JP6945279B2 - Work platform - Google Patents

Description

The present invention relates to a work vehicle that travels while working on a field, such as a riding-type rice transplanter, a riding-type direct seeding machine, a combine equipped with a cutting section, and a tractor equipped with a rotary tiller.

As disclosed in Patent Document 1, in a passenger-type rice transplanter, which is an example of a work vehicle, in a field, one ridge runs (work) from one ridge toward the other ridge, and then the other ridge ridge. Turning at the edge, then running (working) from the other ridge to one ridge, running (working) from one (other) ridge to the other (one) ridge in the field, and , Repeats turning at one (the other) ridge.

In Patent Document 1, the driver first manually steers the front wheels of the traveling machine to perform teaching traveling in which the work vehicle travels along the ridges, thereby performing a reference traveling line (FIG. 7 of Patent Document 1). Reference line) is set. When the reference traveling line is set in this way, the plurality of working traveling lines (first row to Nth row in FIG. 7 of Patent Document 1) are parallel to each other along the reference traveling line (ridge). It is set in the field at regular intervals.

As a result, in Patent Document 1, the front wheels of the traveling machine are automatically steered so that the traveling machine automatically runs (work) along the first work running line, and the first running (work) is performed. ) Is performed, and when the first traveling (work) is completed and the traveling aircraft reaches one ridge, the traveling aircraft is turned at the ridge of one ridge. Next, the front wheels of the traveling machine are automatically steered so that the traveling machine automatically runs (work) along the adjacent second work running line, and the second running (work) is performed. Will be done.
When the automatic steering operation of the front wheels of the traveling machine is not performed as described above, the driver manually moves the front wheels of the traveling machine so that the traveling machine runs (workes) along the work running line. Steer and operate.

Japanese Unexamined Patent Publication No. 2008-92818

In Patent Document 1, in order to set a plurality of work running lines, a reference running line is set by first performing a teaching run.
In this case, since the driver manually steers the front wheels of the traveling machine to perform teaching running, if an error occurs in the steering operation of the front wheels of the traveling machine by the driver, the reference running line is set with respect to the field. Since there will be an error in the field (especially because there will be an error in the orientation of the reference running line with respect to the field), the work running line set parallel to the reference running line will also have an error with respect to the field. It will occur.
An object of the present invention is to configure a work vehicle configured to set a work traveling line in a field so that the working traveling line can be set with high accuracy.

(composition)
A feature of the present invention is that the work vehicle is configured as follows.
An acquisition unit is provided to acquire the position data of the outer periphery of the field.
Based on the position data, a work setting unit is provided for setting a plurality of work running lines parallel to each other at predetermined intervals in the field on which the traveling machine travels.
A swivel line setting unit that sets a swivel line in the field over the work end position and the work start position set based on the position data, and a swivel line setting unit.
An automatic turning control unit that automatically steers the traveling machine so that the traveling machine travels along the turning line.
A turning direction notification unit that notifies the turning direction of the traveling aircraft on the turning line in advance before the traveling aircraft enters the turning line is further provided.
When the work start position for first starting the work is specified, the work setting unit sets the work start position with respect to the plurality of work travel lines preset before the work start position is specified. A reciprocating travel route including the travel direction of each work travel line is set so as to reciprocate along each of the plurality of work travel lines according to the above , and the end point of the work travel line and the start point of the next work travel line are set. A turning line is set over and over .

(Action and effect of invention)
When the position data of the outer peripheral portion of the field is obtained by GPS or the like, according to the present invention, the position data is acquired by the work vehicle.
As a result, in the work vehicle for which the position data has been acquired, the work travel line is set based on the position data, and the work travel line is set accurately for the field, and the travel along the work travel line (work). ) Will be performed accurately.

(composition)
In the present invention
It is preferable that an automatic traveling control unit that automatically steers the traveling aircraft is provided so that the traveling aircraft travels along the work traveling line.

(Action and effect of invention)
According to the present invention, when the automatic traveling control unit that automatically steers the traveling aircraft is provided so that the traveling aircraft travels along the work traveling line, the traveling vehicle travels to the field as described above. Since the line is set with high accuracy, running (work) along the work running line can be performed accurately and automatically.

(composition)
In the present invention
In the work setting section,
Based on the position data, the work start end position setting unit that sets the work start position and the work end position in the field, and the work start end position setting unit.
Based on the position data, it is preferable that the work travel line setting unit for setting the work travel line in the field is provided over the work start position and the work end position.

(Action and effect of invention)
In a work vehicle, in general, in a field, a state of traveling while performing work and a state of traveling for moving to a position where the next work should be performed may be alternately repeated.

According to the present invention, the work start position and the work end position are set, and the work travel line is set over the work start position and the work end position. The running (work) and the end of the work become clear, and the running (work) along the work running line can be performed with high accuracy.

(composition)
In the present invention
Based on the position data, the work start / end position setting unit sets a plurality of the work start positions and a plurality of the work end positions in the field along the ridges.
Based on the position data, the work travel line setting unit sets the work travel line in the field over the work start position on one ridge side and the work end position on the opposite ridge side. Moreover, it is preferable that the plurality of work running lines are set in the field at predetermined intervals so as to be parallel to each other.

(Action and effect of invention)
According to the present invention, in a work vehicle that performs traveling (work) as described in the above-mentioned [Background Art], a plurality of work traveling lines can be accurately set for a field.

According to the present invention, since the work start position and the work end position are set in the field along the ridges based on the position data, the work start position and the work end position can be easily aligned at substantially the same position.
In this way, if the work start start and work end positions are aligned at substantially the same position, when the work is performed along the ridge after the work is completed along the work running line. , You will be able to easily and neatly run (work) along the ridges.

(composition)
In the present invention
It is equipped with a positioning unit that outputs positioning data that indicates the position of the traveling aircraft.
It is preferable that a display device for displaying the work start position, the work end position, the work travel line, and the position of the traveling machine body is provided.

(Action and effect of invention)
According to the present invention, the driver visually observes the work start position, the work end position, the work travel line, and the position of the traveling machine body displayed on the display device, thereby indicating the current position of the traveling machine body, the work start position, and the work. The end position and the positional relationship with the work running line can be easily grasped.

(composition)
In the present invention
Based on the position data, it is preferable that a swivel line setting unit for setting the swivel line in the field is provided over the work end position and the work start position.

(Action and effect of invention)
In a work vehicle such as a passenger-type rice transplanter, in a field, traveling (work) is performed along one work traveling line, and when traveling (work) along this work traveling line is completed (work end position), When the vehicle turns toward the next work travel line and reaches the next work travel line (work start position), the vehicle may start traveling along the next work travel line (work).
In the above-mentioned state, according to the present invention, since the turning line is set over the work end position and the work start position, the turning along the turning line can be performed with high accuracy.

(composition)
In the present invention
It is preferable that an automatic turning control unit that automatically steers the traveling machine is provided so that the traveling machine travels along the turning line.

(Action and effect of invention)
According to the present invention, by providing the automatic turning control unit, turning along the turning line can be automatically performed with high accuracy.

(composition)
In the present invention
It is preferable that a turning direction notification unit is provided to notify the turning direction of the traveling aircraft on the turning line in advance before the traveling aircraft enters the turning line.

(Action and effect of invention)
When turning is performed as described above, according to the present invention, the turning direction of the traveling machine on the turning line is notified in advance before the traveling machine enters the turning line.
As a result, when the automatic turning control unit automatically turns along the turning line, the turning direction of the traveling aircraft is notified in advance, so that the driver can easily predict the turning time. When the driver manually performs the turning operation, the turning direction of the traveling aircraft is notified in advance, so that the driver does not mistake the manual turning operation (turning direction).

(composition)
In the present invention
It is preferable that a turning operation timing notification unit for notifying the timing and turning direction of the traveling machine body in the turning state from the work end position to the work start position is provided.

(Action and effect of invention)
According to the present invention, when the driver manually performs the turning operation, the driver is notified of the timing and the turning direction of the turning operation of the traveling aircraft, so that the driver does not delay the manual turning operation and does not make a mistake. Can be done properly.

(composition)
In the present invention
It is equipped with a positioning unit that detects positioning data indicating the position of the traveling aircraft.
It is preferable that a display device for displaying the work start position, the work end position, the work travel line, the turning line, and the position of the traveling machine body is provided.

(Action and effect of invention)
According to the present invention, the driver visually observes the work start position, the work end position, the work travel line, the turning line, and the position of the traveling machine body displayed on the display device to obtain the current position of the traveling machine body and the work start. The positional relationship with the position, the work end position, the work running line, and the turning line can be easily grasped.

(composition)
In the present invention
It is equipped with a material remaining amount detection unit that detects the remaining amount of materials to be loaded.
It is preferable that a material notification unit is provided to notify the driver that the material should be replenished after the traveling machine has finished traveling along the work traveling line when the remaining amount of the material is low. ..

(Action and effect of invention)
In a work vehicle, for example, materials such as seedlings, seeds, fertilizers, chemicals, and fuel for traveling are loaded and traveled (worked). Therefore, when the materials are low, it is necessary to replenish the materials to the traveling vehicle. In this case, since the auxiliary worker who prepares the material puts the material on the ridge and stands by, it is preferable to stop the traveling machine at the ridge and supply the material from the ridge to the traveling machine.

According to the present invention, when the remaining amount of the material is low, the driver is notified that the material should be replenished after the traveling machine finishes traveling (work) along the work traveling line. , The driver may stop the traveling machine at the ridge after the traveling machine finishes running (working) along the work running line.
As a result, materials can be reasonably replenished from the ridges to the traveling machine in a state where the traveling machine is stopped at the ridge.

(composition)
In the present invention
It is preferable that the notification by the material notification unit is also performed to the auxiliary worker of the ridge.

(Action and effect of invention)
When replenishing materials from the ridges to the traveling aircraft, an assistant worker preparing to replenish the materials may be waiting at the ridges.

According to the present invention, in addition to notifying the driver that the material should be replenished after the traveling machine has finished traveling (working) along the working traveling line as described above, the ridges The standby assistant worker is also notified.
As a result, as described above, the driver only has to stop the traveling machine at the ridge after the running machine has finished running (working) along the work running line, and the auxiliary worker can use the material. Preparations for replenishment can be started early (for example, before the traveling aircraft reaches the ridge).

(composition)
In the present invention
It is preferable that an automatic stop unit is provided to automatically stop the traveling machine at the ridge after the traveling machine finishes running along the work running line based on the operation command.

