see the position K4 of the traveling machine body 50), the left marker 19 is operated to the acting posture from a position slightly before the traveling machine body 50 reaches the work start position C2 (right The marker 19 is in the retracted posture), and the display device 27 displays that the left marker 19 has been operated to the acting posture.

  As shown in FIGS. 9 to 10, when the seedling planting device 5 (planting arm 8) reaches the work start position C <b> 2, the planting clutch 26 is operated in a transmission state, and seedling planting is started from the work start position C <b> 2. The display device 27 displays that the planting of the seedling has started.

  In parallel with this, when the traveling machine body 50 reaches the work start position C2, the traveling machine body 50 shifts from the turning line LL1 to the working traveling line L02, and switching from the turning mode to the working mode is performed. The speed change lever 45 (speed change motor 53) is operated to the first speed change position F1, and seedlings are planted while the traveling machine body 50 travels along the work travel line L02. An index is formed at the position on the surface corresponding to the line L03 (see the position K5 of the traveling machine body 50).

  In this case, it is determined by the determination unit 54 that the vehicle is traveling by work based on the position of the traveling machine body 50 and the work traveling lines L01 to L07. The elevator motor 75 is operated by the control unit 60, the leveling device 71 is raised to the non-leveling position, the leveling clutch is operated in the disengaged state, and the leveling device 71 (leveling body 73) is stopped. The display device 27 displays that 71 has been lifted to the non-leveling position.

  In the above state, the headland lines LA1, LA2, LB1, and LB2, the work start positions C1 to C7 and the work end positions D1 to D7, the work travel lines L01 to L07, the turning lines LL1 to LL6, and the measuring device 30 are detected. The position of the traveling machine body 50 is displayed on the display device 27. In the display device 27, the traveling machine body 50 moves along the work traveling lines L01 and L02 and the turning line LL1.

As described above, when the traveling machine body 50 travels along the work traveling line L02, the right marker 19 corresponds to the work traveling line L02 in the traveling state along the work traveling line L01 of the previous traveling machine body 50. An index is formed at the position of the paddy field (see position K3 of the traveling machine body 50 in FIG. 9).
As a result, the driver visually checks the display device 27 and at the same time, visually checks the center mascot 14 and the index of the position of the surface corresponding to the above-described work travel line L02, so that the traveling machine body 50 moves to the work travel line L02. It can be confirmed that the vehicle travels along the road.

  As described above, as shown in FIG. 9 and FIG. 10, traveling along the work travel lines L01 to L07 of the traveling machine body 50 in the work mode (automatic travel control unit 62), and the turning mode (automatic turning). The travel (turning) is performed along the turning lines LL1 to LL6 of the traveling machine body 50 in the control unit 64).

  As shown in FIGS. 9 and 10, in the work travel lines L01 to L07, the leveling device 71 is raised to the non-leveling position, and the leveling of the surface is not performed by the leveling device 71, but the leveling of the surface of the surface is performed by the float 9. Done. In the turning lines LL <b> 1 to LL <b> 6, the leveling device 71 is lowered to the leveling position, and the leveling of the surface is performed by the float 9 and the leveling device 71 (leveling body 73).

  In this case, the center mascot 14 and the right and left markers 19 may be abolished so that the indicators of the positions of the fields corresponding to the work travel lines L02 to L07 are not formed by the right and left markers 19. . In this configuration, the driver visually checks the display device 27 to confirm that the traveling machine body 50 travels along the work traveling lines L02 to L07.

(Running of the aircraft along the coastline and headland line) (Part 1)
As shown in FIG. 11, when the traveling machine body 50 reaches the work end position D7 from the work travel line L07 and finishes traveling along the work travel lines L01 to L07, the travel machine body 50 stops at the work end position D7. .

  As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is stopped at the work end position D7, the position of the traveling machine body 50 by the measurement device 30 and the inertia information by the inertial measurement device 48 are obtained. The transmission lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51) are operated, the traveling machine body 50 travels along the route LC2, and the orientation of the traveling machine body 50 is corrected and the forward and backward movement is performed. The traveling machine body 50 stops at the position K6.

  In this case, as described above (traveling to the work start position where work is first started), the determination unit 54 performs non-work travel based on the position of the traveling machine body 50 and the work travel lines L01 to L07. Is determined.

  In a state where the planting clutch 26 is maintained in the disconnected state (stopped state of the seedling planting device 5) by the control unit 60, the seedling planting device 5 is lowered to the rice field, and the float 9 is grounded to the rice field, Automatic raising / lowering control of the planting device 5 is activated.

