JP5016283B2 - Transplanter - Google Patents

Description

  The present invention relates to a transplanter such as a riding rice planter that performs planting work.

  For example, as a transplanter such as a riding rice planting machine, a planting device that supports a plurality of seedlings to be planted at the rear of a traveling machine body supported by front wheels and rear wheels through a lifting link mechanism is supported in a freely movable manner. It has been known.

  Among the transplanters described above, a sensitivity setting device for setting control sensitivity related to the lifting control of the transplanting device is provided, and the control sensitivity set by the sensitivity setting device is corrected to shift in the increasing / decreasing direction corresponding to the setting position or the like. There are those equipped with a vessel (see Patent Document 1).

  Further, among the above-described transplanters, the leveling device is disposed in front of the planting device behind the rear wheel, is moved up and down in conjunction with the planting device, and can be adjusted in position relative to the planting device. Some have In the transplanter having such a leveling device, for example, an operation for moving the leveling device for leveling the surface up and down to a working position and a non-working position and an operation for turning on and off the power transmission to the leveling device are 1 There is one that does not forget to engage the clutch in a state where the leveling device is lowered to the work position by performing it with a single operation lever (see Patent Document 2).

  In addition, in the transplanter described above, the drawing marker arranged on the left and right sides of the planting device is automatically retracted in conjunction with the ascending operation of the planting device, and the artificially selected drawing marker is provided on the side. There is one configured to project and operate in conjunction with the descending operation of the planting device.

  Some transplanters equipped with such a drawing marker include, for example, an automarker state in which the drawing marker to be operated to be projected next time every time the planting device is lifted is automatically switched between left and right, and an automarker that cancels this state. A marker operation selection means that can be manually selected is provided in the marker cut state. In the auto marker inserted state, the planting clutch automatically enters and operates based on the detection of the grounding of the planting device. In the auto marker cut state, the one shot lever ( A configuration is also known in which only a marker selection operation can be performed by operating the operation lever) back and forth (see Patent Document 3).

Japanese Patent Laid-Open No. 10-210820 JP 2006-81521 A Japanese Patent Application Laid-Open No. 2004-187637

  However, in the transplanter described in Patent Documents 1 to 3, the operation is facilitated in individual work devices such as a leveling device, but when working on a headland at the end of the field, etc. In this case, since a plurality of work devices may be operated simultaneously, the overall maneuverability is not always facilitated, and there is a disadvantage that the operation of the operator becomes complicated.

  Accordingly, an object of the present invention is to provide a transplanter that can operate a plurality of working devices related to planting in an integrated manner to reduce the burden on the operator.

The present invention (see, for example, FIGS. 1 to 13), a transplanter (1) comprising a traveling machine body (6) and a planting device (30) supported by the traveling machine body (6) so as to be movable up and down. In
In the work on the headland (M), which is the end of the farm field (100), a plurality of working units (18, 30, 36, 50) that are in a control state different from the reciprocating planting work inside the farm field (100). When,
The plurality of working units (18, 30, 36, 50) are provided with one headland control operation means (63) for setting or warning so as to be in the control state in the headland (M) at the same time. That is based on
Specifically, a planting device (30) supported by the traveling machine body (6) so as to be movable up and down,
Markers (50) that are arranged at both left and right ends of the planting device, and that can be switched between a working position that is alternately extended to the left and right as the planting device is raised and lowered and a stored non-working position;
In the transplanter provided with the leveling device (36) arranged between the traveling machine body and the planting device and capable of switching between a work position for leveling a farm scene and a non-working position in a retracted state,
As the planting device (30) is moved up and down, the marker (50) is switched to a setting with switching to alternate left and right and a setting without switching to determine the marker to be fed out to either the left and right, and the leveling device Comprising one headland control operating means (63) for setting an alarm or setting to be in the working position when in the non-working position;
In the transplanter (1) characterized by this.
The headland control operation means (63) is configured to select either the switching setting or the switching non-setting by switching on and off, and switching to the selected setting by a long press operation.

For example see Then 1 through 13, wherein the plurality of working portions at least one (18,30,36,50) is, to cancel the control state set by the pillow areas controlled operating means (63) It was configured to be able to maintain the control state of normal work .

For example see Then to FIGS. 4 to 11, one of said plurality of working portions (18,30,36,50) is, deep planting ground height is controlled by the hydraulic pressure of the planting device (30) A hydraulic control device (18) that automatically maintains a constant value,
The hydraulic sensitivity of the hydraulic control device (18) is changed by the headland control operating means (63) .

For example if 4 to 10, and reference Then 11, one of said plurality of working portions (18,30,36,50) is, the traveling machine body (6) and said the planting device (30) A leveling device (36) disposed between and leveling the field (100),
The headland control operating means (63) warns that the leveling device (36) is in a non-working position .

For example if 4 to 10, and reference Then 11, one of said plurality of working portions (18,30,36,50) is, the traveling machine body (6) and said the planting device (30) A leveling device (36) disposed between and leveling the field (100),
By the headland control operating means (63), the leveling device (36) is set so as to be in the working position .