(Action and effect of invention)
As described above, when it is notified that the material should be replenished after the traveling machine has finished traveling (working) along the working traveling line, according to the present invention, the automatic stop unit is based on the operation command. By setting the above to the operating state, when the traveling machine finishes running (working) along the work running line, the traveling machine automatically stops at the ridge.
As a result, it is possible to appropriately obtain a state in which materials are replenished from the ridges to the traveling machine in a state where the traveling machine is stopped at the ridge.

(composition)
In the present invention
It is preferable that the automatic stop unit advances the traveling machine to the ridge and stops it after the traveling machine finishes running along the work running line.

(Action and effect of invention)
When replenishing materials from the ridges to the traveling aircraft, it is convenient to replenish the materials from the ridges to the front part of the traveling aircraft (for example, in a riding type rice transplanter equipped with a spare seedling stand at the front part of the traveling aircraft, from the ridges. When replenishing seedlings, replenishing the seedlings from the ridges to the front of the traveling aircraft makes it easier to place the replenished seedlings on a spare seedling stand).

When the traveling machine is automatically stopped at the ridge as described above, according to the present invention, after the traveling machine finishes running (work) along the work running line, the traveling machine advances to the ridge and stops. Therefore, the traveling aircraft stops at the ridge with the front part of the traveling aircraft approaching the ridge.
As a result, it is possible to improve the workability of replenishing the material for the material that is convenient to replenish from the ridge to the front part of the traveling machine.

(composition)
In the present invention
It is preferable that the automatic stop unit turns the traveling machine after the traveling machine finishes running along the work running line, and then moves the traveling machine backward to the ridge to stop.

(Action and effect of invention)
When replenishing materials from the ridges to the traveling machine, there are materials that are convenient to replenish from the ridges to the rear of the traveling machine (for example, a riding type rice planting machine equipped with a fertilizer application device, a seeding device, and a chemical spraying device at the rear of the running machine). In the passenger type direct sowing machine, when fertilizer, seeds and chemicals are replenished from the ridges, when fertilizers, seeds and chemicals are replenished from the ridges to the rear of the traveling machine, the replenished fertilizers, seeds and chemicals are applied to the fertilizer, seeding equipment and chemicals. Easy to replenish the sprayer).

When the traveling machine is automatically stopped at the ridge as described above, according to the present invention, after the traveling machine finishes running (work) along the work running line, the traveling machine turns at the ridge. Next, the traveling aircraft moves backward to the ridge and stops.
As a result, it is possible to improve the workability of replenishing the material in the material that is convenient to replenish from the ridge to the rear part of the traveling machine.

(composition)
In the present invention
When the remaining amount of material becomes less than the preset amount, a forced automatic stop unit that automatically stops the traveling machine at the ridge after the traveling machine finishes running along the work running line is provided. It is preferable that it is provided.

(Action and effect of invention)
According to the present invention, even if the operation command is not issued and the automatic stop unit is in the stopped state, if the remaining amount of the material is less than the preset amount, the traveling machine is along the work traveling line. After finishing all the running (work), it automatically stops at the ridge.
As a result, it is possible to appropriately obtain a state in which materials are replenished from the ridges to the traveling machine in a state where the traveling machine is stopped at the ridge.

(composition)
In the present invention
It is preferable that the ridge that automatically stops after the traveling machine finishes traveling along the work traveling line is the ridge of a specific ridge to which the material is replenished.

(Action and effect of invention)
When replenishing the material from the ridge to the traveling machine, as in the present invention, the traveling machine is automatically stopped at the edge of the specific ridge, and the material is replenished from the specific ridge to the traveling machine. It is not necessary to distribute the materials in multiple ridges, and the materials can be concentrated in specific ridges.

As a result, when the auxiliary worker who prepares the material transports the material from the warehouse or the like to the field by truck, the material may be transported by concentrating on a specific ridge, and the material needs to be transported by dividing it into a plurality of ridges. There is no. When replenishing materials from the ridge to the traveling aircraft, the auxiliary worker only needs to wait at a specific ridge, and when the traveling aircraft stops at the ridge of a specific ridge, the auxiliary worker supplies the material from the ridge to the traveling aircraft. It only needs to be replenished, and the auxiliary worker does not have to move across multiple ridges.
As described above, the workability of replenishing the materials is good for the auxiliary worker who prepares the materials.

(composition)
In the present invention
It is preferable that the work traveling line is based on positioning data indicating the position of a work vehicle that has traveled in the field in the past.

(Action and effect of invention)
In the field, in addition to the riding type rice transplanter and the riding type direct seeding machine, various work vehicles such as combine harvesters and tractors are running (working), and the seasons in which the work vehicles are running (working) are also different.
According to the present invention, when one work vehicle travels (workes) in a field and obtains positioning data indicating the position of the work vehicle traveling in the field, another work vehicle uses the above-mentioned positioning data. Can be done.
When one work vehicle travels (workes) in the field and obtains positioning data indicating the position of the work vehicle traveling in the field, the same work vehicle may use the above-mentioned positioning data in the next fiscal year. can.

(composition)
In the present invention
It is preferable that the position data includes obstacle data indicating the position of an obstacle existing in the field.

(Action and effect of invention)
Obstacles such as trees may be present in the field.
According to the present invention, since the position data includes obstacle data indicating the position of an obstacle existing in the field, traveling (work) while recognizing the existence of the obstacle can be appropriately performed.

(composition)
In the present invention
It is preferable that the position data includes inclination data indicating an inclination with respect to the horizontal plane at each position of the field.

(Action and effect of invention)
At each position of the field, in addition to the horizontal position, there may be a position inclined with respect to the horizontal plane. In particular, the ridges may be slightly uphill from the center side of the field toward the ridges.
According to the present invention, since the position data includes inclination data indicating the inclination of each position of the field with respect to the horizontal plane, it becomes possible to appropriately run (work) while recognizing the inclination of each position of the field. ..

It is an overall side view of a passenger-type rice transplanter. It is an overall plan view of a passenger-type rice transplanter. It is a schematic plan view which shows the steering operation system of a front wheel, and the transmission system to a front wheel and a rear wheel. It is a figure which shows the linkage state of a control device and each part. It is a top view which shows the setting state of a work running line and a turning line. It is a top view which shows the setting state of a work running line and a turning line. It is a top view which shows the setting state of a work running line and a turning line. It is a top view which shows the state of the automatic running (work) along the work running line of a running machine. It is a top view which shows the state of the automatic running (work) along the work running line of a running machine. It is a top view which shows the state of the automatic running (work) along the work running line of a running machine. It is a top view which shows the state of the automatic running (work) in the rotating work running of a traveling machine body. It is a top view which shows the setting state of the work running line and the turning line which are different from the state shown in FIG. It is a top view which shows the state of the automatic traveling (turning) along the turning line of the traveling machine body in 1st alternative embodiment of the invention. It is a top view which shows the state of the automatic traveling (turning) along the turning line of the traveling machine body in the 2nd alternative embodiment of the invention. It is a top view which shows the state of the automatic running (work) along the work running line of the running machine in the 4th alternative embodiment of the invention. It is a top view which shows the state of the automatic running (work) along the work running line of the running machine in the 5th alternative embodiment of the invention. It is a figure which shows the linkage state of a control device and each part in 7th alternative embodiment of the invention. It is a top view which shows the automatic stop state of the traveling machine | body at the ridge in 8th alternative embodiment of the invention. It is a top view which shows the automatic stop state of the traveling machine | body at the ridge in 8th alternative embodiment of the invention. It is a figure which shows the linkage state of a control device and each part in 8th alternative embodiment of the invention. It is a top view which shows the automatic stop state of the traveling machine | body at the ridge in 10th alternative embodiment of the invention.

Unless otherwise specified, the front-rear direction and the left-right direction in the embodiment of the present invention are described as follows. When the traveling machine body 50 is traveling, the traveling direction on the forward side is "forward", and the traveling direction on the reverse side is "rear". The direction corresponding to the right side is "right" and the direction corresponding to the left side is "left" with respect to the forward posture in the front-back direction.

[1]
The overall configuration of a passenger-type rice transplanter that runs (work) in a field (paddy field) will be described.
As shown in FIGS. 1 and 2, a hydraulic cylinder 4 for raising and lowering the link mechanism 3 and the link mechanism 3 is provided at the rear portion of the traveling machine body 50 having the right and left front wheels 1 and the right and left rear wheels 2. A 6-row planting type seedling planting device 5 is supported at the rear of the link mechanism 3, and a passenger-type rice transplanter, which is an example of a work vehicle, is configured.

As shown in FIGS. 1 and 2, the seedling planting apparatus 5 is provided on three planting transmission cases 6 arranged at predetermined intervals in the left-right direction, on the right and left sides of the rear portion of the planting transmission case 6. It is configured in a 6-row planting type with a rotating case 7 rotatably supported, a pair of planting arms 8 provided at both ends of the rotating case 7, a float 9, a seedling stand 10, and the like.

As shown in FIGS. 1 and 4, right and left markers 19 are provided on the right and left sides of the seedling planting device 5, and the acting posture of touching the rice field surface (see FIG. 1) and upward from the rice field surface. It is configured to be freely changeable to a distant storage posture (see FIG. 4). The right and left markers 19 are configured to include 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 by the tip portion of the arm portion 19a so as to be freely rotatable. An electric motor 21 for operating the right and left markers 19 in the working posture and the retracting posture is provided.

[2]
The transmission system to the right and left front wheels 1 and the right and left rear wheels 2 will be described.
As shown in FIGS. 1 and 3, the power of the engine 31 provided in the front portion of the traveling machine body 50 is transmitted to the hydrostatic continuously variable transmission 33 and the mission case 34 via the transmission belt 32, and the transmission It is transmitted from the auxiliary transmission (not shown) inside the case 34 to the right and left front wheels 1 via the front wheel differential mechanism (not shown) and the transmission shaft inside the front axle case 35 (not shown). NS.

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

As shown in FIGS. 1, 2 and 4, a shift lever 45 is provided on the left lateral side of the steering handle 20, and the continuously variable transmission 33 is operated by the shift lever 45. The continuously variable transmission lever 45 can operate the continuously variable transmission 33 steplessly from the neutral position N to the forward side F and the reverse side R.

As shown in FIG. 3, the steering member 41 is swingably supported around the vertical axis P2 at the lower part of the mission case 34, and as shown in FIGS. 1, 3 and 4, the steering member 41 is steered to the front side of the driver's seat 13. A handle 20 is provided. The steering member 41 is swung by the steering handle 20, and the tie rod 42 is connected to the steering member 41 and the right and left front wheels 1. By operating the steering wheel 20, the right and left front wheels 1 can be steered from the straight-ahead position A1 over the right and left steering limits A3.

