JP6961508B2 - Porting machine - Google Patents

Description

The present invention relates to a transplant machine provided with a control unit capable of performing auto-marker control that automatically switches the swing direction of the left and right markers.

A planting work machine that is connected so that it can be raised and lowered on the rear side of the traveling machine, a pair of left and right markers that are swung to the left and right outside of the traveling machine and draw a running reference line on the planting line in the next process, and one of the left and right sides. One-sided swinging state in which the markers are in the swinging posture and the other side is in the retracted posture that is swung upward, two-sided swinging state in which the markers on both the left and right sides are in the swinging posture, and the markers on both the left and right sides are in the swinging posture, respectively. A marker operating means for switching to either a stowed posture or a stowed state, a mode setting means for setting an auto mode for automatically switching the posture of the marker, and a marker posture detecting means for detecting the posture of each marker. A working machine lever for operating the raising and lowering operation of the planting work machine, a raising and lowering position detecting means for detecting the raising and lowering position of the planting work machine, and a control unit are provided, and the control unit is set to the auto mode. When it is detected that the planting work machine has risen to a predetermined height, the marker is switched to the retracted state, and then, on condition that it is detected that the planting work machine has fallen to a predetermined height, the marker is said. Conventionally, the transplanting machine described in Patent Document 1 is known in which an auto-marker control for automatically switching from a stored state to a one-sided swinging state can be performed.

According to the transplanting machine of Patent Document 1, when the work running is performed while drawing the running reference line on the planting row in the next step by the marker switched to the one-sided swinging state, the marker is on the field end side. By the time the work running is resumed after turning, the markers on the left and right sides are automatically switched to the one-sided swinging state, so that the operator does not have to perform the marker swinging operation, and the planting work is performed. Can be done smoothly.

However, when the work run is performed by switching the markers to the two-sided swing state when the work run is performed with the field edge side open in a row, when the auto marker control of the control unit is executed, the operator of the left and right markers The marker on the unintended side is switched to the one-sided swinging state, and the operator re-operates so that the marker in the opposite direction is in the swinging posture, or the marker swung in the opposite direction comes into contact with an obstacle. It was possible to do it.

Japanese Patent No. 5280394

INDUSTRIAL APPLICABILITY The present invention is a transplant machine configured so that auto-marker control that automatically switches the swing direction of the left and right markers can be executed. An object of the present invention is to provide a transplanting machine capable of switching the marker on the side intended by the operator to the swinging posture in the next process.

In order to solve the above problems, the present invention firstly comprises a planting work machine connected so as to be able to move up and down on the rear side of the traveling machine body, and a planting line arranged on the left and right outside of the traveling machine body. A pair of left and right markers that draw a driving reference line, a one-sided swing state in which one of the left and right markers is in a swinging posture and the other marker is in a vertically swung storage posture, and one left and right markers are in a swinging posture. A marker operating means for switching between a two-sided swing state in which the swinging posture is set and a stowed state in which the markers on both the left and right sides are set in the stowed posture, and a mode setting for setting an auto mode for automatically switching the posture of the marker. Means, marker posture detecting means for detecting the posture of each marker, working machine lever for operating the raising and lowering operation of the planting work machine, raising and lowering position detecting means for detecting the raising and lowering position of the planting work machine, and notification means. , The control unit switches the marker to the retracted state when it is detected that the planting work machine has risen to a predetermined height in the state set to the auto mode, and then the planting work. On condition that it is detected that the machine has descended to a predetermined height, an auto marker control that automatically switches the marker from the retracted state to the one-sided swing state can be executed, and the control unit is automatically configured. When the two-sided swing state of the marker is detected during the execution of the marker control, the automatic switching operation from the retracted state of the marker to the one-side swing state is regulated, and the notification means informs the operator of the marker by the marker operating means. It is characterized by being configured to encourage the swinging operation of.

Secondly, a notification lamp and a notification buzzer are provided as the notification means, and the control unit determines a planting work machine when a marker's bilateral swing state is detected during execution of the auto marker control. When it is detected that the height has risen, the notification lamp notifies the operator, and when the lowering operation of the planting work machine is detected, the notification buzzer notifies the operator. It is characterized by being configured in.