  At the same time, the controller 60 operates the lifting motor 75 to lower the leveling device 71 to the leveling position, and the leveling clutch is operated to the transmission state. The leveling device 71 is lowered to the leveling position. Is displayed on the display device 27. Thereby, the surface of the route LC2 is leveled by the float 9 and the leveling device 71 (leveling body 73).

(Running of the aircraft along the coastline and headland line) (Part 2)
As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K6, the seedling planting device 5 is lowered to the rice field, and automatic raising / lowering control of the seedling planting device 5 is performed. Is activated (the disengagement state of the planting clutch 26), and the right and left markers 19 are held in the retracted posture without being operated in the acting posture. It is displayed on the display device 27 that the seedling planting device 5 has been lowered on the rice field.

Thereafter, as shown in FIG. 11, the shift lever 45 (transmission motor 53) is operated to the first shift position F <b> 1 according to the work mode, the traveling body 50 starts, and the steering handle 20 (steering motor 51) moves. When operated, the traveling machine body 50 travels along the shoreline B41 and the headland line LB2. At the same time when the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and seedling planting is started from the position K6. The display device 27 displays that seedling planting has started.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 travels along the shoreline B41 and the headland line LB2 (turning operation traveling LD1).

In this case, based on the position of the traveling machine body 50 and the work travel lines L01 to L07, the determination unit 54 determines that the traveling work travel LD1.
The controller 60 operates the lifting motor 75 to lower the leveling device 71 to the leveling position, and the leveling clutch is operated to the transmission state. The leveling device 71 has been lowered to the leveling position. It is displayed on the display device 27. Thereby, the surface of the turning work travel LD1 is leveled by the float 9 and the leveling device 71 (leveling body 73).

As shown in FIG. 11, when the turning operation travel LD1 is finished and the front part of the traveling machine body 50 reaches the heel line B21, the planting clutch 26 is operated to be in a disconnected state (stopping seedling planting), The automatic raising / lowering control of the planting device 5 is stopped, the seedling planting device 5 is lifted from the surface, the shift lever 45 is operated to the neutral position N, and the traveling machine body 50 stops.
Next, when the driver operates the operation unit 18, the direction of the traveling machine body 50 is corrected and the vehicle moves forward and backward in the turning mode, and the traveling machine body 50 stops at the position K7.

  As shown in FIG. 11, when the driver operates the operation unit 18 in a state where the traveling machine body 50 is located at the position K7, the seedling planting device 5 is lowered to the rice field like the above-described rotating work traveling LD1, The automatic raising / lowering control of the seedling planting device 5 is activated (the planting clutch 26 is disengaged), and the right and left markers 19 are held in the retracted posture without being operated in the acting posture. It is displayed on the display device 27 that the seedling planting device 5 has been lowered on the rice field.

Thereafter, according to the work mode, the speed change lever 45 (speed change motor 53) is operated to the first speed change position F1, the traveling machine body 50 starts, the steering handle 20 (steering motor 51) is operated, and the traveling machine body 50 is operated. Travels along the shoreline B21 and the headland line LA2, and at the same time as the traveling body 50 starts, the planting clutch 26 is operated in the transmission state, and planting of seedlings is started from the position K7. . The display device 27 displays that seedling planting has started.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 travels along the shoreline B21 and the headland line LA2 (turning operation traveling LD2).

  Thereafter, as shown in FIG. 11, in the same manner as the above-described turning work runs LD1 and LD2, depending on the work mode, the turning work run LD3 along the landing line B31 and the headland line LB1 from the position K8, and The turning work travel LD4 along the border line B11 and the headland line LA1 from the position K9 is performed, and when the turning work travel LD4 is finished, the riding type rice transplanter leaves the field. As described above, planting of seedlings in one field is completed.

  In this case, as described above (setting of work travel line and turning line) (part 1) (part 2), work travel lines L01 to L07 and turn lines LL1 to LL6 are set. As a result, when the last round work travel LD4 is finished, the field exit B23 is positioned in front of the travel machine body 50, and the direction of the travel machine body 50 is changed from the last round work travel LD4. Without it, the riding type rice transplanter can go out from the field exit B23.

In the round work runs LD2, LD3, and LD4, similarly to the round work run LD1, the discrimination unit 54 determines that the work is the round work runs LD2, LD3, and LD4 based on the position of the traveling machine body 50 and the work run lines L01 to L07. Is done.
The controller 60 operates the lifting motor 75 to lower the leveling device 71 to the leveling position, and the leveling clutch is operated to the transmission state. The leveling device 71 has been lowered to the leveling position. It is displayed on the display device 27. Thereby, the surface of the rotation work travels LD2, LD3, and LD4 is leveled by the float 9 and the leveling device 71 (leveling body 73).