  Note that the reference numerals in the parentheses are for comparison with the drawings, but this is for convenience to facilitate understanding of the invention and has no influence on the description of the claims. It is not a thing.

According to the first aspect of the present invention, in a transplanter equipped with a planting device, a plurality of operations in a control state different from a reciprocating planting operation inside a farm field in a work on a headland that is an end of a farm field. a is a marker and leveling device at the same time parts, equip one headland control operation means to set or alarm so that the control state at headland. Thereby, operation of the some operation | work part which arises at the time of the planting work in a headland can be integratedly performed by one headland control operation means. Accordingly, it is possible to reduce the complexity of the operation of the operator and reduce the burden at the time of work, and it is possible to prevent the occurrence of setting forgotten in a plurality of work units.

At least one of the working portion of the multiple number, since the switching of the marker capable of retaining the control state of normal work to cancel the control state set by headland control operation means, the control state in the plurality of working portions The selection of the settings can be easily performed.

One of the working unit of the multiple is disposed between the vehicle body and the planting device, a ground leveling device for leveling a field surface, the headland control operation means, the leveling device is in the non-working position Therefore, it is possible to prevent the leveling device from being forgotten to move to the work position during planting work at the headland.

One of the working unit of the multiple is disposed between the vehicle body and the planting device, a ground leveling device for leveling a field surface, the headland control operation means, such leveling device is working position Since it sets, it can prevent forgetting to move a leveling apparatus to a work position in the case of planting work in a headland.

  Hereinafter, the present embodiment will be described with reference to the drawings. FIG. 1 is a side view showing the main part of a riding rice transplanter to which the transplanter according to the present invention is applied, and FIG. 2 is a plan view showing the main part of the riding rice transplanter.

  As shown in FIGS. 1 and 2, the riding rice transplanter (transplanter) 1 in the present embodiment has a traveling machine body 6 supported by front wheels 2 and rear wheels 3. The traveling machine body 6 is equipped with an engine (not shown) in a bonnet 5 at the front portion of the front wheel, and a driver's seat 9 having a seat seat 7 is disposed in the middle part of the traveling machine body 6 in the front-rear direction. It is installed. An operation member such as a steering wheel 10 is disposed in the driver seat 9, and a pedal 15 for operating the main clutch and the traveling brake projects on a step below the driver seat 9.

  Behind the traveling machine body 6, a planting part (planting device, working part) 30 is supported so as to be movable up and down via an elevating link mechanism 20 having an upper link 20 a and a lower link 20 b. Planting rod 35, float 32, and seedling placing table 31 on which mat seedlings can be placed. The float 32 is pivotally mounted at its rear part so as to be rotatable about a shaft 45 provided at the lower part of the transmission case 43, and a sensing plate 46 (see FIG. 6 described later) is pivotally supported and connected to the front part thereof. Has been.

  The planting part 30 is freely rollable by a rolling shaft (not shown) installed on the link support frame 47 at the rear end part of the elevating link mechanism 20.

  Between the float 32 in the planting part 30 and the rear part of the traveling machine body 6, a leveling device (working part) 36 for smoothly leveling the rice field in the field is disposed. The leveling device 36 is supported by the planting unit 30 so as to be movable in the vertical direction (between the working position and the non-working position), and performs the leveling work at the working position.

  Markers (working units) 50 (R, L) are attached to the left and right ends of the planting unit 30. The left and right markers 50 (R, L) can be automatically and alternately switched between an operation position that is extended to the side of the machine body as the planting unit 30 is raised and lowered, and a non-work position that is stored. In the working position, it is possible to draw a narrow groove serving as a travel reference line of the traveling machine body 6 after turning at the farm field end in the farm scene.

  A hydraulic cylinder 24 is disposed in the lifting link mechanism 20 behind the traveling machine body 6. The hydraulic cylinder 24 is hydraulically controlled by control of a control unit 75 (see FIG. 9) composed of a microcomputer arranged in a cover below the seat 7 based on an operation of a work implement operating lever 12 (see FIG. 3) described later. Expansion and contraction is controlled by the valve 27 (see FIG. 5), and the planting part 30 is moved up and down. That is, the planting part 30 is moved up and down by the expansion and contraction of the hydraulic cylinder 24, and the hydraulic cylinder 24 always supplies hydraulic oil that is pumped from a hydraulic pump (not shown) to the hydraulic control valve 27 based on the operation of the work machine operation lever 12. Controlled by. In addition, at the time of the raising / lowering operation | movement of the planting part 30 as mentioned above, the raising height of the planting part 30 is detected by the lifter angle potentiometer 77 (refer FIG. 9).

  As shown in FIG. 5, an operating body 28 is disposed in the cover below the seat seat 7 together with the hydraulic control valve 27, and the hydraulic control valve 27 is operated by the operating body 28. The operating body 28 includes a lifter cam motor 21 disposed in the vicinity of the hydraulic control valve 27, a small gear 29 that rotates integrally with the motor shaft of the lifter cam motor 21, and a lifter cam 22 that meshes with the small gear 29. Have. A lifter cam potentiometer 23 that detects the rotation angle of the fulcrum shaft is attached to the fulcrum shaft of the lifter cam 22.