When the two-sided swing state of the marker is detected during the execution of the auto marker control, the control unit is restricted from switching from the contained state of the marker to the one-sided swing state. By swinging the marker, it is possible to avoid a situation in which the marker comes into contact with an obstacle or an operation of swinging the marker in the opposite direction is performed. In addition, it is possible to prevent the worker from traveling in a state where the marker is forgotten to be switched to the swinging posture by the notification means.

Further, a notification lamp and a notification buzzer are provided as the notification means, and the control unit raises the planting work machine to a predetermined height when both swing states of the markers are detected during execution of the auto marker control. When it is detected that the planting machine has risen, the notification lamp notifies the operator, and when the lowering operation of the planting work machine is detected, the notification buzzer notifies the operator. According to the above, the notification by the notification buzzer is performed at the timing immediately before the marker is swung out, so that the notification sound does not get in the way. Further, when the marker is intentionally moved while being in the retracted state, only the notification lamp is used for notification, so that it is possible to prevent a situation in which the notification sound is emitted at an unnecessary timing during work traveling.

It is an overall side view of the passenger rice transplanter to which the transplanter of this invention was applied. (A) is a view showing the front side of the control unit, (B) is a front view showing a display panel, (C) is a view showing an operation panel, and (D) is a view showing the operation panel. , It is the figure which showed the grip part of the main shift lever. It is a model figure which showed the operation mode of the work equipment lever. It is a side view of the main part which showed the operation part of the planting work machine. It is a front view of the main part which showed the storage posture and the swing posture of a marker. It is a side view of the main part of the marker device base end side. It is a rear view of the main part which showed the marker device in the retracted posture. It is the rear view of the main part which showed the marker device in the swinging posture. It is a model diagram which showed the work route at the time of planting work in a field scene. It is a block diagram of a control part. It is a main flow diagram of a control part. It is a processing flow diagram which showed the subroutine of work machine operation control. It is a processing flow diagram which showed the subroutine of a marker mode control. It is a processing flow diagram which showed the subroutine of a marker output control. It is a processing flow diagram which showed the subroutine of a marker notification control.

Hereinafter, embodiments of the present invention will be described based on the illustrated examples. FIG. 1 is an overall side view of a passenger rice transplanter to which the transplanter of the present invention is applied, FIG. 2 (A) is a view showing the front side of a control unit, and FIG. 2 (B) is a display panel. 2 (C) is a view showing an operation panel, FIG. 2 (D) is a view showing a grip portion of a traveling lever, and FIG. 3 is a working machine lever. FIG. 4 is a model view showing an operation mode of the above, and FIG. 4 is a side view of a main part showing an operation part of a planting work machine. The passenger rice transplanter includes a traveling machine 3 supported by a pair of left and right front wheels 1, 1 and rear wheels 2, 2, a planting work machine 6 connected to the rear of the traveling machine 3 via an elevating link 4. It is composed of a spare seedling stand 7 arranged on the side side of the traveling machine body 3.

An engine (not shown) surrounded by a bonnet 9 is mounted on the front side of the body frame 8 that supports the traveling machine body 3, and an operator can get on the rear side of the engine to perform steering operations and the like. A control unit 11 for performing the above is provided. In addition, a center pole 12 is erected at the central front portion of the bonnet 9.

The control unit 11 is arranged in the vicinity of the seat 13 on which the operator sits, the steering handle 14 arranged in front of the seat 13, the display panel 16 arranged in front of the steering handle 14, and the display panel 16. The operation panel 17, the main shift lever 18 provided on one of the left and right sides (left side in the illustrated example) of the steering handle 14, and the work provided on the left and right other side (right side in the illustrated example) of the steering handle 14. A machine lever (marker operating means) 19, an auxiliary speed change lever 21 arranged on the side of the work machine lever 19, and a control arranged on the side of the auxiliary speed change lever 21 to operate the engine rotation speed. A lever 22 is provided. A control unit 50, which will be described later and is composed of a microcomputer or the like, is arranged directly below the seat 11 (see FIGS. 1 and 2 (A)).

The work equipment lever 19 is configured to be swingable in the vertical and horizontal directions, is urged to a neutral position by an urging member or the like (not shown), and is in the neutral position after being swinged in the vertical or horizontal direction. It is configured to return to. As a result, the work machine lever 19 is operated to raise the planting work machine 6 and disengage the planting clutch by the upward swing operation, and to lower the planting clutch and to disengage the planting clutch by the downward swing operation. The connection is operated, and the posture switching of the marker 47 of the marker device 38, which will be described later, can be operated by the left-right swing operation (see FIGS. 1 and 3).