  In the above (travel of the traveling machine body along the shoreline and headland line) (part 1) (part 2), as shown in FIG. 11, the traveling machine body 50 travels along the work travel lines L01 to L07. When the operation end position D7 is reached, the traveling machine body 50 does not stop at the operation end position D7, but travels along the route LC2 thereafter, turning work travel LD1 to LD4, positions K6 to K9. The direction of the traveling machine body 50 and the operation of the seedling planting device 5 (planting clutch 26) are continuously and automatically performed so that the traveling machine body 50 stops at a position before the outlet B23 of the paddy field. It may be.

(Supplying seedlings to the seedling table)
In the work travel lines L01 to L07 and the turning lines LL1 to LL6 and the rotation work travels LD1 to LD4, when the number of seedlings on the seedling platform 10 is reduced, the driver sets the reserve seedling platform 15 shown in FIGS. 1 and 2. The seedlings are taken out from the seedlings and supplied to the seedling platform 10.

  In this case, the driver operates the speed change lever 45 to the neutral position N against the speed change motor 53 to stop the traveling machine body 50, and operates the operation lever 12 to the second ascending position UU2 to thereby transfer the seedling planting device. 5 is raised (refer to the aforementioned (operating lever) (operation of each part based on operation of the operating lever)). Alternatively, the seedling planting device 5 is left on the surface without being raised.

  Automatic travel is achieved when at least one of the operation of the shift lever 45 to the neutral position N and the operation of the operation lever 12 to the second raised position UU2 to raise the seedling planting device 5 is established. The control unit 62 and the automatic turning control unit 64 are stopped.

  In the above-described state, the driver takes out the seedling from the reserve seedling base 15 and supplies it to the seedling base 10. After the replenishment of the seedling to the seedling platform 10 is finished, when the driver operates the operation unit 18, the automatic travel control unit 62 and the automatic turning control unit 64 are activated, and the seedling planting device 5 is placed on the surface. The descent operation is resumed, and seedling planting is resumed. As described above, the seedlings on the reserve seedling setting table 15 are consumed.

(Running to a predetermined position on the coast) (Part 1)
A seedling sensor (not shown) for detecting the presence or absence of a seedling is provided in each of the preliminary seedling setting bases 15, a detection signal of the seedling sensor is input to the control device 23, and based on the detection signal of the seedling sensor, The number of seedlings remaining on the reserve seedling table 15 can be detected.

  As shown in FIG. 4, a seedling remaining amount calculation unit 66 is provided as software in the control device 23. In the seedling remaining amount calculation unit 66, a detection signal of a seedling sensor, a position of the traveling machine body 50, and a seedling planting interval Based on (between stocks) etc., the following calculation is performed.

As shown in FIG. 13, for example, in a state where the traveling machine body 50 is located in the middle of the work travel line L03 (position K11), when the travel is continued and the next work travel line L04 is entered, Whether all the seedlings on the reserve seedling table 15 are consumed in the middle of L04 or whether the seedlings remain on the preliminary seedling table 15 even after reaching the work end position D4 from the work travel line L04. The remaining amount calculation unit 66 calculates the amount.
The above-described calculation by the seedling remaining amount calculation unit 66 is performed in each of the work travel lines L01 to L07.

  Thus, as shown in FIG. 13, for example, in a state where the traveling machine body 50 is positioned in the middle of the work travel line L03 (position K11), if the travel is continued and the next work travel line L04 is entered, It is assumed that the seedling remaining amount calculation unit 66 calculates that all the seedlings on the reserve seedling stage 15 are consumed in the middle of the travel line L04.

  In this case, as shown in FIG. 13, the traveling along the work travel line L03 is continued as it is by the automatic travel control unit 62, and the seedling planting device 5 (planting arm 8) is moved to the work end position D3. When reaching, the planting clutch 26 is operated in a disconnected state (stopping seedling planting), and the right marker 19 is operated in the retracted posture.

  As shown in FIG. 13, when the seedling planting device 5 (planting arm 8) reaches the work end position D3, the traveling machine body 50 is stopped, and the automatic traveling control unit 62 and the automatic turning control unit 64 are stopped. Therefore, the display device 27 displays that the seedling should be replenished to the reserve seedling table 15.