As shown in FIG. 3, the right and left side clutches 40 are of a friction multi-plate type and are urged to a transmission state by a spring (not shown). The right and left operating shafts 43 that operate the right and left side clutches 40 in a shut-off state against the spring are supported downward by the rear axle case 37, and the steering member 41 and the right and left operating shafts 43 are supported. The right and left operating rods 44 are connected to the above. The right and left operating rods 44 are provided with elongated holes 44a for flexibility at the connecting portions with the right and left operating shafts 43.

As shown in FIG. 3, when the right and left front wheels 1 are steered within the range of the straight-ahead position A1 and the right and left set angles A2, the accommodation of the elongated holes 44a of the right and left operating rods 44 causes , The right and left side clutches 40 are operated in the transmission state. As a result, the aircraft moves forward (reverse) while the 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 elongated hole 44a of the right operating rod 44 is exceeded. The right operating rod 44 is pulled, and the right operating shaft 43 operates the right side clutch 40 in a disengaged state. As a result, 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) (right side clutch). The aircraft turns to the right while the clutch state (40) is freely rotating.

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 elongated hole 44a of the left operating rod 44 is exceeded. The left operating rod 44 is pulled, and the left operating shaft 43 operates the left side clutch 40 in a disengaged state. As a result, 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 aircraft turns to the left while the clutch state (40) is freely rotating.

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-ahead position A1 side, the clutch state is cut off. The right (left) side clutch 40 that has been operated in the above is operated to the transmission state, and the right and left side clutches 40 are returned to the transmission state.

[3]
The transmission system to the seedling planting device 5 will be described.
As shown in FIGS. 1 and 4, in the mission case 34, the power branched from immediately before the auxiliary transmission is transmitted to the seedling planting device 5 via the planting clutch 26 and the PTO shaft 25, and is planted. An electric motor 28 that operates the clutch 26 in a transmission and disengagement state is provided.

As shown in FIGS. 1 and 2, when the planting clutch 26 is operated in the transmission state, the rotating case 7 is driven to the left and right by reciprocating and laterally feeding, and the rotating case 7 is counterclockwise to the paper surface of FIG. It is rotationally driven in the clockwise direction, and the planting arms 8 alternately take out the seedlings from the lower part of the seedling stand 10 and plant them on the rice field surface. When the planting clutch 26 is operated in the disconnected state, the seedling stand 10 and the rotating case 7 are stopped.

[4]
The automatic ascending / descending control of the seedling planting device 5 will be described.
As shown in FIG. 4, the rear portion of the central float 9 is swingably supported up and down around the horizontal axis P1 of the seedling planting device 5, and the height of the central float 9 with respect to the seedling planting device 5 is high. The height sensor 22 of the potentiometer type for detecting the above is provided, and the detection value of the height sensor 22 is input to the control device 23. As the traveling machine 50 advances, the central float 9 follows the ground surface, and the height from the rice field surface (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 elevating operation unit 57 is provided in the control device 23 as software, and the control valve 24 for supplying / discharging hydraulic oil to the hydraulic cylinder 4 is operated by the elevating 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 contracts, and the seedling planting device 5 rises. When the control valve 24 is operated to the lowering 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, the seedling planting device 5 is maintained at the set height from the rice field surface based on the height from the rice field surface (center float 9) to the seedling planting device 5 in the operating state of the automatic elevating control. (So that the detected value of the height sensor 22 (the vertical distance between the height sensor 22 and the float 9 in the center) is maintained at the set value), the control valve 24 is operated by the elevating operation unit 57. The hydraulic cylinder 4 expands and contracts, and the seedling planting device 5 automatically moves up and down.

[5]
The operation lever 12 will be described.
As shown in FIGS. 1, 2 and 4, an operation lever 12 is provided on the right lateral side below the control handle 20, and the operation lever 12 extends to the right lateral outside. The operating lever 12 has a first ascending position UU1 on the upper side, a second ascending position UU2 on the upper side, a first descending position DD1 on the lower side, a second descending position DD2 on the lower side, a right marker position MR on the rear side, and a left marker position on the front side from the neutral position N. It is configured to be operable in the cross direction of the ML and is urged to the neutral position N, 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 for detecting 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. The clutch operation unit 58 and the marker operation unit 59 are provided in the control device 23 as software.

As described in [6] described later, the control valve 24 is operated to the ascending, neutral and descending positions by the elevating operation unit 57 based on the operation of the operating lever 12, and the automatic elevating control described in the preceding item [4] is performed. It will be in the activated and stopped state.

As described in [6] described later, the electric motor 28 is operated by the clutch operating unit 58 based on the operation of the operating lever 12, and the planting clutch 26 is operated in the transmission and cutoff states. The electric motor 21 is operated by the operation unit 59, and the right and left markers 19 are operated in the operating and retracting postures.

[6]
The operation of each part based on the operation of the operation lever 12 will be described.
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 disengaged state, the automatic elevating control is stopped, and the right and left markers 19 are operated in the retracted posture. Then, the control valve 24 is operated to the ascending position, the hydraulic cylinder 4 contracts, and the seedling planting device 5 ascends. 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 is automatically stopped.

As shown in FIG. 4, when the operation lever 12 is operated to the second lowering position DD2, the planting clutch 26 is operated in the disengaged state, the automatic raising / lowering control is stopped, and the right and left markers 19 are operated in the retracted posture. In this state, the control valve 24 is operated to the lowering position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered. When the float 9 in the center touches the surface of the rice field, the automatic elevating control is activated and the seedling planting device 5 touches the surface of the rice field and stops.
When the operating lever 12 is operated to the second lowering position DD2 to the neutral position N and then the operating lever 12 is operated to the second lowering position DD2 again, the planting clutch 26 is in the transmission state in the operating state of the automatic raising / lowering control. Is operated by.

In the state where the planting clutch 26 is operated in the disengaged state and the right and left markers 19 are operated in the retracted posture in the stopped state of the automatic elevating control, the operating lever 12 is moved to the first ascending position as shown in FIG. When the UU1 is operated, the control valve 24 is operated to the ascending position, the hydraulic cylinder 4 is contracted, and the seedling planting device 5 is raised only while the operating lever 12 is operated to the first ascending position UU1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the raising of the seedling planting device 5 is stopped.

In the state where the planting clutch 26 is operated in the disengaged state and the right and left markers 19 are operated in the retracted posture in the stopped state of the automatic elevating control, the operating lever 12 is moved to the first lowering position as shown in FIG. When the DD1 is operated, the control valve 24 is operated to the lowering position, the hydraulic cylinder 4 is extended, and the seedling planting device 5 is lowered only while the operating lever 12 is operated to the first lowering position DD1. When the operating lever 12 is operated to the neutral position N, the control valve 24 is operated to the neutral position and the lowering of the seedling planting device 5 is stopped.

As described above, the seedling planting device 5 can be raised and lowered only while the operating lever 12 is being operated to the first ascending and first descending positions UU1 and DD1, and the seedling planting device 5 can be arbitrarily used. It can be stopped by ascending and descending to the 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 working posture. When the operating lever 12 is operated to the left marker position ML, the left marker 19 is operated to the working posture.

[7]
The configuration of the position detection and the direction detection of the traveling machine body 50 will be described.
As shown in FIGS. 1 and 2, right and left support frames 16 are provided on the right and left portions of the front portion of the traveling machine body, and the spare seedling rest 15 is supported by the support frame 16. A support frame 17 is connected over the upper part 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 located at the left and right center CL of the traveling machine body 50 in a plan view. The measuring device 30 is provided with a receiving device (not shown) that acquires position information by a satellite positioning system, and an inertial measurement 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 inertial measurement unit 48 for measuring inertial information is attached to a portion of the rear axle case 37 located at the left and right center CL of the traveling machine body 50 in a plan view. The inertial measurement of the inertial measurement unit 48 and the measuring device 30 is configured by an IMU (Inertial Measurement Unit).

A typical example of the above-mentioned satellite positioning system (GNSS: Global Navigation Satellite System) is GPS (Global Positioning System). GPS receives the measuring device 30 by using a plurality of GPS satellites orbiting the earth, a control station that tracks and controls GPS satellites, and a receiving device provided in a positioning target (traveling aircraft 50). It measures the position of the device.

The inertial measurement unit 48 includes a gyro sensor (not shown) capable of detecting the angular velocity of the yaw angle of the traveling machine body 50 (turning angle of the traveling machine body 50), and an acceleration sensor (not shown) that detects acceleration in three axial directions orthogonal to each other. (Not shown). The inertial information measured by the inertial measurement unit 48 includes directional change information detected by the gyro sensor and position change information detected by the acceleration sensor.

[8]
The configuration related to automatic driving will be described.
As shown in FIGS. 1, 2 and 4, the operating position of the speed change lever 45 is input to the control device 23. A center mascot 14 is provided at the left and right center CL positions 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 shifting motor 53 for operating the shifting lever 45 is provided.

As shown in FIG. 4, a smartphone 46 (portable information terminal) (corresponding to the acquisition unit) is equipped, and a Wi-Fi unit 47 (corresponding to the acquisition unit) is provided. The smartphone 46 and the Wi-Fi unit 47 are configured to communicate wirelessly with each other according to the Wi-Fi standard, and the Wi-Fi unit 47 and the control device 23 are connected by a 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 work start / end position setting unit 60 (corresponding to the work setting unit), the work travel line setting unit 61 (corresponding to the work setting unit), the automatic travel control unit 62, the turning line setting unit 63, and the automatic turning The control unit 64 and the turning direction notification unit 65 are provided in the control device 23 as software.

As shown in FIGS. 2 and 4, a push button type operation unit 18 for artificially operating the automatic traveling control unit 62 and the automatic turning control unit 64 in the operating state and the stopped state is provided in the grip portion of the speed change 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 wheel 20, and an audio output device 52 composed of a speaker or the like for outputting various sounds is provided.

[9]
The acquisition of the position data (corresponding to the position data of the outer peripheral portion of the field) of the ridge lines B11, B21, B31, and B41 of the ridges B1, B2, B3, and B4 will be described.
As shown in FIG. 5, for example, in a field provided with ridges B1, B2, B3, B4, the position data of the ridge lines B11, B21, B31, B41 of the ridges B1, B2, B3, B4 are obtained in the following (9). -1) Obtained in advance by any one (or a plurality) of the methods shown in 1) to (9-5), and stored in the computer 49.

(9-1)
The measuring device 30 shown in FIGS. 1 and 2 is removed from the traveling machine body 50, and the worker holding the measuring device 30 walks along the ridge lines B11 to B41 to determine the position of the worker by the measuring device 30. The indicated positioning data is obtained as position data of the ridge lines B11 to B41.