The main speed change lever 18 can operate the traveling speed change by swinging back and forth, and also lowers the work machine up switch 23A for raising and operating the planting work machine 6 inside the grip portion at the upper end and the planting work machine 6 for lowering. The work machine lowering switch 23B to be operated is arranged up and down, and is configured to be able to perform the same operation as the up and down swing operation of the work machine lever 19. Further, each switch is configured so that the operator can press the main shift lever 18 with his / her thumb while holding the main shift lever 18 (see FIG. 2D).

The operation panel 17 includes a marker control switch (mode setting means) 26 for operating the switching to the auto mode in which the auto marker control of the marker device 38, which will be described in detail later, is executed, a planting preparation switch 24, and a traveling machine body 3. A lighting switch 27 for switching ON / OFF of the headlight of the headlight and a notification buzzer switch 28 for operating ON / OFF of the notification buzzer are provided. In the vicinity of each switch operating tool, a lamp indicating an ON / OFF state of each switch operating tool is provided (see FIG. 2C).

The display panel 16 includes a planting display unit 31 for notifying the ON / OFF state of the planting preparation switch 24, a raised state (raised) of the planting work machine operated by the work machine lever, and a fixed state. A work status display unit 32 including four notification lamps for notifying the operator that it is in a descending state (lowering) or a planting state, and direction indicators 33L and 33R are provided (FIG. 2 (FIG. 2). B) See).

The planting work machine 6 includes a seedling stand 36 that is steeply inclined upward toward the front, and a planting portion 37 that scrapes the seedlings placed on the back side of the seedling stand 36 and plants them in the field. A pair of left and right marker devices 38, 38 that draw a reference line on the planting row in the next step by being swung outward to the left and right of the planting work machine 6 are provided, and an elevating device 39 is provided on the rear side of the traveling machine 3. It is connected so that it can be driven up and down via an engine, and the power from the engine is intermittently transmitted by a planting clutch (not shown). The specific configuration of the marker device 38 will be described later.

The planting work machine 6 is stopped by the control unit 50 in an ascending state in which the planting work machine 6 is ascended and in a descending state in which the planting work machine 6 is lowered (or at a working height on the lower end side). A work machine that switches between a fixed state in which the planting work machine 6 is fixed at an arbitrary height position and a planting state in which the planting portion 37 in the down stop state is driven to perform planting work. Operation control is configured to be executable.

In addition, when the control unit 50 turns toward the next planting row after the main passenger rice transplanter has planted to the end side of the field, when a steering operation exceeding a predetermined value is detected, the control unit 50 detects it. , The planting work machine 6 in the planted state is automatically switched to the ascending state to ascend to a predetermined non-working height, and then planted by the time the turning running is finished and the planting work in the next process is restarted. The work equipment turning up / down control that automatically lowers the attached work equipment 6 to the lower end (working height) can be executed.

Incidentally, the elevating device 39 includes an elevating cylinder which is a hydraulic actuator, a working machine operating cam 41 for operating the expansion and contraction operation of the elevating cylinder, a working machine operating cam motor 42 for operating the position of the working machine operating cam, and the like. The control unit 50 has an output gear 43 driven by the work machine operation cam motor 42 and a work machine operation cam potential 44 for detecting an operation position of the work machine operation cam 41, and the control unit 50 has a work machine operation cam potential 44. Based on the operation position of the work machine operation cam 41 detected by the above, the ascending / descending state (raising state, lowering state, lowering stopped state) of the planting work machine 6 can be detected (see FIG. 4).

Next, the configuration of the marker device will be described with reference to FIGS. 5 to 8. FIG. 5 is a front view of the main part showing the storage posture and the swinging posture of the marker, FIG. 6 is a side view of the main part on the base end side of the marker device, and FIG. 7 shows the marker device in the storage posture. It is a rear view of the main part, and FIG. 8 is a rear view of the main part showing a marker device in a swinging posture.

The marker device 38 is a pair of left and right support arms 46, 46 arranged on the left and right side of the planting work machine 6, and a marker which is a rotating body rotatably supported on the tip side of each support arm 46. The support arm 46 is rotated via the 47, the support portion 45 that supports the base end side of the support arm 46 so as to be swingable up and down, the sector gear 48 that is attached and fixed to the support portion 45 side, and the sector gear 48. A marker motor 49 to be operated and a tension spring 51 which is an elastic member attached to the base end side of each support arm 46 and urging the tip of the support arm 46 toward the left and right outside are provided, and the swing fulcrum side of the support arm 46 is provided. It is covered by a cover body 52 (see FIG. 5 and the like).