  A valve operation plate 49 is fixed to an operation shaft of the hydraulic control valve 27, and hydraulic hoses 72 and 73 are connected to the hydraulic cylinder 24 and a hydraulic pump (not shown) from the hydraulic control valve 27. The lifter cam 22, the hydraulic control valve 27, and the valve operation plate 49 are arranged so as to overlap in a side view.

  The hydraulic control valve 27 is operated by changing the state of the valve operation plate 49 to four positions of ascending, fixing, descending (automatic), and planting by the hydraulic cylinder 24. And by the said raise which is a lift function, when the planting part 30 is raised and this planting part 30 reaches the highest rise position, it will be in a fixed state automatically. In the fixed state, since the inflow of the hydraulic oil to the hydraulic cylinder 24 is stopped, the planting part 30 is held at a certain height. Moreover, when the planting part 30 is lowered by the above-described descending or planting, which is a lift function, and the float 32 comes into contact with the rice field, automatic control is set. In the automatic control, the valve operation plate 49 is directly moved by the link connected to the float 32. Therefore, the unevenness of the field scene is detected by the float 32, and the planting unit 30 is automatically moved up and down. It has become a thing. The hydraulic control valve 18, the float 32, and the sensing plate 46 constitute the hydraulic control device 18.

  On the other hand, as shown in FIGS. 3 and 4, a switch box 11 is provided below the steering wheel 10 in the driver's seat 9, and the switch box 11 has a work implement operating lever that can be operated in the direction of the arrow in FIG. 3. 12 is provided. In FIG. 4, the steering wheel 10 is not shown for the purpose of facilitating visual recognition of the switch box 11 and the like. Further, on the front side of the front panel 13 disposed so as to surround the steering wheel 10 and the switch box 11, a headland switch 63 (headland control operation means) which is a feature of the present invention is disposed, An automatic marker switch 61, a work switch 62, a hydraulic pressure sensitivity adjustment dial 65, an alarm stop switch 66, and the like are provided. Various types of monitors such as a planting monitor 67, a horizontal automatic monitor 69, and a ground work machine monitor 70 are disposed on the panel surface at the top of the front panel 13, and an HST lever and a throttle lever are provided on the left and right sides of the front panel 13, respectively. Etc. (illustration is omitted) are provided with flat cover portions 60 and 71. The switches 61, 62, 63 are concentrated on the left side of the steering wheel 10, and the hydraulic sensitivity adjustment dial 65 is disposed on the right side.

  Here, the raising / lowering control of the planting part 30 is demonstrated based on FIG.

  When the work implement operating lever 12 (see FIG. 3) is operated, the content of the operation is determined by a change-over switch (not shown) disposed in the switch box 11 (see FIG. 3), and from the change-over switch. Is sent to the control unit 75 (see FIG. 9). The control unit 75 transmits a control signal corresponding to the signal from the changeover switch to the lifter cam motor 21. Accordingly, the lifter cam 22 is rotated by the lifter cam motor 21 that operates based on the control signal from the changeover switch, and the hydraulic cylinder 24 (see FIG. 1) is controlled to expand and contract via the hydraulic control valve 27 that operates accordingly. As a result, the planting unit 30 is controlled to be lifted and lowered via the lift link mechanism 20.

  The work implement operating lever 12 is linked to a work switch 62 (see FIG. 4) on the front panel 13. When the work switch 62 is in the ON state, the work implement operating lever 12 causes the “planting clutch “On / Off”, “Raising / lowering of the planting part 30”, “operation of the marker 50” can be performed. When the work switch 62 is in the OFF state, only “raising and lowering the planting part 30” can be performed by the work machine operation lever 12.

  Here, a specific operation of the work implement operation lever 12 when the work switch 62 is in each of the above-described on / off states will be described.

  When the work switch 62 is in the ON state, the work implement operation lever 12 can be operated in the up / down and front / rear directions from the center reference position (see arrows in FIG. 3). The operation in the vertical direction is related to the control of the planting unit 30, and the operation in the front-rear direction is related to the marker 50.

  For example, when the work implement operating lever 12 is operated once in the upward direction from the state where the planting unit 30 is grounded and the planting clutch is engaged, the planting clutch is disengaged, and when the planting clutch is operated upward again. From the state of “planting clutch disengaged”, the “planting part rises” further. On the other hand, if the planting part 30 is operated once downward from the state where the planting part 30 is lifted and stopped, the planting part descends. Furthermore, “planting clutch included”. If you want to stop during the “planting part ascending”, perform one operation in the downward direction. If you want to stop during the “planting part descending”, perform one operation in the upward direction. Do.

  In addition, when the planting unit 30 is at the uppermost position and the marker automatic switch 61 on the front panel 13 is in the ON state in the above-mentioned “planting unit up”, the work implement operating lever 12 is operated forward. When it is done, it becomes “marker left set”, and when operated backward, it becomes “marker right set”. Further, in a state where “marker left set” or “marker right set” has been performed and the planting unit 30 is lowered by the above “planting unit lowering”, the marker set is within, for example, 7 seconds. When the work implement operation lever 12 is operated to the opposite side, the marker 50 is set to the left and right sides, resulting in “marker double drop”. Further, when the marker automatic switch 61 is turned off after the engine is started, the marker 50 is not set, and the marker is turned off.