(9-2)
Positioning data indicating the position of the traveling machine 50 by the measuring device 30 by running the passenger-type rice transplanter (with the measuring device 30 attached) shown in FIGS. 1 and 2 along the ridge lines B11 to B41. Is obtained as position data of the ridge lines B11 to B41.

In this case, since the measuring device 30 is attached to the portion located at the left and right center CL of the traveling machine body 50 (the outer end portion of the traveling machine body 50 (seedling planting device 5) is located at the ridge lines 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 width of the traveling machine body 50 (seedling planting device 5) by 1/2 is the position data of the ridge lines B11 to B41. The correction is made so as to be.

(9-3)
Positioning that the same passenger-type rice transplanter (or another passenger-type rice transplanter or passenger-type seeder equipped with the measuring device 30) has traveled (worked) in the field in the past and indicates the position of the traveling aircraft 50 that has traveled in the field. When the data is obtained, this positioning data is used as the position data of the ridge lines B11 to B41. In this case, the correction described in the previous section (9-2) is performed.

(9-4)
When various work vehicles such as a combine and a tractor equipped with the measuring device 30 have traveled (worked) in the field in the past (or present) and obtained positioning data indicating the position of the work vehicle that has traveled in the field. , This positioning data is used as the position data of the ridge lines B11 to B41 (position data of the outer peripheral portion of the field obtained by another work vehicle).

(9-5)
If there is a commercially available storage medium on which the position data of the ridge lines B11 to B41 are recorded, this storage medium is used.

[10]
The settings of the work traveling lines L (L01 to L07) and the turning lines LL1 to LL6 will be described.
As described in the previous section [9], when the passenger-type rice transplanter arrives in the vicinity of the field (running) as shown in FIG. 5 in a state where the position data of the ridge lines B11 to B41 are stored in the computer 49. The position data of the aircraft 50 position K1) and the ridge lines B11 to B41 are transmitted from the computer 49 to the smartphone 46. The position data of the ridge lines B11 to B41 received by the smartphone 46 is transmitted from the smartphone 46 to the Wi-Fi unit 47, and is sent from the Wi-Fi unit 47 to the control device 23.

As a result, the following settings are made in the control device 23 based on the position data of the ridge lines B11 to B41. In this case, it is assumed that the ridge lines B11 and B21 are parallel and the ridge lines B31 and B41 are parallel, which is a rectangular field in a plan view.

As shown in FIG. 6, the work start / end position setting unit 60 is located at the center side of the field by the width of the traveling machine body 50 (seedling planting device 5) from the ridge lines B11 and B21. The work start / end lines LA1 and LA2 (corresponding to the work start position and the work end position) are set along the above. Pillowland lines LB1 and LB2 are set along the ridges B31 and B41 at positions on the center side of the field by the width of the traveling machine body 50 (seedling planting device 5) from the ridges B31 and B41.

As a result, the work start / end lines LA1 and LA2 and the headland lines LB1 and LB2 are displayed on the display device 27.
In this case, if the position data of the ridge lines B11 to B41 are obtained based on (9-3) of the previous item [9], the work start positions C1 to C7 and the work end positions D1 to D7, which will be described later, will be set. Work start / end lines LA1, LA2 and headland lines LB1, so that they coincide with (or are close to) work start positions C1 to C7 and work end positions D1 to D7 when traveling (working) in the field in the past. The work start / end position setting unit 60 may be configured so that the position of the LB2 is corrected.

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

As a result, the positions (positioning data) of the traveling machine body 50 by the work start / end lines LA1 and LA2, the headland lines LB1 and LB2, the work traveling line L, and the measuring device 30 are displayed on the display device 27.

Next, the driver specifies the work start position on the display device 27 to start the work first. As shown in FIG. 7, for example, when the position K2 is designated as the work start position, the work travel line setting unit 61 uses the work travel line L01 in order from the work travel line L closest to the position K2 in the plurality of work travel lines L. , L02, L03, L04, L05, L06, 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) are set.

As shown in FIG. 7, the positions of the work start / end lines LA1 and LA2 at the start ends of the work travel lines L01 to L07 are the work start positions C1, C2, C3, C4, C5, C6, and C7. The positions of the work start / end lines LA1 and LA2 at the end of the work travel lines L01 to L07 are the work end positions D1, D2, D3, D4, D5, D6, and D7.

As a result, the work start / end lines LA1 and LA2, the headland lines 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, and the position of the traveling machine body 50 by the measuring device 30 (positioning). Data) is displayed on the display device 27.

[11]
The setting of the swivel lines LL1 to LL6 will be described.
As described in the previous section [10], when the work start positions C1 to C7 and the work end positions D1 to D7 are set, the control device 23 shows the following based on the position data of the ridge lines B11 to B41. The settings are made.

As shown in FIG. 7, the swivel line setting unit 63 sets a circular swivel line LL1 in a plan view over the work end position D1 and the work start position C2 in the field.
Similarly, the work end position D2 and the work start position C3, the work end position D3 and the work start position C4, the work end position D4 and the work start position C5, the work end position D5 and the work start position C6, by the turning line setting unit 63, A circular swirl line LL2, LL3, LL4, LL5, LL6 in a plan view is set in the field over the work end position D6 and the work start position C7.

As a result, the work start / end lines LA1 and LA2, the headland lines 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 travel. The position (positioning data) of the aircraft 50 is displayed on the display device 27.

In the previous section [10], as shown in FIG. 12, for example, when the position K10 is designated as the work start position, the work start positions C1 to C7, the work end positions D1 to D7, and the work travel line L01, which are different from the states shown in FIG. ~ L07, swivel lines LL1 to LL6 are set as shown in FIG.

[12]
The running (work) by the passenger-type rice transplanter will be described (Part 1).
As described in the preceding paragraphs [10] and [11], the driver operates in a state where the work start positions C1 to C7, the work end positions D1 to D7, the work travel lines L01 to L07, and the turning lines LL1 to LL6 are set. By operating the unit 18, the automatic traveling control unit 62 performs the following operations.

As shown in FIG. 8, when the driver operates the operation unit 18 in the state where the traveling aircraft 50 is located at the position K1, the position (positioning data) of the traveling aircraft 50 by the measuring device 30 and the inertia information by the inertial measuring unit 48 As a result, the speed change motor 53 (speed change lever 45) and the steering motor 51 (control handle 20) are automatically operated by the control device 23.

As a result, as shown in FIG. 8, the traveling machine body 50 automatically starts at the position K1 and automatically travels along the route LC1 as a work start position where the driver first starts the planting work. It automatically stops at the specified position K2.
After that, the driver operates the operation unit 18 in order to start the work in the state where the traveling machine body 50 is located at the position K2.

As shown in FIG. 8, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K2, the elevating operation unit 57 as described in [13] [14] [15] described later. The control valve 24 is operated by the clutch operating unit 58, the planting clutch 26 (electric motor 28) is operated by the clutch operating unit 58, the right and left markers 19 (electric motor 21) are operated by the marker operating unit 59, and the turning direction notification unit. The display device 27 and the audio output device 52 are operated by 65.

Similar to the above, as described in [13], [14], and [15] described later, automatic traveling control is performed based on the position (positioning data) of the traveling machine body 50 by the measuring device 30 and the inertial information by the inertial measuring device 48. The speed change lever 45 (speed change motor 53) and the control handle 20 (steering motor 51) are operated by the unit 62 and the automatic turning control unit 64.

[13]
The running (work) by the passenger-type rice transplanter will be described (Part 2).
As shown in FIG. 7, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K2, the speed change lever 45 is operated to a predetermined speed change position, and the traveling machine body 50 automatically starts. Then, the control handle 20 is operated, and the traveling machine body 50 automatically travels along the work traveling line L01. The fact that the running (work) has been started is displayed on the display device 27, and the voice output device 52 notifies the vehicle by voice.

In this case, the seedling planting device 5 is lowered to the field surface from a position shortly before the seedling planting device 5 (planting arm 8) reaches the work start position C1 (automatic elevating control (see the previous section [4])). The operating state, the disengaged state of the planting clutch 26), and the marker 19 on the right are operated to the working posture (the marker 19 on the left is the retracted posture). It is displayed on the display device 27 that the seedling planting device 5 has been lowered to the field surface and that the marker 19 on the right has been operated in the working posture, and the voice output device 52 notifies by voice.

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 the transmission state to plant the seedlings from the work start position C1. Is started. The fact that the planting has started is displayed on the display device 27, and the voice output device 52 notifies by voice.
As a result, as shown in FIG. 9, seedlings are planted while the traveling machine body 50 automatically travels along the working traveling line L01, and the marker 19 on the right indicates the field surface corresponding to the working traveling line L02. An index is formed at the position of (see position K3 of the traveling machine body 50).

As shown in FIG. 9, when the traveling machine body 50 approaches the work end position D1 to the set distance on the work running line L01, the traveling machine body 50 approaches the work end position D1 and the traveling machine body 50 approaches the work end position D1. When D1 is reached, it is displayed on the display device 27 that the turn is performed in the turn direction (to the right on the turn line LL1), and the voice output device 52 notifies by voice.

As shown in FIG. 9, when the seedling planting device 5 (planting arm 8) reaches the work end position D1, the planting clutch 26 is operated in the shut-off state (seedling planting is stopped), and the seedling planting device 5 Is operated to rise from the field surface, and the marker 19 on the right is operated to the retracted posture. At the same time, the shift lever 45 is operated slightly from the predetermined shift position to the low speed side, and the traveling machine body 50 automatically travels (turns) along the turning line LL1 (see position K4 of the traveling machine body 50).
The display device 27 indicates that the seedling planting has stopped and the seedling planting device 5 has been raised, the marker 19 on the right has been operated to the retracted posture, and the turning to the right has been started. It is displayed and notified by voice by the voice output device 52.

As shown in FIG. 9, on the turning line LL1 (see position K4 of the traveling machine body 50), the seedling planting device 5 is lowered to the field surface from a position shortly before the traveling machine body 50 reaches the work start position C2 (automatically). The elevating control (see the previous section [4]) is operated (the planting clutch 26 is shut off), and the left marker 19 is operated to the working posture (the right marker 19 is the retracted posture). It is displayed on the display device 27 that the seedling planting device 5 has been lowered to the field surface and that the marker 19 on the left has been operated in the working posture, and the voice output device 52 notifies by voice.

As shown in FIGS. 9 to 10, when the seedling planting device 5 (planting arm 8) reaches the work start position C2, the planting clutch 26 is operated in the transmission state to plant the seedlings from the work start position C2. Is started, and the shift lever 45 is operated to a predetermined shift position. The fact that the planting of the seedlings has started is displayed on the display device 27, and the voice output device 52 notifies by voice. As a result, as shown in FIG. 10, seedlings are planted while the traveling machine body 50 automatically travels along the working traveling line L02, and the marker 19 on the left corresponds to the working traveling line L02. An index is formed at the position of the field surface (see position K5 of the traveling machine body 50).