As a result, the marker device 38 can switch to a swinging posture in which the marker 47 acts on the field scene side by swinging the support arm 46 to the left and right outside (field) side by the urging force of the tension spring 51. At the same time, the support arm 46 is rotated upward against the urging force of the tension spring 51 by the marker motor 49, so that the marker 47 is raised along the side side of the planting work machine 6 in a stored state. It is configured to be switchable (see FIGS. 5, 7 and 8).

Further, as shown in FIG. 7 and the like, on the upper side of the marker motor 49, a marker storage switch (marker posture detecting means) 53L that is pushed to the upper side of the sector gear 48 when the marker 47 is switched to the storage posture. , 53R are mounted and supported, and marker swing switches (marker posture detecting means) 54L, 54R that are pushed to the lower side of the sector gear 48 when the marker 37 is switched to the swing posture are mounted on the lower side of the marker motor 49. It is supported. As a result, it is possible to detect the retracted posture and the swinging posture of the marker.

As a result, the marker device 38 is configured so that the posture switching of the marker 47 can be operated by swinging the working machine lever 19 in the left-right direction, and both the left and right markers 47 and 47 are in the retracted posture. The two-sided swinging state in which both the left and right markers 47 and 47 are in the swinging posture, and the one-sided swinging state in which the left and right markers 47 are in the swinging posture while the left and right markers 47 are in the retracting posture. It can be switched to.

With the above configuration, the marker device 38 puts the marker 47 in a swinging posture toward the planting row in the next step, which is the side on the left and right where the seedlings are not planted, on the starting end side of the current planting row. By switching and moving the traveling machine body 3 forward along the traveling reference line drawn on the current planting row, a linear traveling reference line is drawn on the planting reference line in the next process. be able to.

Further, the marker device 38 is linked to the automatic ascending / descending of the planting work machine 6 during the turning traveling on the field end side by the control unit 50, and the markers on the left and right opposite sides are used when the planting work is restarted after the turning. The auto marker control that automatically switches the posture of the marker 47 so that the 47 is in the one-sided swing state in which the posture is switched to the swing posture can be executed.

Specifically, the auto marker control first memorizes which of the left and right markers 47 is operated in the swinging posture during the planting operation in the field, and then the planting work machine 6 performs the operation. When the planting work machine 6 is raised to the non-working height by the machine turning control, the marker device 38 is set on the condition that the planting work machine 6 becomes higher than the switching height h1 set at a position lower than the non-working height. The planting work machine 6 is automatically switched to the retracted state, and then when the planting work machine 6 is lowered from the non-working height to the working height by the working machine turning control, the planting work machine 6 moves to the switching height h1. The marker device 38 is configured to automatically switch from the stored state to the one-sided swinging state in which the marker 47 in the opposite direction to the stored marker 47 is in the swinging posture on condition that the height is lower than the above.

Next, based on FIG. 9, a work traveling route in a field scene by the transplanter having the above configuration will be described. FIG. 9 is a model diagram showing a work route during planting work in a field scene. When performing planting work in a field scene, this passenger rice transplanter first moves to the planting start position (1 in FIG. 9), which leaves two strokes as a headland at the ridge, and leaves the outer peripheral part in the field scene. The planting work is performed while reciprocating inside, and finally, the planting work of the headland of the width of the first two strokes is performed so as to go around the outer circumference of the work area (2, 3 in FIG. 9). ). As a result, the planting work can be efficiently performed on the entire field scene.

To explain in detail how to move to the planting start position (1 in FIG. 9), the rice transplanter for this passenger first has ridges that are two steps outside the position where the planting work is started along the ridge side. It moves to the edge side of the field (0a in FIG. 9). At this time, the marker device 38 is in a one-sided swinging state in which the left and right inner markers (on the right side in the traveling direction in the illustrated example) are in the swinging posture, so that the traveling reference line on the inner side of one stroke can be drawn from the ridge. To.