(Run to the specified position on the shore) (Part 2)
As shown in FIG. 4, the non-work travel control unit 67 is provided as software in the control device 23, and the work is performed as in the state described in the above (travel to a predetermined position on the coast) (part 1). In a state where the traveling machine body 50 is stopped at the end position D3, when the driver operates the operation unit 18, the determination unit 54 is in a non-working traveling state because it is in a state where the seedling should be replenished to the reserve seedling base 15. The control unit 60 and the non-working traveling control unit 67 perform operations as described below.

  When the driver operates the operation unit 18 in the above-described state, the speed change motor 53 (speed change lever 45) and the steering motor 51 (control handle) are determined by the position of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertia measuring device 48. 20) is operated, the traveling machine body 50 starts the work end position D3 and travels along the route LC3.

  At the same time, the seedling planting device 5 is lowered to the paddy field (the planting clutch 26 is disengaged and the automatic lifting control of the seedling planting device 5 is activated), the lifting motor 75 is activated, and the leveling device 71 is operated. Is lowered to the leveling position, and the leveling clutch is operated to the transmission state, and the display device 27 displays that the leveling device 71 has been lowered to the leveling position.

  As a result, in the route LC3 (corresponding to a state where the operation is interrupted to replenish materials and the vehicle travels to a predetermined position on the coast), the surface of the route LC3 is leveled by the float 9 and the leveling device 71 (leveling body 73). Is done.

(Run to the specified position on the shore) (Part 3)
As shown in FIG. 13, a replenishment position B24 is set in advance in the heel B4, and seedlings, fuel, and the like are placed in advance in the replenishment position B24.
When the position data of the coast lines B11 to B41 and the position data of the exit B23 of the paddy field are transmitted from the computer 49 as described in the above (setting of the work travel line and the turning line) (part 1), the replenishment position The position data of the predetermined position K12 at the heel adjacent to B24 is also included, and the position data of the predetermined position K12 at the heel is acquired and stored in the heel position acquisition unit 52.

  As shown in FIG. 13, when the traveling machine body 50 reaches a predetermined position K12 at the heel, the traveling machine body 50 is stopped, and the replenishment position B24 is set in a state where the traveling machine body 50 is stopped at the heeled predetermined position K12. The seedlings are replenished to the reserve seedling table 15. If necessary, fuel or the like may be replenished. If it is a riding type rice transplanter equipped with a fertilizer application device (not shown) or a chemical spraying device (not shown), the fertilizer and chemicals at the supply position B24 may be supplied to the traveling machine body 50.

  In this case, although the leveling device 71 is maintained at the leveling position and the leveling clutch is maintained in the transmission state, the transmission shaft 39 shown in FIG. The (leveling body 73) also stops.

  As shown in FIG. 13, when the replenishment at the predetermined position K12 on the heel is finished, the driver operates the operation unit 18. As a result, the speed change motor 53 (transmission lever 45) and the steering motor 51 (steering handle 20) are operated by the position of the traveling machine body 50 by the measuring device 30 and the inertia information by the inertia measuring device 48, and the traveling machine body 50 is A predetermined position K12 is started, and the vehicle travels along the route LC4.

  In this case, since the leveling device 71 is maintained at the leveling position and the leveling clutch is maintained in the transmission state, the leveling device 71 (leveling body 73) is driven when the traveling machine body 50 starts the predetermined position K12 at the shore. The

Thereby, in the route LC4 (corresponding to a state in which the replenishment of the material is completed and the vehicle travels from the predetermined position to the position where the work is resumed), the surface of the route LC4 is obtained by the float 9 and the leveling device 71 (leveling body 73). Is leveled.
As shown in FIG. 13, the routes LC3 and LC4 are set along the ridges B1 and B4 so as to avoid the positions of the work travel lines L01 to L07, and the fields of the work travel lines L01 to L07 are as rough as possible. I try not to.

  As shown in FIG. 13, the traveling machine body 50 stops at the next work start position C4 (position K13). Next, when the driver operates the operation unit 18, the automatic traveling control unit 62 and the automatic turning control unit 64 are activated, and traveling along the work traveling line L <b> 04 is started.

(First embodiment of the invention)
As shown in FIG. 14, for example, in a state where the traveling machine body 50 is positioned in the middle of the work travel line L03 (position K11), when the travel is continued and the next work travel line L04 is entered, It is assumed that the seedling remaining amount calculation unit 66 calculates that all the seedlings on the reserve seedling stage 15 are consumed in the middle of L04.
Alternatively, for example, it is assumed that all the seedlings on the reserve seedling base 15 are consumed in a state where the traveling machine body 50 is located in the middle of the work traveling line L03 (position K11).