  When the work switch 62 is in the OFF state, only the raising / lowering operation of the planting unit 30 can be performed by operating the work implement operation lever 12 in the up and down directions from the state where the work machine operation lever 12 is in the center reference position.

  When the work machine operation lever 12 is operated once in the upward direction, the planting portion is raised, and conversely, when the operation is performed once in the downward direction, the planting portion is lowered. If you want to stop “planting part rise” halfway, perform one operation downward. If you want to stop “planting part lowering” halfway, perform one operation upward. Do. Further, when the work switch 62 is in the OFF state, the operation relating to the marker 50 cannot be performed.

  In the passenger rice transplanter 1, when a main shift lever (not shown) is put in reverse, a reverse shift detection switch 76 (see FIG. 9 described later) is turned on, and the lifter cam 22 is moved to the lifter cam 22. It has a function of rotating the motor 21 (see FIG. 5) to disconnect the planting clutch and raising the planting part 30 to a predetermined height.

  Next, automatic hydraulic pressure sensing in the planting unit 30 will be described.

  The mechanism related to the automatic hydraulic pressure detection is a kind of automatic control device that transmits the movement of the float 32 that floats and sinks by “soft” on the surface to the hydraulic control valve 27 by the lifting link mechanism 20 and keeps the planting part 30 in an appropriate position. is there. This automatic control device changes and controls the hydraulic sensitivity in accordance with changes in engine rotation, working speed, and body posture, and automatically makes planting with hydraulic sensitivity that matches the field.

  When the control by the engine rotation is performed, the engine rotation is directly detected by the engine rotation pulse 81 (engine rotation sensor) which is a pulse unit, and the sensing wire 25 (see FIG. 9) is calculated by the arithmetic processing of the control unit 75 (see FIG. 9). 6), the basic posture of the float 32 is corrected. As a result, hydraulic pressure sensing follows engine rotation fluctuations, and good planting can be achieved at high speed. However, when the engine is dropped, the hydraulic pump also rotates at a low speed, the amount of oil sent to the hydraulic cylinder 24 decreases, and the planting depth tends to increase. Therefore, the rotation of the engine is directly detected, and the planting depth is maintained at a predetermined depth by changing the basic posture of the float 32 by advancing and retreating the sensing wire 25 and sensitively correcting the hydraulic pressure sensitivity. is there.

  Further, the control based on the work speed will be described in detail. When the planting speed is increased, the resistance of water increases, and the planting depth may become shallower by sensing the water surface rather than the paddy surface. When the shift lever is operated to the speed increasing side, the sensing load of the float 32 is pulled by pulling the HST interlocking wire 75 (see FIG. 6) connecting the main shift lever and the link portion of the hydraulic control valve 27 (see FIG. 5). The planting depth is maintained at a predetermined depth by correcting the hydraulic sensitivity to the insensitive side by preventing the float 32 from rising.

  When the control based on the body posture is performed, the body sensor detects the inclination of the traveling body 6 in the front-rear direction, and the sensing wire 25 is advanced and retracted by the calculation process of the control unit 75. Thereby, the dispersion | variation in the planting depth by the change of the front-back attitude | position of the traveling body 6 can be prevented. For example, when the traveling aircraft 6 heads up, the front part of the float is lowered relative to the aircraft, the hydraulic valve is operated to the lower side, the float 32 may sink and push mud, and planting A situation occurs where the depth increases. Such a change in the longitudinal posture of the traveling machine body 6 is detected, and the attitude of the float 32 with respect to the traveling machine body is corrected to maintain the planting depth at a predetermined depth.

  By the way, the above-described automatic hydraulic sensitivity may be insufficient or excessive depending on the field conditions (the softness of the field), and in such a case, a situation may occur in which the float 32 sinks or floats. . In such a case, the reference posture of the float 32 is corrected by the hydraulic sensitivity adjustment dial 65.

  Further, the hydraulic sensitivity adjustment dial 65 shown in FIG. 4 starts the operation from the reference position at which the standard sensitivity is obtained, and rotates the dial 65 to a position suitable for a soft field or a hard field to thereby adjust the reference position of the float 32. Adjust.

  In a soft field, the front part of the float tends to sink, and the front side of the float 32 is easily subjected to earth pressure, so that the hydraulic control valve 27 acts in the direction of rising through the hydraulic link that continues from the sensing plate 46. . Further, in a hard field, the front part of the float is lifted and the rear side of the float 32 is easily subjected to earth pressure, so that the hydraulic control valve 27 acts in a downward direction.

  Next, the leveling device 36 will be described with reference to FIGS. 7 (a) and 7 (b).

  As shown in FIG. 7A, the leveling device 36 (hereinafter also referred to as a ground working machine) includes a squirrel-cage leveling rotor 56 that contacts the surface of the field and levels the ground, and the leveling rotor 56 at the working position of the planting unit 30. It has a vertical movement mechanism 57 that moves in the vertical direction. A plurality of leveling rotors 56 are supported on the rotor shaft, and are rotationally driven by power from a power transmission device (not shown). The leveling rotor 56 is covered with a rotor cover 58 disposed above the leveling rotor 56.