Next, while keeping the left and right inner markers in the swinging posture, run along the ridge to the field edge side, and turn toward the inside of the field so that the running reference line drawn by the marker on the field scene and the center pole 12 meet. do. At the time of the turning, the marker device 38 is switched to the bilateral swing state (0b in FIG. 9). By traveling forward to the field edge side in this state, it is possible to simultaneously draw a traveling reference line between the traveling route along the ridge and the traveling route from the planting start position in the field scene.

Next, the traveling machine 3 can be moved to the planting start position by turning the traveling machine 3 so that the traveling reference line inside the field and the center pole 12 meet (1 in FIG. 9). At the time of turning, the marker device 38 is switched to a one-sided swinging state in which only the left and right inner markers are in the swinging posture.

At this time, since the marker device 38 needs to switch from the two-sided swing state to the one-side swing state, if the auto marker control by the control unit 50 is executed as it is, the marker in the intended direction is switched to the swing posture. Is not always. Therefore, the control unit 50 regulates that the marker 47 in the retracted posture is automatically switched to the swing posture when a swing state on both sides of the marker device 38 is detected during execution of the auto marker control, and also regulates the operation. It is configured to notify the operator that the marker 47 on either the left or right side (on the right side in the illustrated example) should be manually operated in the one-sided swinging state with the swinging posture. The specific control content of the auto marker control will be described later.

Next, the control unit will be described with reference to FIGS. 10 to 15. FIG. 10 is a block diagram of the control unit. On the input side of the control unit 50, the work machine preparation switch 24, the marker control switch 26, and the work machine operation switch (upper / lower side) 56 for detecting the vertical swing operation of the work machine lever 19 57, marker operation switches (right side / left side) 58, 59 for detecting the left-right swing operation of the work machine lever 19, the work machine operation cam potentiometer 44, and the elevating height of the planting work machine 6. The lift angle potentiometer (elevation position detecting means) 61, the marker swing switches (right side / left side) 54R, 54L for detecting the swinging postures of the left and right markers 47, 47, and the storage postures of the left and right markers 47, 47 are detected. The marker storage switches (right side / left side) 53R and 53L are connected.

Further, on the output side of the control unit 50, the work machine operation cam motor 42, the marker motors (right side / left side) 49R and 49L, a notification buzzer 62 that emits a warning sound to the operator, and a manual marker for the operator. Notification lamps (right / left) 63R and 63L that prompt the operation with visual information are connected. The direction indicators 33R and 33L may be used as the notification lamp 63.

FIG. 11 is a main flow diagram of the control unit. As shown in the figure, when the main flow of the automarker control of the control unit 50 is started, the process starts from step S1. In step S1, the subroutine for controlling the operation of the work machine is executed, and when the processing is completed, the process proceeds to step S2. In step S2, the subroutine for controlling the marker mode is executed, and when the processing is completed, the process proceeds to step S3. In step S3, the subroutine of marker output control is executed, and when the processing is completed, the process proceeds to step S4. In step S4, the subroutine of marker notification control is executed, and when the processing is completed, the processing is returned thereafter.

FIG. 12 is a processing flow diagram showing a subroutine for controlling the operation of the work equipment. When the subroutine for controlling the operation of the work equipment is executed, the process proceeds to step S11. In step S11, it is confirmed by the work machine lever 19 or the work machine lowering switch 23B whether or not the planting work machine 6 is being lowered, and if the lowering operation of the planting work machine 6 is detected, The process proceeds to step S12.

In step S12, the ON / OFF state of the planting preparation switch 24 is confirmed, and if the ON state of the planting preparation switch 24 is detected, the process proceeds to step S13. In step S13, the work machine operation cam potentiometer 44 confirms whether or not the planting work machine 6 is in the ascending state, and if it is detected that the planting work machine 6 is not in the ascending state, the process proceeds to step S14.

In step S14, the work machine operation cam potentiometer 44 confirms whether or not the planting work machine 6 is in the lowered state, and a state other than the lowered state (specifically, a fixed state or a planting state) is detected. If so, the process proceeds to step S15. In step S15, the lift angle potentiometer 61 confirms whether or not the height position of the planting work machine 6 is in the fixed state, and if it is detected that the height position is in the fixed state, the process proceeds to step S16.

In step S16, the planting work machine 6 is set from the fixed state to the descending state, and then returns. On the other hand, in step S15, when the planting state is not fixed, that is, when the planting state of the planting work machine 6 is detected, the process returns as it is.