In the above state, work start / end lines LA1 and LA2 and headland lines LB1 and LB2, 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 measuring device 30. The position (positioning data) of the traveling machine body 50 according to the above is displayed on the display device 27, and the traveling machine body 50 moves along the work traveling lines L01 and L02 and the turning line LL1 on the display device 27.

As described above, when the traveling machine 50 automatically travels along the work traveling line L02, in the state of automatic traveling (working) along the working traveling line L01 of the previous traveling aircraft 50, the right The marker 19 forms an index at the position of the field surface corresponding to the work traveling line L02 (see position K3 of the traveling machine body 50 in FIG. 9).
As a result, the driver visually observes the display device 27 and at the same time visually observes the center mascot 14 and the index of the position of the field surface corresponding to the above-mentioned work travel line L02, whereby the traveling machine body 50 is brought to the work traveling line L02. It can be confirmed that the vehicle runs automatically along the route.

As described above, as shown in FIGS. 9 and 10, automatic running (work) along the working running lines L01 to L07 of the traveling machine 50 and turning lines LL1 to LL6 of the traveling machine 50 Automatic running (turning) is performed along the line.

[14]
The running (work) by the passenger-type rice transplanter will be described (Part 3).
Regarding the state of the preceding paragraph [13], when the driver determines that it is necessary to change the traveling speed of the traveling machine body 50 on the working traveling lines L01 to L07 and the turning lines LL1 to LL6, the driver determines that the traveling speed of the traveling aircraft 50 needs to be changed. The shift lever 45 can be manually operated from a predetermined shift position to the high speed side and the low speed side (a state in which the operation of the shift lever 45 (shift motor 53) by the automatic traveling control unit 62 is temporarily stopped).

After that, when the traveling machine body 50 reaches the work start positions C1 to C7 or the work end positions D1 to D7 (or when the driver operates the operation unit 18) (or when the driver releases the shift lever 45), The speed change lever 45 is operated by the automatic travel control unit 62 to a predetermined speed change position.

Similarly, on the work traveling lines L01 to L07 and the turning lines LL1 to LL6, when the driver determines that the direction of the traveling aircraft 50 needs to be corrected, the driver manually steers against the steering motor 51. The steering wheel 20 can be operated (the operation of the steering wheel 20 (steering motor 51) by the automatic traveling control unit 62 is temporarily stopped).

After that, when the driver releases the steering wheel 20 (or when the driver operates the operation unit 18), the operation steering wheel 20 (steering motor 51) is operated by the automatic traveling control unit 62 as described above. Return to the state.

When it becomes necessary to stop the traveling machine body 50 on the work traveling lines L01 to L07 and the turning lines LL1 to LL6 (for example, when the seedlings of the spare seedling pedestal 15 are replenished to the seedling pedestal 10 of the seedling planting device 5). Etc.), the driver operates the shift lever 45 to the neutral position N to stop the traveling machine body 50 (temporary stop state of the automatic traveling control unit 62).
In this case, the driver can operate the operation lever 12 to perform the operation described in the preceding item [5].

After that, when the driver operates the operation unit 18, the automatic travel control unit 62 returns to the operating state, the speed change lever 45 is operated by the automatic travel control unit 62 to a predetermined shift position, and the traveling machine body 50 starts.

[15]
The running (work) by the passenger-type rice transplanter will be described (Part 4).
In the preceding paragraphs [13] and [14], as shown in FIG. 11, when the traveling machine body 50 reaches the work ending position D7 from the working traveling line L07 and ends traveling (work) along the working traveling lines L01 to L07. , The traveling machine body 50 stops at the work end position D7.

As shown in FIG. 11, when the driver operates the operation unit 18 in the state where the traveling machine 50 is stopped at the work end position D7, the position (positioning data) of the traveling machine 50 by the measuring device 30 and the inertial measurement unit 48 are used. Based on the inertial information, the automatic travel control unit 62 automatically operates the speed change motor 53 (speed change lever 45) and the steering motor 51 (control handle 20), and the traveling machine body 50 automatically travels along the route LC2. , The direction of the traveling machine 50 is corrected and the traveling machine 50 is moved forward and backward, and the traveling machine 50 automatically stops at the position K6.
After that, in the state where the traveling machine body 50 is located at the position K6, the driver operates the operation unit 18 in order to start the turning work.

As shown in FIG. 11, when the driver operates the operation unit 18 in the state where the traveling machine body 50 is located at the position K6, the seedling planting device 5 is lowered to the field surface (automatic raising / lowering control (see the previous section [4]). ), The planting clutch 26 is shut off), and the right and left markers 19 are held in the retracted posture without being operated by the working posture. The fact that the seedling planting device 5 has been lowered to the surface of the field is displayed on the display device 27, and the voice output device 52 notifies the seedling planting device 5 by voice.

After that, as shown in FIG. 11, the shift lever 45 is operated to a predetermined shift position, the traveling machine body 50 is automatically started, the steering handle 20 is operated, and the traveling machine body 50 is moved to the ridge line B41 and the ridge line B41. It automatically runs along the headland line LB2. At the same time as the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and the planting of seedlings is started from the position K6. The fact that the planting of the seedlings has started is displayed on the display device 27, and the voice output device 52 notifies by voice.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 automatically travels along the ridge line B41 and the headland line LB2 (rotating work traveling LD1).

As shown in FIG. 11, when the traveling machine body 50 approaches the ridge line B21 to the set distance in the rotating work traveling LD1, the display device 27 displays that the traveling machine body 50 has approached the ridge line B21, and sounds. It is notified by voice by the output device 52.

As shown in FIG. 11, when the rotating work traveling LD1 is completed and the front portion of the traveling machine body 50 reaches the ridge line B21, the planting clutch 26 is operated in the disconnected state (planting of seedlings is stopped), and the seedlings are stopped. The planting device 5 is operated to ascend from the rice field surface, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped.
Next, when the driver operates the operation unit 18, the direction of the traveling aircraft 50 is corrected and the traveling aircraft 50 moves forward and backward, and the traveling aircraft 50 automatically stops at the position K7.

As shown in FIG. 11, when the driver operates the operation unit 18 while the traveling machine body 50 is located at the position K7, it is lowered to the seedling planting device 5 field surface (automatic ascending / descending operation) in the same manner as the rotating work traveling LD1. The control (operating state of the control (see [4] above), the disengaged state of the planting clutch 26), the right and left markers 19 are held in the retracted posture without being operated by the working posture. The fact that the seedling planting device 5 has been lowered to the surface of the field is displayed on the display device 27, and is notified by voice by the voice output device 52.

After that, the shift lever 45 is operated to a predetermined shift position, the traveling machine body 50 is automatically started, the control handle 20 is operated, and the traveling machine body 50 is along the ridge line B21 and the work start / end line LA2. At the same time that the traveling machine body 50 starts, the planting clutch 26 is operated in the transmission state, and the planting of seedlings is started from the position K7. The fact that the planting of the seedlings has started is displayed on the display device 27, and the voice output device 52 notifies by voice.
As a result, as shown in FIG. 11, seedlings are planted while the traveling machine body 50 automatically travels along the ridge line B21 and the work start / end line LA2 (rotating work traveling LD2).

After that, as shown in FIG. 11, in the same manner as the rotating work traveling LD1 and LD2, the rotating work traveling LD3 along the ridge line B31 from the position K8 and the headland line LB1 and the ridge from the position K9. The rotating work traveling LD4 is performed along the edge line B11 and the work start / ending line LA1. When the rotating work traveling LD4 ends and the traveling machine 50 reaches the position K6, the traveling machine 50 leaves the field. go.
As described above, the planting of seedlings in one field is completed.

[First Different Mode of Implementation of the Invention]
In the above-described [mode for carrying out the invention], the swivel lines LL1 to LL6 shown in FIGS. 7 to 12 are circular in a plan view, but the swivel line LL1 having a plan view shape as shown below. ~ LL6 may be set.

The swivel line LL1 will be described as a representative. As shown in FIG. 13, when the front part of the traveling machine body 50 goes straight until it reaches the ridge line B11 on the working traveling line L01, the planting clutch 26 is operated in the disconnected state (stop planting of seedlings) and planting seedlings. The attachment device 5 is lifted from the field surface, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

As shown in FIG. 13, after the traveling machine body 50 is stopped, the reverse portion LL11, the forward portion LL12, the turning portion LL13, the forward portion LL14, the turning portion LL15, and the forward portion LL16 are performed on the turning line LL1 to perform seedlings. The planting device 5 (planting arm 8) is located at the work start position C2.

[Second alternative form of carrying out the invention]
In the above-described [mode for carrying out the invention], the swivel lines LL1 to LL6 shown in FIGS. 7 to 12 are circular in a plan view, but the swivel line LL1 having a plan view shape as shown below. ~ LL6 may be set.

The swivel line LL1 will be described as a representative. As shown in FIG. 14, when the front part of the traveling machine body 50 reaches a position slightly before the ridge line B11 on the working traveling line L01, the planting clutch 26 is operated in a disengaged state (stopping planting of seedlings). The seedling planting device 5 is operated to ascend from the rice field surface, the speed change lever 45 is operated to the neutral position N, and the traveling machine body 50 is stopped. In this state, the seedling planting device 5 (planting arm 8) is located at the work end position D1.

As shown in FIG. 14, after the traveling machine body 50 is stopped, the turning portion LL17, the advancing portion LL18, and the turning portion LL19 are performed on the turning line LL1, and the seedling planting device 5 (planting arm 8) works. It is located at the start position C2.

[Third alternative form of carrying out the invention]
In the above-mentioned [form for carrying out the invention] [first alternative form for carrying out the invention] [second alternative form for carrying out the invention], it may be configured as shown below.

In FIG. 5, based on the position data of the ridge lines B11 to B41, the work start / end lines LA1 and LA2 are set along the ridge lines B31 and B41, and the headland line LB1 is set along the ridge lines B11 and B21. , LB2 is set.

Next, between the work start / end line LA1 on one side and the work start / end line LA2 on the opposite side, a plurality of work running lines L (L01 to L07) are provided on the headland lines LB1 and LB2 (ridge lines B11, A predetermined interval W1 (width of the traveling machine body 50 (seedling planting device 5)) is set so as to be parallel to B21) and parallel to each other, and set over the work start / end lines LA1 and LA2.