  In the above-described state, as shown in FIG. 14, the planting of seedlings is interrupted at the position K11 instead of the routes LC3 and LC4 along the ridges B1 and B4, and the control unit 60 and the non-working traveling control unit 67 travel. The airframe 50 may travel along the route LC5 and reach the predetermined position K12 at the shore. In this case, the surface of the route LC5 (corresponding to a state where the operation is interrupted to replenish the material and the vehicle travels to a predetermined position on the coast) is leveled by the float 9 and the leveling device 71 (leveling body 73).

  As shown in FIG. 14, when the replenishment at the predetermined position K12 at the end of the heel is finished, the traveling unit 50 travels along the route LC6 by the control unit 60 and the non-work traveling control unit 67, and the route LC6 (material The surface of the paddle is leveled by the float 9 and the leveling device 71 (leveling body 73), and the traveling machine 50 stops at the position K11. You may make it do.

(Second embodiment of the invention)
The discriminating unit 54 does not discriminate non-working travel by the position of the traveling machine body 50 or the calculation by the seedling remaining amount calculating unit 66, but the operation lever 12 is operated to the second ascending position UU2 and the seedling planting device 5 is set to the upper limit. A state in which the front wheel 1 is moved to the position, a state in which the front wheel 1 exceeds the right (left) set angle A2 and is steered to the right (left) steering limit side, and the right or left side clutch 40 is in the disengaged state. The determination unit 54 may determine non-working travel based on the operated state or the like.

(Third Another Embodiment of the Invention)
The ground leveling device 71 is not supported by the seedling planting device 5, but a leveling unit link mechanism different from the link mechanism 3, a lifting motor 75 and a lifting cylinder (corresponding to a leveling unit lifting device) (not shown) are run. The ground leveling device 71 may be supported by the leveling unit link mechanism, and the leveling unit link mechanism may be driven up and down by the lifting motor 75 or the lifting cylinder.

  According to the above-described structure, the leveling device 71 can be driven up and down independently regardless of the raising and lowering drive of the seedling planting device 5. The leveling device 71 is leveled in the first state where the float 9 and the leveling device 71 (leveling body 73) perform leveling of the surface of the field by lowering the leveling position, and in the state where the seedling planting device 5 is raised from the surface of the field. It is possible to set two states of the second state in which the leveling device 71 (leveling body 73) performs the leveling operation and the leveling of the paddy surface is leveled.

  Thereby, in the route LC1 and the turning lines LL1 to LL6 shown in FIG. 8, the route LC2 and the turning work travels LD1 to LD4 shown in FIG. 11, the routes LC3 to LC6 shown in FIGS. Thus, the first state can be set or the second state can be set.

(Fourth embodiment of the invention)
The leveling device 71 may not be provided. According to this structure, the state where the seedling planting device 5 is lowered to the paddy surface is a state where the float 9 is lowered to the leveling position.

  As a result, the seedling planting device 5 is lowered on the paddy field in the path LC1 and the turning lines LL1 to LL6 shown in FIG. 8, the path LC2 shown in FIG. 11, and the paths LC3 to LC6 shown in FIGS. The ground surface is leveled by the float 9 by bringing the float 9 into contact with the paddy surface.

(Fifth embodiment of the invention)
In the routes LC3 to LC6 shown in FIGS. 13 and 14, the traveling body 50 may be caused to travel by the driver manually operating the steering handle 20 and the shift lever 45. According to this structure, it is possible to travel on the driver's arbitrary route instead of the routes LC3 to LC6 shown in FIGS.

(Sixth embodiment of the invention)
The work travel line setting unit 61 and the turning line setting unit 63 may not be provided in the control device 23.
In this case, the work travel line setting unit 61 and the turning line setting unit 63 are provided as software in a computer or the like (for example, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50.

  Thereby, the work travel lines L01 to L07 and the turn lines LL1 to LL6 set by the work travel line setting unit 61 and the turning line setting unit 63 are transmitted from the computer to the smartphone 46 or the control device 23 or stored. It is acquired and stored in the work travel line acquisition unit 55 and the turning line acquisition unit 56 via the medium.

(Seventh embodiment of the invention)
The automatic travel control unit 62 does not operate the shift lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51), but the driver manually operates the shift lever 45 so that the traveling vehicle body 50 travels. The speed may be arbitrarily set, and the steering handle 20 (steering motor 51) may be operated by the automatic traveling control unit 62.