If a descending state of the planting work machine 6 is detected in step S14, the process proceeds to step S17. In step S17, the lift angle potentiometer 61 confirms whether or not the lowering operation of the planting work machine 6 is stopped at the lower end side (working position), and the lowering operation of the planting work machine 6 is stopped. If is detected, the process proceeds to step S18.

In step S18, by connecting and connecting the planting clutch 65, the planting work machine 6 is set to the planting state, and a planting clutch flag indicating that the planting work machine 6 is switched to the planting state is set. Set and then return.

If it is detected in step S17 that the lowering operation of the planting work machine 6 is not stopped and the planting work machine 6 is in the lowering operation, the process proceeds to step S19. In step S19, the planting clutch is set in the waiting state for engagement, and then returns.

If the ascending state of the planting work machine 6 is detected in step S13, the process proceeds to step S20. In step S20, the planting work machine 6 is set in the fixed state, and then returns.

If the OFF state of the planting preparation switch 24 is detected in step S12, the process proceeds to step S21. In step S21, the working machine operation cam potentiometer 44 confirms whether or not the planting work machine 6 is in the raised state, and if the raised state is detected, the process proceeds to step S20 to move the planting work machine 6 to the rising state. Set to the fixed state and then return. On the other hand, if a state other than the ascending state is detected in step S21, the process proceeds to step S22.

In step S22, the work machine operation cam potentiometer 44 confirms whether or not the planting work machine 6 is in the fixed state, and if the fixed state is detected, the process proceeds to step S23. In step S23, the planting work machine 6 is set to an automatic (lowering) state in which the planting work machine 6 is lowered by its own weight, and then returns. On the other hand, if it is detected in step S22 that the planting work machine 6 is not fixed, the planting work machine 6 returns after that.

In step S23, the planting work machine 6 is set to an automatic (lowering) state in which the planting work machine 6 is lowered toward the working position by its own weight, and then returns.

That is, when the control unit 50 detects the lowering operation of the planting work machine 6 by the work machine lever 19, the planting state is maintained when the planting work machine 6 is in the planting state. When the planting work machine 6 is in the fixed state fixed at an arbitrary height position, it is switched to the lowering state, the planting preparation switch 24 is in the on state, and the planting work machine 6 is in the lowering operation. If there was, the planting work machine 6 reached the lower end side (working height) and at the same time was switched to the planting clutch waiting state where the planting clutch could be switched to the planting state, and the planting work machine 6 was in the ascending state. In this case, the planting work machine 6 is configured to stop the ascending operation and switch to the fixed state.

Further, when the planting work machine 6 is at the working height and the planting work machine 6 is lowered, the planting work machine 6 stopped at the working height is switched to the planting state. , The planting clutch flag is set.

If the lowering operation of the planting work machine 6 by the work machine lever 19 or the work machine lowering switch 23B is not detected in step S11, the process proceeds to step S24. In step S24, the work machine lever 19 or the work machine lift switch 23A confirms whether or not the planting work machine 6 has been lifted, and if the lift operation is detected, the process proceeds to step S25.

In step S25, the work machine operation cam potentiometer 44 confirms whether or not the planting work machine 6 is in the raised state, and if it is detected that the planting work machine 6 is in a state other than the raised state, the process proceeds to step S26. In step S26, similarly, it is detected whether or not the planting work machine 6 is in the lowered state, and if a state other than the lowered state (specifically, a fixed state) is detected, the process proceeds to step S27. In step S27, the planting work machine 6 is set in the raised state, and then returns.

If a descending state of the planting work machine 6 is detected in step S26, the process proceeds to step S28.

In step S28, the lift angle potentiometer 61 confirms whether or not the lowering operation of the planting work machine 6 is stopped (specifically, whether or not it is the working height), and the planting work machine 6 is lowered. If it is detected that the planting machine is in operation, the process proceeds to step S29. In step S29, the planting work machine 6 is set in the fixed state, and then returns.

On the other hand, if it is detected in step S28 that the lowering operation of the planting work machine 6 is stopped (at the working height), the process proceeds to step S27 and the planting work machine 6 is raised. Set to the state and then return.

Further, when the ascending state of the planting work machine 6 is detected in step S25, the planting work machine 6 returns while maintaining the ascending state.

That is, when the ascending operation of the planting work machine 6 is detected, the control unit 50 is in the descending state and the lowering operation is stopped at the lower end (working height), or When the planting work machine 6 is in the fixed state at an arbitrary height position, the planting work machine 6 is switched to the ascending state, and when the planting work machine 6 is in the descending operation. When the planting work machine is switched to the fixed state and the planting work machine 6 is in the raised state, the raised state of the planting work machine is maintained.