The work traveling line described in the above-mentioned [form for carrying out the invention] [first alternative form for carrying out the invention] [second alternative form for carrying out the invention] and [third alternative form for carrying out the invention] in this section. L01 to L07 and turning lines LL1 to LL6 can also be applied to a tractor (an example of a work vehicle) (not shown) in which a rotary tiller (not shown) is movably supported at the rear of the traveling machine body 50.

[Fourth alternative form of carrying out the invention]
In a combine harvester (not shown) for cutting crops in a field, in place of the work running lines L01 to L07 and the turning lines LL1 to LL6 shown in FIGS. 7 to 12 of the above-mentioned [mode for carrying out the invention], FIG. It may be set as shown in.

As shown in FIG. 15, in the field, the traveling machine body 50 is run in parallel along the ridge lines B11 to B41, and the crops on the ridges of the ridges B1 to B4 (the portion of the rotating work running LD1 to LD4 in FIG. 11). Crop) in advance. As a result, the outer peripheral line LE1, LE2, LE3, LE4 indicating the outer peripheral portion of the crop remaining in the field is generated based on the position data of the ridge lines B11 to B41.

As shown in FIG. 15, the driver then designates a work start position on the display device 27 to first start the cutting work. As shown in FIG. 15, for example, when the position K11 is designated as the work start position, the work start positions C1 to C9 are set based on the position data of the outer peripheral lines LE1 to LE4 and the width of the traveling machine body 50, and the work ends. Positions D1 to D9 are set. The work running lines L01 to L09 are set based on the work start positions C1 to C9 and the work end positions D1 to D9, and the directions of the work running lines L01 to L09 (see the arrows of the working running lines L01 to L09 shown in FIG. 15). Is set.

As shown in FIG. 15, when the work start positions C1 to C9 and the work end positions D1 to D9 are set, the work start position is based on the position data of the ridge lines B11 to B41 (outer peripheral lines LE1 to LE4). The turning line LL1 is set over C1 to C9 and the work end positions D1 to D9.

As shown in FIG. 15, the turning line LL1 extending between the work end position D1 and the work start position C2 will be described as a representative. In the turning line LL1, the turning portion LL20 in the forward direction, the turning portion LL21 in the reverse direction, and the forward portion LL22 in the turning line LL1. Is performed and is located at the work start position C2.

[Fifth alternative form of carrying out the invention]
In a combine harvester (not shown) for cutting crops in a field, in place of the work running lines L01 to L07 and the turning lines LL1 to LL6 shown in FIGS. 7 to 12 of the above-mentioned [mode for carrying out the invention], FIG. It may be set as shown in.

As shown in FIG. 16, in the field, the traveling machine body 50 is run in parallel along the ridge lines B11 to B41, and the crops on the ridges of the ridges B1 to B4 (the portion of the rotating work running LD1 to LD4 in FIG. 11). Crop) in advance. As a result, the outer peripheral line LE1, LE2, LE3, LE4 indicating the outer peripheral portion of the crop remaining in the field is generated based on the position data of the ridge lines B11 to B41.

As shown in FIG. 16, the driver then designates a work start position on the display device 27 to first start the cutting work. For example, when the position K12 is specified as the work start position, the work start positions C1 to C7 are set and the work end positions D1 to D7 are set based on the position data of the outer peripheral lines LE1 to LE4 and the width of the traveling machine body 50. NS. Work travel lines L01 to L07 are set based on the work start positions C1 to C7 and the work end positions D1 to D7, 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. 16). Is set.

As shown in FIG. 16, when the work start positions C1 to C7 and the work end positions D1 to D7 are set, the work start position is based on the position data of the ridge lines B11 to B41 (outer peripheral lines LE1 to LE4). The turning lines LL1 to LL6 are set over C1 to C7 and the work end positions D1 to D7.

[Sixth Alternative Form of Implementation of the Invention]
Described in the following (6-1) to (6-4) in the above-mentioned [forms for carrying out the invention] [first alternative form of carrying out the invention] to [fifth alternative form of carrying out the invention]. It may be configured as follows.

(6-1)
When the automatic traveling control unit 62 and the automatic turning control unit 64 are provided, the automatic traveling control unit 62 is configured to be independently operated in the operating state and the stopped state by manual operation, and the automatic turning control unit 64 is independently operated by manual operation. It is configured so that it can be operated in the operating state and the stopped state.

(6-2)
The automatic traveling control unit 62 is provided, and the automatic turning control unit 64 is not provided. In this case, the automatic traveling control unit 62 is configured to be able to be independently operated in the operating state and the stopped state by manual operation.

(6-3)
The automatic turning control unit 64 is provided, and the automatic traveling control unit 62 is not provided. In this case, the automatic turning control unit 64 is configured so that it can be independently operated in the operating state and the stopped state by manual operation.

(6-4)
It does not include both the automatic traveling control unit 62 and the automatic turning control unit 64.

In the preceding paragraphs (6-1) to (6-4), when the automatic driving control unit 62 is not provided (when the automatic driving control unit 62 is operated in the stopped state) and when the automatic turning control unit 64 is not provided (automatic turning). (When the control unit 64 is operated in the stopped state), the driver operates the steering handle 20 and the speed change lever 45 while visually observing the display of the display device 27 to move the traveling machine body 50 to the working traveling lines L01 to L07 (L09). And run along the turning lines LL1 to LL6.
In this case, in the passenger-type rice transplanter, in addition to the display of the display device 27, the control handle 20 and the speed change lever 45 are visually observed with the center mascot 14 and the index of the position of the rice field corresponding to the work running lines L02 to L07. Is operated to drive the traveling machine body 50 along the working traveling lines L01 to L07.

[7th alternative embodiment of the invention]
In the above-described [sixth alternative mode of carrying out the invention], when the automatic turning control unit 64 is not provided (when the automatic turning control unit 64 is configured to be operable in the stopped state), the turning operation is performed as shown in FIG. The timing notification unit 66 may be provided in the control device 23 as software.
As a result, in a state where the automatic turning control unit 64 is not provided (a state in which the automatic turning control unit 64 is operated in the stopped state), the turning operation timing notification unit 66 is described in the following (7-1) to (7-4). It is configured to operate as follows.

(7-1)
As shown in FIG. 7, when the traveling machine body 50 reaches the work end positions D1 to D6,
"Operating the turning direction of the traveling machine 50 and the steering handle 20 in the turning direction"
Is displayed on the display device 27, and is notified by voice by the voice output device 52.
When the traveling machine body 50 reaches the work start positions C2 to C7,
"Operating the steering wheel 20 in a straight-ahead position"
Is displayed on the display device 27, and is notified by voice by the voice output device 52.
As a result, the driver may operate the steering wheel 20 and the speed change lever 45 according to the display of the display device 27 and the voice notification by the voice output device 52.

(7-2)
As shown in FIG. 13, when the traveling machine body 50 reaches the work end positions D1 to D6,
"Stopping the traveling aircraft 50 to move backward" (reverse part LL11)
"Stopping and advancing the traveling aircraft 50" (advanced portion LL12)
"Operating the turning direction of the traveling machine body 50 and the steering handle 20 in the turning direction" (turning portion LL13)
"Advancing the traveling aircraft 50" (advanced portion LL14)
"Operating the turning direction of the traveling machine body 50 and the steering handle 20 in the turning direction" (turning portion LL15)
"Advancing the traveling aircraft 50" (advanced portion LL16)
Is displayed on the display device 27, and is notified by voice by the voice output device 52.
As a result, the driver may operate the steering wheel 20 and the speed change lever 45 according to the display of the display device 27 and the voice notification by the voice output device 52.

(7-3)
As shown in FIG. 14, when the traveling machine body 50 reaches the work end positions D1 to D6,
"Operating the turning direction of the traveling machine body 50 and the steering handle 20 in the turning direction" (turning portion LL17)
"Advancing the traveling aircraft 50" (advanced portion LL18)
"Operating the turning direction of the traveling machine body 50 and the steering handle 20 in the turning direction" (turning portion LL19)
Is displayed on the display device 27, and is notified by voice by the voice output device 52.
As a result, the driver may operate the steering wheel 20 and the speed change lever 45 according to the display of the display device 27 and the voice notification by the voice output device 52.

(7-4)
As shown in FIG. 15, when the traveling machine body 50 reaches the work end positions D1 to D8,
"Operating the turning direction of the traveling aircraft 50 and the steering handle 20 in the turning direction" (turning portion LL20 in forward movement)
"Operating the turning direction of the traveling aircraft 50, operating the steering handle 20 in the turning direction, and moving the traveling aircraft 50 backward" (turning portion LL21 in reverse)
"Advancing the traveling aircraft 50" (advanced portion LL22)
Is displayed on the display device 27, and is notified by voice by the voice output device 52.
As a result, the driver may operate the steering wheel 20 and the speed change lever 45 according to the display of the display device 27 and the voice notification by the voice output device 52.
In this case, on the turning lines LL1 to LL6 as shown in FIG. 16, the display of the display device 27 and the voice notification by the voice output device 52 as described above may be performed.

In the preceding paragraphs (7-1) to (7-4), the seedling planting device by the elevating operation unit 57 as described in [13] [14] [15] of the above-mentioned [mode for carrying out the invention]. The planting clutch 26 is not operated by the clutch operating unit 58, and the right and left markers 19 are not operated by the marker operating unit 59, and the seedling planting device 5 is raised and lowered. The operation, the operation of the planting clutch 26, and the operation of the right and left markers 19 may be configured so that the driver operates the operation lever 12 (the above-described [mode for carrying out the invention]. (See [5] and [6]).

[Eighth alternative form of carrying out the invention]
In the above-mentioned [forms for carrying out the invention] [first alternative form of carrying out the invention] to [seventh alternative form of carrying out the invention], the configurations described below may be provided.

As shown in FIG. 20, the material remaining amount detecting unit 67 for detecting the remaining amount of the seedlings (corresponding to the material) placed on the seedling setting table 10 and the spare seedling setting table 15 sets the seedling setting table 10 and the spare seedlings. It is provided on the table 15, and the detection value of the material remaining amount detecting unit 67 is input to the control device 23. An automatic stop switch 54 manually operated by the driver is provided, and an operation command of the automatic stop switch 54 is input to the control device 23.

As shown in FIG. 20, the material remaining amount calculation unit 68, the material notification unit 69, the automatic stop unit 70, and the forced automatic stop unit 71 are provided in the control device 23 as software. As a result, the remaining amount of seedlings is calculated by the material remaining amount calculation unit 68 based on the detection value of the material remaining amount detecting unit 67 as shown in the following (8-1) and (8-2).
As shown in FIG. 18, seedlings are carried and placed on the ridge B1 (corresponding to a specific ridge) by a truck or the like, and an auxiliary worker is waiting at the ridge B1.