  The automatic turning control unit 64 does not operate the transmission lever 45 (transmission motor 53) and the steering handle 20 (steering motor 51), but the driver manually operates the transmission lever 45 so that the traveling vehicle body 50 travels. The speed may be arbitrarily set, and the steering handle 20 (steering motor 51) may be operated by the automatic turning control unit 64.

(Eighth embodiment of the invention)
The automatic travel control unit 62 may not be provided. In this case, the position of the traveling machine body 50 and the work travel lines L01 to L07 (turning work travels LD1 to LD4) are displayed on the display device 27, so that the driver can visually observe the display device 27 and the steering handle 20 and the speed change. The lever 45 is manually operated to perform the travel along the work travel lines L01 to L07 of the traveling machine body 50 and the rotation work travels LD1 to LD4.

  The automatic turning control unit 64 may not be provided. In this case, by displaying the position of the traveling machine body 50 and the turning lines LL1 to LL6 on the display device 27, the driver manually operates the steering handle 20 and the shift lever 45 while viewing the display device 27, Traveling (turning) is performed along the turning lines LL1 to LL6.

The present invention is not only a riding type rice transplanter provided with a seedling planting device 5 at the rear part of the traveling machine body 50 so as to be movable up and down, but also a fertilizer application device (corresponding to a working device) in addition to the seedling planting device 5 (not shown) And riding rice transplanter equipped with a chemical spraying device (corresponding to a working device) (not shown), or a riding device equipped with a seeding device (corresponding to a working device) (not shown) at the rear of the traveling machine body 50 so as to be movable up and down. In addition to a direct seeding machine and a seeding device, it can also be applied to a riding direct seeding device equipped with a fertilizer application device and a chemical spraying device.
In this case, the present invention can be applied not only to seedlings but also to cases where it is necessary to replenish materials such as seeds, fertilizers, drugs, and fuels.

DESCRIPTION OF SYMBOLS 5 Work apparatus 9 Leveling part, float 30 Positioning part 50 Traveling machine body 54 Discriminating part 55 Work travel line acquisition part 60 Control part 62 Automatic travel control part 71 Leveling part, Leveling apparatus 73 Leveling body 75 Leveling part raising / lowering apparatus B1-B4 Ｋ K12 Predetermined position at the end L01 to L07 Work travel line LD1 to LD4 Work travel around P4 Horizontal axis

Claims (6)

A working device that is supported by the traveling machine body so as to be movable up and down and supplies materials to the surface;
It is equipped with a leveling position that makes contact with the surface of the field and leveling and a leveling part that can be raised and lowered to a non-leveling position that rises upward from the field,
A positioning unit that detects the position of the traveling machine body, and a work traveling line acquisition unit that acquires a work traveling line on which the traveling machine body travels,
A discriminating unit for discriminating non-working traveling in which the traveling machine body travels with the working device in a stopped state;
The paddy field work machine provided with the control part which descends the leveling part to the leveling position as it is the non-working run. The discrimination unit
The paddy field work machine according to claim 1, wherein the non-work travel is determined based on the position of the travel machine body and the work travel line. The leveling portion is a float provided at a lower portion of the working device;
The controller is
3. The paddy field machine according to claim 1, wherein when the vehicle is in the non-working traveling mode, the leveling unit is lowered to the leveling position by lowering the work device to a paddy surface in a stopped state of the work device. The leveling unit is a leveling device that rotationally drives the leveling body around the horizontal axis in the left-right direction,
A leveling unit lifting device for driving the leveling unit up and down to the leveling position and the non-leveling position is provided,
The discrimination unit
Discriminating the non-working traveling and the traveling working traveling in which the traveling machine body travels along the edge with the working device in an operating state;
The controller is
The paddy field machine according to claim 1 or 2, wherein the leveling unit is lowered to the leveling position by the leveling unit lifting device when the non-working traveling and the rounding operation traveling are performed.   The automatic travel control part which performs the autopilot of the said traveling body is provided so that the said traveling body may travel along the said work traveling line based on the position of the said traveling body. The paddy field work machine given in any 1 paragraph. For the non-working travel,
A state where the operation is interrupted to replenish the material and the vehicle travels to a predetermined position at the time of dredging, and a state where the replenishment of the material is completed and the vehicle travels from the predetermined position at the time of dredging to a position where the operation is resumed is included. The paddy field machine as described in any one of claim | item 1 -5.

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