If the ascending operation of the planting work machine 6 is not detected in step S24, the process proceeds to step S30. In step S30, it is confirmed whether or not the planting clutch engagement waiting state is set, and if it is detected that the planting clutch engagement waiting state is set, the process proceeds to step S31.

In step S31, the lift angle potentiometer 61 confirms whether or not the lowering operation of the planting work machine 6 is stopped, and the lowering operation of the planting work machine 6 is stopped (at the working height). ) Is detected, the process proceeds to step S32. If it is detected in step S31 that the planting work machine 6 is in the descending operation, the planting work machine 6 returns after that.

In step S32, the planting work machine 6 is set in the planted state, the planting clutch flag is set, and then the planting machine 6 is returned.

That is, when the raising / lowering operation of the planting work machine 6 is not detected, the control unit 50 maintains that state when a state other than the state of waiting for the planting clutch to be engaged (planting state / fixed state) is detected. It is configured to be. On the other hand, when the planting work machine 6 is waiting for the planting clutch to be engaged and it is detected that the planting work machine 6 is stopped at the lower end (working height), the planting work machine 6 is stopped. The planting state is automatically switched and the planting clutch flag is set.

FIG. 13 is a processing flow diagram showing a subroutine for controlling the marker mode. When the subroutine for controlling the marker mode is executed, the process proceeds to step S41. In step S41, the ON / OFF state of the planting preparation switch 24 is confirmed, and when the ON state of the planting preparation switch 24 is detected, the process proceeds to step S42. If the OFF state of the planting preparation switch 24 is detected in step S41, the plant returns after that.

In step S42, it is confirmed whether or not the marker control switch 26 is set to the auto mode in which the marker device 38 automatically controls the swing direction of the marker 47, and when the ON state of the marker control switch 26 is detected. Proceeds to step S43. If the OFF state of the marker control switch 26 (a state in which the auto mode is not set) is detected in step S42, the switch returns after that.

In step S43, it is confirmed by the marker operation switch 59 whether or not the left marker 47 has been swung out by the work machine lever 19, and if the left swing operation of the work machine lever 19 is detected, the step is taken. Proceed to S44.

In step S44, it is confirmed whether or not the notification flag is set, and if the notification flag is reset, the process proceeds to step S45. In step S45, the lift angle potentiometer 61 confirms whether or not the height of the planting work machine 6 is lower than the switching height (h1) at which the attitude switching operation of the marker 47 is automatically performed when the auto mode is executed. When it is detected that the height of the planting work machine 6 is lower than the switching height (h1), the process proceeds to step S46.

In step S46, it is confirmed whether or not the marker mode is set to the right swing, and if it is detected that the marker mode is set to the right swing, the process proceeds to step S47. In step S47, it is confirmed whether or not the marker mode is set to other than the left swing, and if it is detected that the marker mode is set to other than the left swing, the process proceeds to step S48.

In step S48, the notification flag is set, and the process proceeds to step S49. In step S49, the marker mode is set to the left swing, and the process proceeds to step S50. In step S50, the control unit 50 remembers that the marker mode is set to the left swing, and proceeds to step S51.

If the marker mode left swing is detected in step S47, the process proceeds to step S52. In step S52, the marker mode is set to the right storage, and the process proceeds to step S50.

If it is detected in step S44 that the notification flag is set, the process proceeds to step S53. In step S53, the notification flag is reset and the process proceeds to step S49.

That is, when the posture switching operation of the left marker 47 by the working machine lever 19 is detected, the control unit 50 determines that the raising / lowering height H of the planting work machine 6 is equal to or higher than the switching height h1. Since the marker device 38 has been switched to the retracted state, the marker mode is set to the left swing as it is.

Further, the control unit 50 is in a marker mode when the raising / lowering height H of the planting work machine 6 is lower than the switching height h1 and the posture switching operation of the left marker 47 by the work machine lever 19 is detected. When is set to swing to the right and retracted to the left, the marker device 38 is switched to the swinging state on both sides by switching the marker 47 on the left side to the swinging posture. Set the marker mode to left swing.