  The leveling device 36 includes a lever guide 37 and a ground work machine lever 39 guided by the lever guide 37 on the front side of the seedling table 31 as an operation unit. A guide groove for guiding the ground working machine lever 39 is provided on the surface of the lever guide 37. When the ground working machine lever 39 is set in the notch 41 at the upper part of the guide groove, the leveling rotor 56 is Stored in non-working position. Further, when the ground work machine lever 39 is operated, in the range CR1 in the guide groove (see FIG. 7B), the clutch in the power transmission device of the leveling rotor 56 is disengaged, and the range CR2 (FIG. 7B). (See), the clutch is engaged. Further, a ground work machine height detection switch 45 is disposed at the upper right portion of the surface of the lever guide 37.

  Next, automatic control of the marker 50 will be described based on FIG.

  As shown in FIG. 8, the marker 50 is provided with a marker arm 52 that protrudes from the planting part 30 to the left and right sides and rotates up and down, and a rotating body marker 51 is attached to the tip of the marker arm 52. Has been. In the marker 50, a marker motor 53 and a rotary switch 55 are connected to each other, and the posture of the marker arm 52 is controlled based on the driving thereof.

  In the automatic control of the marker 50, when the work switch 62 (see FIG. 4) is in the on state and the marker automatic switch 61 (see FIG. 4) is in the on state, the planting unit 30 is controlled to rise to the uppermost position. And started. When the automatic control in the marker 50 is activated, the planting operation is performed alternately on the left and right sides for every vertical movement of the planting unit 30 during the planting operation. When the work switch 62 is in the off state, the marker 50 is not shaken out.

  Here, a specific operation of the work implement operation lever 12 related to the swinging out of the marker 50 when both the work switch 62 and the marker automatic switch 61 are in the on state will be described.

  That is, when both the work switch 62 and the automatic marker switch 61 are in the on state, the right marker 50 is set when the work implement operating lever 12 is operated from the center reference position to the near side (see FIG. 3). Conversely, when the work implement operating lever 12 is operated forward (see FIG. 3) from the central reference position, the left marker 50 is set.

  Further, when the planting unit 30 is located at the uppermost position and the marker automatic switch 61 is pressed, the lamp is turned off and the automatic control of the marker 50 can be stopped (marker switching). This setting can be returned to the original automatic control state by pressing the marker automatic switch 61 again or by operating the work machine operation lever 12 forward or forward.

  Further, when the planting unit 30 is lowered and the work machine operation lever 12 in the opposite direction to the marker 50 being swung out at that time is operated, the marker 50 in the opposite direction is also swung out to be in a double drop state. Can (marker fallen).

  Next, the control system in the present embodiment will be described with reference to FIG. FIG. 9 is a control block diagram in the present embodiment.

  As shown in FIG. 9, the control unit 75 mainly includes a signal related to the control of the planting unit 30 (upper stage in the dashed-dotted line A) and a signal related to the control of the marker 50 as shown in the dashed-dotted line A. Signals relating to the control of the headland control and the automatic hydraulic pressure sensing are input.

  In controlling the planting unit 30, signals are input from the work machine operation lever 12, the work switch 62, the reverse shift detection switch 76, the lifter cam potentiometer 23, and the lifter angle potentiometer 77. In controlling the marker 50, signals are input from the marker automatic switch 61, the work machine operation lever 12, and the marker switch 83, respectively. In the headland control and the automatic hydraulic pressure control, the alarm stop switch 66, the headland switch 63, the hydraulic sensitivity adjustment dial 65, the engine rotation pulse 81, the pitching sensor 82, the sensing wire potentiometer 79, and the ground work Each signal is input from the machine lever 39.

  Further, from the control unit 75, a signal related to the control of the planting unit 30 (upper stage in the one-dot chain line B) and a signal related to the control of the marker 50 (one-dot chain line B as shown mainly in the one-dot chain line B). Inner middle stage), signals related to headland control and automatic hydraulic pressure sensing (lower part in the chain line B) are output.

  In controlling the planting unit 30, the planting monitor 67, the horizontal automatic monitor 69, the alarm buzzer 80, and the lifter cam motor 21 are controlled via the control unit 75 based on the input signal described above. In controlling the marker 50, the marker automatic monitor 85, the marker monitor 86, and the marker motor 53 are controlled. In the headland control and the automatic hydraulic pressure control, the ground work machine monitor 70 and the sensing wire motor 26 are controlled via the control unit 75 based on the input signal described above.

  In the riding rice transplanter 1 according to the present embodiment, when a predetermined operation is performed, a plurality of working units including the hydraulic control device 18, the leveling device 36, the marker 50, or the like are controlled by the control unit 75 described above. In the work at the headland which is the end, the control state is different from the reciprocating planting work inside the field, and one headland switch 63 which is the headland control operation means, It has a basic control pattern for setting or alarming so as to be in the control state at the headland.