(8-1)
As shown in FIG.
"When the traveling machine body 50 is located on the working traveling lines L01 (L03) (L05) and enters the next working traveling lines L02 (L04) (L06), the two working traveling lines L02 and L03 (L04) are entered. , L05) (L06, L07) Is there enough seedlings to reach the ridge B1 after finishing the running (work)? "

(8-2)
As shown in FIG.
"When the traveling machine body 50 is located on the working traveling line L02 (L04) (L06) and enters the next working traveling line L03 (L05) (L07), the next working traveling line L03 (L05) ( Whether or not the seedlings of the seedling stand 10 and the spare seedling stand 15 disappear in the middle of L07). "

As a result, for example, as shown in FIG. 18, when the traveling machine body 50 is located at the position K13 (working traveling line L03) and enters the next working traveling line L04, the working traveling lines L04 and L05 If the seedlings of the seedling stand 10 and the spare seedling stand 15 are exhausted on the way, it is assumed that the material remaining amount calculation unit 68 calculates.

In the above-mentioned state, as shown in FIGS. 18 and 20, as shown in FIGS.
"The traveling aircraft 50 should be stopped at the ridge of the ridge B1 to replenish the seedlings."
Is displayed on the display device 27 by the material notification unit 69 and is notified by voice by the voice output device 52, and the driver may operate the automatic stop switch 54 at his / her own discretion.
At the same time, the same notification content as described above is transmitted from the smartphone 46 to the smartphone 55 (mobile information terminal) carried by the auxiliary worker, and the auxiliary worker is based on the notification to the smartphone 55 carried by himself / herself. Start preparing for seedling replenishment.

When the driver operates the automatic stop switch 54, the automatic stop unit 70 operates.
As a result, as shown in FIG. 18, when the driver operates the automatic stop switch 54 in the state where the traveling machine 50 is located at the position K13 (working running line L03), the working running line L03 of the traveling machine 50 is reached. The automatic running (work) along the line continues.

After that, as shown in FIG. 18, when the seedling planting device 5 (planting arm 8) reaches the work end position D3, the planting clutch 26 is operated to the shutoff state (seedling planting is stopped), and the seedling planting is stopped. The attachment device 5 is operated to ascend from the rice field, and the marker 19 on the right is operated to the retracted posture. Next, automatic traveling (turning) along the turning line LL3 of the traveling machine body 50 is not performed, the traveling machine body 50 advances as it is, and the front portion of the traveling machine body 50 is located at the ridge line B11. Then, the traveling machine body 50 automatically stops.
As a result, in the ridge B1, the auxiliary worker hands the seedlings to the driver of the traveling machine 50, and the driver who receives the seedlings replenishes the seedlings to the seedling pedestal 10 and the spare seedling pedestal 15.

Next, the operation of the forced automatic stop unit 71 will be described.
As shown in FIG. 18, in a state where the traveling machine body 50 is located at the position K13 (working traveling line L03),
"The traveling aircraft 50 should be stopped at the ridge of the ridge B1 to replenish the seedlings."
However, even if the material notification unit 69 displays the display on the display device 27 and the voice output device 52 notifies the display by voice, if the driver does not operate the automatic stop switch 54, the traveling machine body is as shown in FIG. It is assumed that automatic running (turning) is performed along the turning line LL3 of 50, and the traveling machine body 50 enters the working running line L04 (see position K15).

In this case, the remaining amount of seedlings is calculated again by the remaining amount of material calculation unit 68 based on the detected value of the remaining amount of material detecting unit 67.
"When the traveling machine 50 is located on the working traveling line L04 and enters the next working traveling line L05, the seedlings of the seedling pedestal 10 and the spare seedling pedestal 15 are in the middle of the next working traveling line L05. Will be gone "
When the state of the remaining amount of seedlings is calculated (corresponding to the state where the remaining amount of the material is less than the preset amount set in advance), the forced automatic stop unit 71 operates.

As shown in FIG. 19, when the forced automatic stop unit 71 is activated, the automatic running (work) of the traveling machine body 50 along the work traveling line L04 is continued, and the seedling planting device 5 (planting) When the arm 8) reaches the work end position D4, the planting clutch 26 is operated in the shut-off state (planting of seedlings is stopped), the seedling planting device 5 is operated to rise from the rice field surface, and the marker 19 on the left is in the retracted posture. Is operated by.

Next, automatic traveling (turning) along the turning line LL4 of the traveling machine body 50 is not performed, the traveling machine body 50 advances as it is, and the front portion of the traveling machine body 50 is located at the ridge line B21. Then, the traveling machine body 50 automatically stops.
In this case, the auxiliary worker waiting in the ridge B1 needs to move the seedlings prepared in the ridge B1 to the ridge B2, and the seedlings are replenished in the ridge B2.

[9th alternative embodiment of the invention]
In the above-mentioned [8th alternative embodiment of the invention], the traveling machine body 50 may be configured to travel and stop by the forced automatic stop unit 71 as described below.

As shown in FIG. 18, in a state where the traveling machine body 50 is located at the position K13 (working traveling line L03),
"The traveling aircraft 50 should be stopped at the ridge of the ridge B1 to replenish the seedlings."
However, even if the material notification unit 69 displays the display on the display device 27 and the voice output device 52 notifies the display by voice, if the driver does not operate the automatic stop switch 54, the traveling machine body is as shown in FIG. It is assumed that automatic running (turning) is performed along the turning line LL3 of 50, and the traveling machine body 50 enters the working running line L04 (see position K15).

In this case, the remaining amount of seedlings is calculated again by the remaining amount of material calculation unit 68 based on the detected value of the remaining amount of material detecting unit 67.
"When the traveling machine 50 is located on the working traveling line L04 and enters the next working traveling line L05, the seedlings of the seedling pedestal 10 and the spare seedling pedestal 15 are in the middle of the next working traveling line L05. Will be gone "
When the state of the remaining amount of seedlings is calculated (corresponding to the state where the remaining amount of the material is less than the preset amount set in advance), the forced automatic stop unit 71 operates.

When the forced automatic stop unit 71 is activated, the automatic running (work) of the traveling machine 50 along the working running line L04 is continued, and the automatic running (turning) along the turning line LL3 of the traveling machine 50 is continued. Is performed, and the traveling machine body 50 enters the working traveling line L05.
In this case, the seedlings of the seedling stand 10 and the spare seedling stand 15 disappear in the middle of the work running line L05, but the seedlings of the seedling stand 10 and the spare seedling stand 15 disappear in the middle of the work running line L05. When it disappears, the planting clutch 26 is operated in the shut-off state (the planting of seedlings is stopped), the seedling planting device 5 is operated to rise from the field surface, and the marker 19 on the right is operated to the retracted posture.
After that, the traveling along the work traveling line L05 of the traveling machine 50 is continued, and when the traveling machine 50 reaches the work end position D5 and the front part of the traveling machine 50 is located on the ridge line B11, the traveling machine 50 travels. The aircraft 50 automatically stops.

As a result, the auxiliary worker of the ridge B1 hands the seedlings prepared in the ridge B1 to the driver of the traveling machine 50, and the driver who receives the seedlings puts the seedlings on the seedling stand 10 and the spare seedling stand 15. To replenish.
After that, the driver manually operates the steering handle 20 and the speed change lever 45 to move the traveling machine body 50 backward along the work traveling line L05, and the position where the above-mentioned planting clutch 26 is operated in the disconnected state. It returns to (the stop position of planting seedlings) and resumes automatic running (work) along the work running line L05 of the traveling machine 50.

[10th alternative embodiment of the invention]
In the above-mentioned [8th alternative embodiment of the invention] [9th alternative embodiment of the invention], even if the traveling machine body 50 is configured to travel and stop as described below by the automatic stop unit 70. good.

As shown in FIG. 21, when the driver operates the automatic stop switch 54 in the state where the traveling machine body 50 is located at the position K17 (working running line L03), it is along the working running line L03 of the traveling machine body 50. Automatic driving (work) continues.

As shown in FIG. 21, when the seedling planting device 5 (planting arm 8) reaches the work end position D3, the planting clutch 26 is operated in the shut-off state (seedling planting is stopped), and the seedling planting device 5 Is operated ascending from the field surface, and the marker 19 on the right is operated to the retracted posture. At the same time, the shift lever 45 is operated slightly from the predetermined shift position to the low speed side, and the traveling machine body 50 automatically travels (turns) along the turning line LL3.

As shown in FIG. 21, the seedling planting device 5 is maintained in the ascending operation state (planting clutch 26) even when the traveling machine body 50 reaches the work start position C4 (see position K18) on the turning line LL3. Automatic running (work) along the work running line L04 of the next running machine 50 is not performed, and the running machine 50 moves backward as it is, and the seedlings The traveling machine body 50 automatically stops at the position K19 where the planting device 5 is located on the ridge line B11.

For example, in a riding type rice planting machine or a riding type direct seeding machine equipped with a fertilizer application device (not shown), a seeding device (not shown), and a chemical spraying device (not shown) on the rear part of the traveling machine body 50 or the link mechanism 3. When replenishing fertilizer, seeds, and chemicals from ridge B1, when fertilizer, seeds, and chemicals are replenished from ridge B1 to the rear of the traveling machine 50, the replenished fertilizer, seeds, and chemicals are applied to the fertilizer, seeding device, and chemical spraying device. Easy to replenish.
Therefore, in such a passenger-type rice transplanter or a passenger-type direct sowing machine, it is convenient to stop the traveling machine body 50 at the position K19 where the seedling planting device 5 is located at the ridge line B11 as shown in FIG. It becomes a thing.

[Eleventh alternative form of carrying out the invention]
In the above-mentioned [8th alternative mode of carrying out the invention] [9th alternative mode of implementing the invention] [10th alternative mode of implementing the invention], the material remaining amount calculation unit 68, the material notification unit 69, and the automatic stop unit 70 , The function of the forced automatic stop unit 71 may be configured to be applied to materials such as seeds, fertilizers, chemicals and fuel for running.

[12th alternative embodiment of the invention]
The configurations described in (12-1) and (12-2) below in the above-mentioned [forms for carrying out the invention] [first alternative form of carrying out the invention] to [11th alternative form of carrying out the invention]. May be provided.

(12-1)
When an obstacle such as a tree is present on the central side of the field (inside the ridge lines B11 to B41), the obstacle data indicating the position of the obstacle existing in the field is collected on the outer periphery of the field (ridge line B11). Included (added) in (position data of ~ B41).
In this case, at the position where the obstacle exists, the work traveling lines L01 to L09 are set to be in a bent state so as to bypass the obstacle.
When the traveling machine 50 reaches an obstacle on the work traveling lines L01 to L09, the planting clutch 26 is operated in the shut-off state (the planting of seedlings is stopped), and the seedling planting device 5 is operated to rise from the field surface to the right. The marker 19 (left) is operated to the retracted posture. When the traveling machine 50 finishes detouring the obstacle, the seedling planting device 5 is lowered to the surface of the field (operating state of automatic raising / lowering control (see [4] in the previous section)), and the marker 19 on the right (left) is in the working posture. It is operated, the planting clutch 26 is operated in the transmission state, and the planting of seedlings is restarted.