  The control unit 75 can individually execute various controls as described below within the basic control pattern. That is, even when the control state is set based on the operation of the headland switch 63, at least one of the plurality of working units can be canceled and the control state of the normal work can be maintained. The first control to be controlled is executed. Also, one of the plurality of working units that are controlled by the control unit 75 controls the ground height of the planting unit (planting device) 30 by hydraulic pressure, and automatically maintains the planting depth constant. When the control device 18 is used, the second control is executed to control the hydraulic pressure sensitivity of the hydraulic control device 18 to be changed by operating the headland switch 63.

  Then, when one of the plurality of working units that are controlled by the control unit 75 is the leveling device 36 that is disposed between the traveling machine body 6 and the planting unit 30 and levels the field scene, the headland By the operation of the switch 63, the third control is executed to control so as to warn that the leveling device 36 is in the non-working position. Further, when one of the plurality of working units to be controlled by the control unit 75 is the leveling device 36, setting control is performed so that the leveling device 36 becomes the working position by operating the headland switch 63. 4 Control is executed.

  Specific contents regarding each control will be described below.

  First, the headland control setting will be described based on FIGS. 10 and 13. FIG. 10 is a flowchart relating to the headland control setting, and FIG. 13 is a schematic diagram illustrating an example in the field when planting work is performed by the riding rice transplanter 1.

  In the riding rice transplanter 1 according to the present embodiment, the control related to the planting unit 30, the control related to the leveling device 36, the control related to the hydraulic control device 18, and the control related to the marker 50 are performed during the planting work. Each is executed as appropriate.

  When performing planting work in the riding rice transplanter 1 in a rectangular farm field 100 as shown in FIG. 13, for example, the riding rice transplanter 1 enters the farm field 100 as indicated by an arrow IN, and continues as it is. The work proceeds in the manner of a so-called one stroke along the course line shown in the figure, and exits from the arrow OUT after completion.

  Of the course shown in the field 100, the solid line 101 shown in the left-right width direction is the main planting position in such a rectangular field (corresponding to the aforementioned reciprocating planting work inside the field). A portion indicated by a one-dot chain line 102 indicates a cut-back position at the heel for passing through such a planting position.

  At the main planting positions indicated by the solid line 101 in the left-right width direction, the operator lowers the planting unit 30 and plantes the marker 50 while appropriately swinging to draw the travel reference line. Do work. At that time, automatic hydraulic pressure sensing in the float 32 is performed.

  Further, at the reversing position at the time of dredging indicated by a one-dot chain line 102, the operator stops the planting operation and raises the planting unit 30 to switch back the riding rice transplanter 1. At this time, when the planting part 30 is raised, the leveling device 36 rises together with the planting part 30, and the marker 50 is stored in the non-working position.

  On the other hand, in the agricultural field 100, there is a set portion of the turn-back position at the heel of the headland as shown in the range M at the left and right ends. In this headland, since the trace of the wheel at the time of turning back remains largely, it is easy to be in the state where the field surface was rough compared with the main planting position inside the agricultural field 100. The present invention is characterized by control of planting work in this rough headland.

  Next, the processing operation of the headland control setting at the time of planting work on the headland by the riding rice transplanter 1 including the first control will be described with reference to FIG.

  First, the control unit 75 determines whether the work switch 62 on the front panel 13 is on or off based on the input signal (step S81). As a result, when the switch 62 is off, the process returns to the beginning. On the other hand, when it determines with the work switch 62 being an ON state in step S81, the control part 75 determines whether the height of the planting part 30 exists in the highest raise position (step S82). .

  And in step S82, when the planting part 30 exists in the highest position, it returns to the beginning. On the other hand, when the planting part 30 is in a position lower than the highest position, the control part 75 further determines whether or not the headland switch 63 is operated (step S83). If the switch 63 is not operated, the process returns to the beginning. On the other hand, when the headland switch 63 is operated in step S83, the control unit 75 determines whether or not the headland switch 63 is pressed long (step S84).

  In step S84, when the headland switch 63 is in an on / off state in which the headland switch 63 is not pressed for a long time, the control unit 75 determines whether or not the headland mode is in an off state (step S90). If is other than the off state, the headland mode is set to the off state (step S92) and the process returns to the beginning. On the other hand, if the headland mode is in the off state in step S90, the control unit 75 sets the headland mode to the on state (step S91) and returns to the beginning. Here, when the process is finished in the above step S91, the headland mode is set to the on state, and the control related to the automatic hydraulic pressure sensing and the control related to the swinging out of the marker 50 are preset initials for headland control. Controlled by set value. The initial settings for the headland control in the headland mode on state include, for example, “no marker switching” related to the marker 50, “make hydraulic sensitivity insensitive to a predetermined amount” related to automatic hydraulic pressure detection, and “leveling” For example, an alarm is sounded when the device 36 is stored.

  In step S84, when the headland switch 63 is pressed for a long time, the control unit 75 further determines whether or not the marker automatic switch 61 has been operated (step S85). If it is determined that the marker automatic switch 61 is operated, it is next determined whether or not marker switching is set in the headland mode (step S86). The controller 75 sets no switching when the headland mode is set to have switching (step S87), and sets switching to have with no switching (step S93). In these steps S87 and S93, the control state of the marker 50 in the headland mode is continuously controlled during the planting operation in the headland, and the marker 50 is moved up and down, and the marker is moved up and down. “Switching present” for switching the swinging direction of left and right alternately, and automatic control related to swinging of the marker 50 are stopped, and the next swinging direction is not switched as the planting unit 30 moves up and down “no switching” It is possible to arbitrarily set the state.

  Next, when the marker automatic switch 61 is not operated in step S85 and after the marker control state is set in the headland mode in steps S87 and S93, the control unit 75 operates the hydraulic sensitivity adjustment dial 65. It is determined whether or not there is (step S88).

  If the hydraulic sensitivity adjustment dial 65 is not operated in step S88, the process returns to the beginning. If the hydraulic sensitivity adjustment dial 65 is operated in step S88, “hydraulic sensitivity dial position M” is set as the headland control setting value (step S89), and the process returns to the beginning. In step S89, the headland control set value M at the time of planting work in the headland mode can be changed to a value that matches the field conditions. When it is determined in step S88 that the hydraulic pressure sensitivity adjustment dial 65 is not operated, the headland control setting value M is not changed, that is, the headland control mode is controlled with the initial setting value in the headland mode. .

  Next, referring to the flowcharts shown in FIGS. 11A and 11B, the processing operation of the hydraulic pressure sensing control during the planting work by the riding rice transplanter 1 will be described.

  That is, as shown in FIG. 11A, when performing the hydraulic pressure sensing control, the control unit 75 sets the hydraulic pressure sensing target value (step S101). As shown in FIG. 11B, the oil pressure sensing target value is set by the engine speed Ep from the engine speed pulse 81, the pitching sensor value Ps from the pitching sensor 82, and the oil pressure from the hydraulic sensitivity adjustment dial 65. A sensitivity adjustment dial value Yd and a headland control setting value M are acquired (step S111).

  Next, the control unit 75 determines whether the headland control flag is on or off (step S112). If the headland control flag is on in step S112, the hydraulic pressure sensing target value is set to “Yd + Ps × α + Ep × β + M” (step S113). If the headland control flag is off, Then, the hydraulic pressure sensing target value is set to “Yd + Ps × α + Ep × β” (step S114).

  After setting the hydraulic pressure sensing target value in steps S113 and S114, the controller 75 determines whether or not the position of the lifter cam 22 is in the raised state (step S115). If the position of the lifter cam 22 is in the raised state, a predetermined value is set in the detection restriction timer (step S116). After the completion of step S116 and when the position of the lifter cam 22 is other than the raised state (that is, the lowered state or the planting state) in step S115 described above, the control unit 75 next detects the detection restriction timer. It is determined whether the value of 0 is 0 (step S117).

  In step S117, if the value of the detection restriction timer is other than 0, the control unit 75 sets the detection restriction position to the hydraulic pressure detection target value (step S118), and the value of the detection restriction timer is other than zero. In the case where it is detected, the process ends, and the process returns to the process shown in FIG.

  When the oil pressure sensing target value is set in the process shown in FIG. 11B, the control unit 75 subtracts the oil pressure sensing target value from the value of the sensing wire potentiometer 79 and takes the absolute value to obtain the deviation. Obtained (step S102). Next, it is determined whether the deviation is outside the dead zone or inside the dead zone (step S103). If the deviation is within the dead zone, the operation of the sensing wire motor 26 that changes the length of the sensing wire 25 is stopped (step S106), and the process is terminated.

  When the deviation is outside the dead zone in step S103, the control unit 75 determines whether or not the value of the sensing wire potentiometer 79 is equal to or less than the hydraulic pressure sensing target value (step S104). When the value of the sensing wire potentiometer 79 is equal to or lower than the hydraulic pressure sensing target value, the control unit 75 operates the sensing wire motor 26 in a direction in which the hydraulic pressure sensing sensitivity becomes dull (step S105), and ends the process. On the other hand, when the value of the sensing wire potentiometer 79 exceeds the oil pressure sensing target value, the control unit 75 operates the sensing wire motor 26 in a direction in which the oil pressure sensing sensitivity becomes sharp (step S107), and ends the process. In this way, by performing the processes of steps S105 and S107, the hydraulic pressure sensitivity change control of the hydraulic control device 18 is performed.

  Next, with reference to the flowchart shown in FIG. 12, the processing operation of the ground work machine alarm control at the time of planting work at the headland by the riding rice transplanter 1 will be described.

  First, the control unit 75 determines whether the work switch 62 on the front panel 13 is on or off based on the input signal (step S121). As a result, when the switch 62 is in the off state, the process is terminated. On the other hand, when it is determined in step S121 that the work switch 62 is in the ON state, the control unit 75 determines whether the position of the ground work machine lever 39 is in the work position or the storage position (step S121). S122).

  If it is determined in step S122 that the position of the ground work machine lever 39 is in the work position, the ground work machine monitor 70 is set to be lit (step S123), and the process ends. Similarly, in step S122, when it is determined that the position of the ground work machine lever 39 is in the retracted position, the control unit 75 determines whether the headland mode is in the on state or the off state (step). S124) If the headland mode is in the off state, the ground work machine monitor 70 is set to be turned off (step S125), and the process is terminated.