(12-2)
On the central side of the field (inside the ridge lines B11 to B41), slope data indicating the slope with respect to the horizontal plane at each position of the field is included in the outer peripheral portion of the field (position data of the ridge lines B11 to B41) (position data of the ridge lines B11 to B41). to add).
In the sloped portion of the field, the traveling aircraft 50 may skid along the slope. As a result, at a position where the traveling machine body 50 may slip sideways, the work running lines L01 to L09 may be slightly deviated to the side opposite to the sideways sliding direction in consideration of the side slipping of the traveling machine body 50, or the automatic running control unit 62. And the steering motor 51 (steering handle 20) by the automatic turning control unit 64 is configured to be sensitively performed.

[13th Alternative Form of Implementation of the Invention]
In the above-mentioned [mode for carrying out the invention] [first alternative form for carrying out the invention] to [12th alternative form for carrying out the invention], the work start / end position setting unit 60, the work travel line setting unit 61 and the turning The line setting unit 63 may be configured not to be provided in the control device 23.
When configured in this way, it may be configured as described in (13-1) to (13-8) below.

(13-1)
The work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit are used as software on a computer or the like (for example, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50. Be prepared.
As a result, the work setting system for setting the work travel lines L01 to L09 and the swivel lines LL1 to LL6 by the software work start / end position setting unit 60, work travel line setting unit 61, swivel line setting unit 63, and acquisition unit. Constitute.

(13-2)
In the configuration described in the previous section (13-1), the work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the acquisition unit are provided not in the same computer but in separate computers.
In this case, the work start / end position setting unit 60, the work travel line setting unit 61, and the acquisition unit configure a work setting system for setting the work travel lines L01 to L09. Separately, the work start / end position setting unit 60 A work setting system for setting the swivel lines LL1 to LL6 may be configured by the swivel line setting unit 63 and the acquisition unit.

(13-3)
The work start / end position setting unit 60, the work travel line setting unit 61, and the turning line setting unit 63 are provided as software on a computer or the like (for example, the computer 49 shown in FIG. 4) installed separately from the traveling machine body 50. The smartphone 46 (portable information terminal) shown in 4 and the acquisition unit corresponding to the Wi-Fi unit 47 are separately provided.
As a result, the work start / end position setting unit 60, the work travel line setting unit 61, the swivel line setting unit 63, which is software, and the acquisition unit, which is hardware, provide the work travel lines L01 to L09 and the swivel lines LL1 to LL6. Configure the work setting system to be set.

(13-4)
In the configuration described in the previous section (13-3), the work start / end position setting unit 60, the work travel line setting unit 61, and the turning line setting unit 63 are provided not in the same computer but in separate computers.
In this case, the work setting system for setting the work travel lines L01 to L09 by the software work start / end position setting unit 60, the work travel line setting unit 61, the turning line setting unit 63, and the hardware acquisition unit A work setting system for setting the swivel lines LL1 to LL6 is configured by the software work start / end position setting unit 60, the swivel line setting unit 63, and the hardware acquisition unit. May be good.

(13-5)
Work to set work running lines L01 to L09 and turning lines LL1 to LL6 with a dedicated control device including a work start / end position setting unit 60, a work running line setting unit 61, a turning line setting unit 63, and an acquisition unit. It is a setting device.

(13-6)
In the configuration described in the previous section (13-5), the work of setting the work travel lines L01 to L09 is provided with a dedicated control device including a work start / end position setting unit 60, a work travel line setting unit 61, and an acquisition unit. It may be a setting device, and separately, a work setting device for setting the swivel lines LL1 to LL6 by providing a dedicated control device including a work start / end position setting unit 60, a swivel line setting unit 63, and an acquisition unit. ..

(13-7)
It is equipped with a dedicated control device including a work start / end position setting unit 60, a work travel line setting unit 61, and a turning line setting unit 63, and corresponds to a smartphone 46 (portable information terminal) and a Wi-Fi unit 47 shown in FIG. The acquisition unit is provided separately from the control device, and is a work setting device that sets the work travel lines L01 to L09 and the turning lines LL1 to LL6 by the control device and the acquisition unit.

(13-8)
In the configuration described in the previous section (13-7), a work setting device for setting work travel lines L01 to L09 by a dedicated control device and acquisition unit including a work start / end position setting unit 60 and a work travel line setting unit 61. Alternatively, the work setting device may set the swivel lines LL1 to LL6 by a dedicated control device and acquisition unit provided with the work start / end position setting unit 60 and the swivel line setting unit 63.

In the configuration described in (13-1) to (13-8) above, by the method (9-1) to (9-4) described in [9] of the above-mentioned [mode for carrying out the invention]. , The position data of the ridge lines B11 to B41 is acquired by the acquisition unit of the work setting system (work setting device), and the work travel lines L01 to L09 (turning lines LL1 to LL6) are acquired by the work setting system (work setting device). To set.

Next, the work traveling lines L01 to L09 (turning lines LL1 to LL6) are transmitted from the work setting system (work setting device) to the control device 23 of the traveling machine body 50 via various communication means and storage media. In this case, the smartphone 46 (mobile information terminal) and the Wi-Fi unit 47 shown in FIG. 4 are no longer the acquisition units of the present invention.

The present invention includes not only a riding-type rice transplanter equipped with a seedling planting device 5 (corresponding to a working device) at the rear of the traveling machine 50 so as to be able to move up and down, but also a sowing device (corresponding to a working device) at the rear of the traveling machine 50. A passenger-type direct sowing machine that can be raised and lowered, a tractor that is equipped with a rotary tiller (corresponding to a working device) at the rear of the traveling machine 50, and a cutting section (corresponding to a working device) that is raised and lowered at the front of the traveling machine 50. It can be applied to a work vehicle that travels while working on a field, such as a freely equipped combine.

27 Display device 30 Positioning unit 46,47 Acquisition unit 50 Traveling machine 60 Work setting unit, work start / end position setting unit 61 Work setting unit, work travel line setting unit 62 Automatic travel control unit 63 Swivel line setting unit 64 Automatic rotation control unit 65 Swivel direction notification unit 66 Swivel operation timing notification unit 67 Material remaining amount detection unit 69 Material notification unit 70 Automatic stop unit 71 Forced automatic stop unit B1, B2 Ridges B11 to B41 Outer circumference of the field C1 to C9 Work start position D1 to D9 Work end position L01 to L09 Work running line LL1 to LL6 Swivel line W1 Predetermined interval

Claims (17)

An acquisition unit is provided to acquire the position data of the outer periphery of the field.
Based on the position data, a work setting unit is provided for setting a plurality of work running lines parallel to each other at predetermined intervals in the field on which the traveling machine travels.
A swivel line setting unit that sets a swivel line in the field over the work end position and the work start position set based on the position data, and a swivel line setting unit.
An automatic turning control unit that automatically steers the traveling machine so that the traveling machine travels along the turning line.
A turning direction notification unit that notifies the turning direction of the traveling aircraft on the turning line in advance before the traveling aircraft enters the turning line is further provided.
When the work start position for first starting the work is specified, the work setting unit sets the work start position with respect to the plurality of work travel lines preset before the work start position is specified. A reciprocating travel route including the travel direction of each work travel line is set so as to reciprocate along each of the plurality of work travel lines according to the above , and the end point of the work travel line and the start point of the next work travel line are set. A work vehicle in which a turning line is set over and over. The work vehicle according to claim 1, further comprising an automatic travel control unit that automatically steers the traveling vehicle so that the traveling vehicle travels along the work traveling line. In the work setting section,
Based on the position data, the work start end position setting unit that sets the work start position and the work end position in the field, and the work start end position setting unit.
The work according to claim 1 or 2, wherein the work running line setting unit for setting the work running line in the field is provided over the work start position and the work end position based on the position data. car. Based on the position data, the work start / end position setting unit sets a plurality of the work start positions and a plurality of the work end positions in the field along the ridges.
Based on the position data, the work travel line setting unit sets the work travel line in the field over the work start position on one ridge side and the work end position on the opposite ridge side. The work vehicle according to claim 3, wherein the work vehicle is set in the field at predetermined intervals so that the plurality of work travel lines are parallel to each other. It is equipped with a positioning unit that outputs positioning data that indicates the position of the traveling aircraft.
The work vehicle according to claim 3 or 4, further comprising a display device for displaying the work start position, the work end position, the work travel line, and the position of the traveling machine body. Any one of claims 3 to 5 provided with a turning operation timing notification unit that notifies the timing and turning direction of the traveling machine in the turning state from the work end position to the work start position. The work vehicle described in the section. The work vehicle according to any one of claims 1 to 6, which is provided with a display device for displaying the turning line. It is equipped with a material remaining amount detection unit that detects the remaining amount of materials to be loaded.
Claims 1 to 1 include a material notification unit that notifies the driver that the material should be replenished after the traveling machine has finished traveling along the work traveling line when the remaining amount of the material is low. The work vehicle according to any one of 7. The work vehicle according to claim 8, wherein the notification by the material notification unit is also performed to the auxiliary worker of the ridge. 8. Work vehicle. The work vehicle according to claim 10, wherein the automatic stop unit advances the traveling machine to a ridge and stops after the traveling machine finishes running along the work running line. The work vehicle according to claim 10, wherein the automatic stop unit turns the traveling machine after the traveling machine finishes traveling along the work traveling line, and then causes the traveling machine to move backward to a ridge and stop. When the remaining amount of material becomes less than the preset amount, a forced automatic stop unit that automatically stops the traveling machine at the ridge after the traveling machine finishes running along the work running line is provided. The work vehicle according to any one of claims 8 to 12 provided. One of claims 10 to 13 in which the ridge that automatically stops after the traveling machine finishes traveling along the work traveling line is the ridge of a specific ridge to which materials are replenished. The work vehicle described in the section. The work vehicle according to any one of claims 1 to 14, wherein the work travel line is based on positioning data indicating the position of the work vehicle that has traveled in the field in the past. The work vehicle according to any one of claims 1 to 15, wherein the position data includes obstacle data indicating the position of an obstacle existing in the field. The work vehicle according to any one of claims 1 to 16, wherein the position data includes inclination data indicating an inclination with respect to a horizontal plane at each position of the field.

Images