  If the headland mode is on in step S124, the control unit 75 sets the ground work machine monitor 70 to blink and outputs an alarm with the alarm buzzer 80 (step S126). By the processing of step S126, control for warning that the leveling device 36 is in the non-working position is performed. After step S126, the control unit 75 determines the input of the alarm stop switch 66 (step S127), and ends the process if the input of the alarm stop switch 66 is in the off state. If the input of the alarm stop switch 66 is on, the control unit 75 stops the alarm output from the alarm buzzer 80 (step S128) and ends the process. The warning control of the leveling device 36 is performed by the process of step S128. In the case where it is determined that the headland mode is on and the leveling device 36 is not at the work position, the alarm buzzer 80 outputs an alarm in step S126, but such alarm control is not performed. Alternatively, the leveling device 36 may be automatically lowered with respect to the planting unit 30 by an actuator provided separately.

  In the riding rice transplanter 1 according to the present embodiment described above, a plurality of planting units 30, the hydraulic control device 18, the leveling device 36, the marker 50, and the like are used for work on the headland that is the end of the field. At the same time, the working unit is provided with one headland switch 63 for setting or alarming so as to be in the control state in the headland. Thereby, the operation of a plurality of working parts occurring at the time of planting work at the headland can be performed by the single headland switch 63. Accordingly, it is possible to reduce the complexity of the operation of the operator and reduce the burden at the time of work, and it is possible to prevent the occurrence of setting forgotten in a plurality of work units.

  In addition, at least one of the plurality of working units as described above cancels the control state set by the headland switch 63 and maintains the control state of the normal work that is the reciprocating planting work inside the field. Since it has constituted so that it can obtain, the selection of the setting of the control state in a plurality of operation parts can be performed easily. Furthermore, one of the plurality of working units as described above is a hydraulic control device 18 that controls the height of the planting unit 30 with respect to the ground by hydraulic pressure to automatically keep the planting depth constant. Since the hydraulic pressure sensitivity of the hydraulic control device 18 is changed by the switch 63, the hydraulic pressure sensitivity at the headland can be easily changed by operating the headland switch 63 without changing the setting in the normal reciprocating planting operation. Can do.

  Further, one of the plurality of working units as described above is a leveling device 36 that is disposed between the traveling machine body 6 and the planting unit 30 and leveles the farm scene, and is operated by operating the headland switch 63. The work implement monitor 70 is set so as to blink, and the alarm buzzer 80 outputs an alarm to warn that the leveling device 36 is in the non-working position. Forgetting to move the device 36 to the working position can be prevented. Furthermore, one of the plurality of working units as described above is disposed between the traveling machine body 6 and the planting unit 30, and is a leveling device 36 for leveling the farm scene, and by operating the headland switch 63, Since the leveling device 36 is set to be in the work position, it is possible to prevent the leveling device 36 from being forgotten to move to the work position during planting work at the headland.

It is a side view which shows the principal part of the riding rice transplanter to which the transplanter concerning this invention is applied. It is a top view which shows the principal part of a riding rice transplanter. It is a schematic perspective view which shows a front panel and a steering wheel from diagonally upward. It is a schematic front view which shows a front panel and its periphery. It is a side view which shows a lifter cam and its periphery. It is a side view which shows a float and the periphery of a sensing plate. It is a figure which shows the leveling apparatus, (a) The front view which looked at the leveling apparatus from the traveling body side, (b) The front view which took out and showed the ground working machine lever periphery. It is a top view which shows a marker and a marker periphery. It is a block diagram which shows the input / output of a control part. It is a flowchart regarding a headland control setting. It is a figure regarding oil pressure sensing control, (a) is a flowchart which shows the main processes regarding oil pressure sensing control, (b) It is a flowchart regarding the oil pressure sensing target value setting in (a). It is a flowchart of ground work machine alarm control. It is the schematic diagram which showed an example in the agricultural field in the case of planting work with a riding rice transplanter.

Explanation of symbols

1 transplanter (riding rice transplanter)
6 traveling machine body 18 hydraulic control device, working unit (hydraulic control device)
30 Planting device (planting unit), working unit (planting unit)
36 Leveling device, working section (leveling device)
50 Working section (marker)
63 Headland control operation means (headland switch)
100 Field M Headland (range)

Claims (2)

A planting device that is vertically movable supported on run line body,
Markers that are arranged at both left and right ends of the planting device, and that can be switched between a working position that is alternately extended to the left and right as the planting device is raised and lowered, and a stored non-working position,
In the transplanting machine that is disposed between the traveling machine body and the planting device, and includes a leveling device that can be switched between a working position for leveling a farm scene and a non-working position that is in a retracted state ,
As the planting device is moved up and down, the marker is switched to a setting with switching to the left and right alternately and a setting without switching to set the marker to be extended to either the left or right, and the leveling device is at a non-working position. A single headland control operating means for setting a case to issue a warning or to be at the work position ,
A transplanter characterized by that. The headland control operating means is selected by switching on and off, either the switching setting or switching non-setting, and switching to the selected setting by a long press operation,
The transplanter according to claim 1.

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