Further, when the left swing operation of the marker 47 by the working machine lever 19 is detected, the control unit 50 releases the marker's bilateral swing state when it is detected that the notification flag is set. Therefore, the notification flag is reset, and then the marker mode is set to left swing.

In step S51, it is confirmed whether or not the marker control switch 26 is turned on, and if the marker control switch is detected to be turned off, the process proceeds to step S54. In step S54, the control unit 50 stores the swing direction of the marker mode, sets the marker mode to the right storage / left storage, and then returns. If the OFF operation of the marker control switch 26 is not detected in step S51, the process returns thereafter.

If the OFF state of the marker control switch is detected in step S42, the process proceeds to step S55. In step S55, it is confirmed whether or not the marker control switch is ON, and if the marker control switch 26 is confirmed to be ON, the process proceeds to step S56.

In step S56, it is set in the swing direction stored based on the marker mode stored by the control unit 50, the notification flag is set, and then the return is performed. If the ON operation of the marker control switch 26 is not detected in step S55, the process returns thereafter.

That is, when the OFF operation of the marker control switch 26 that sets the auto mode is detected, the control unit 50 stores the swing direction of the marker 47 and switches the marker device 38 to the retracted state. At the end of execution of the auto-marker control, it is possible to reliably prevent a situation in which the marker 47 is forgotten to be switched to the retracted posture and the marker device 38 is damaged.

Further, the control unit 50 sets the notification flag when the ON operation of the marker control switch 26 is detected. Therefore, immediately after the auto mode is set, the operator sets the swing direction of the marker 47. The marker device 38 is configured so that the automatic posture switching is not executed unless the marker device 38 is manually operated.

If the left swing operation of the work equipment lever 19 is not detected in step S43, the process proceeds to step S57. In step S57, it is confirmed by the marker operation switch 58 whether or not the right swing operation by the work machine lever 19 is performed, and if the right swing operation of the work machine lever 19 is detected, the process proceeds to step S58. ..

In step S58, it is confirmed whether the notification flag is set or reset, and if the notification flag is reset, the process proceeds to step S59. In step S59, the lift angle potentiometer 61 confirms whether or not the height of the planting work machine 6 is lower than the switching height (h1) at which the marker 47 is automatically swung out when the auto mode is executed. When it is detected that the height of the planting work machine 6 is lower than the swing height, the process proceeds to step S60.

In step S60, it is confirmed whether or not the marker mode setting is set to the left swing, and if the left swing set is detected, the process proceeds to step S61. In step S61, it is confirmed whether or not the marker mode setting is set to other than the right swing, and if it is detected that the marker mode is set to other than the right swing, the process proceeds to step S62.

In step S62, the notification flag is set, and the process proceeds to step S63. In step S63, the marker mode is set to the right swing, and the process proceeds to step S64. In step S64, it is memorized that the marker mode is set to the right swing, and the process proceeds to step S51.

If the right swing of the marker mode is detected in step S61, the process proceeds to step S65. In step S65, the left storage of the marker mode is set, and the process proceeds to step S64.

If it is detected in step S58 that the notification flag is set, the process proceeds to step S66. In step S66, the notification flag is reset and the process proceeds to step S63.

That is, when the posture switching operation of the marker 47 on the right side by the work machine lever 19 is detected, the control unit 50 finds that the elevating height H of the planting work machine 6 is equal to or more than the switching height h1. Since the marker device 38 has been switched to the retracted state, the marker mode is set to the right swing as it is.

Further, the control unit 50 is in a marker mode when the raising / lowering height H of the planting work machine 6 is lower than the switching height h1 and the posture switching operation of the right marker 47 by the work machine lever 19 is detected. When is set to swing left and retracted to the right, the marker device 38 is switched to the swinging state on both sides by switching the marker 47 on the right side to the swinging posture. Therefore, the notification flag is set, and then the notification flag is set. Set the marker mode to the right swing.

Further, when the control unit 50 detects that the notification flag is set when the right swing operation of the marker 47 by the working machine lever 19 is detected, the double-sided swing state of the marker is released. Therefore, the notification flag is reset, and then the marker mode is set to the right swing.

If the right swing operation of the work equipment lever 19 is not detected in step S57, the process proceeds to step S67. In step S67, the lift angle potentiometer 61 confirms whether or not the height of the planting work machine 6 is higher than the switching height h1 in which the marker 47 is automatically swung out when the auto mode is executed, and the planting is performed. When it is detected that the height H of the working machine 6 is higher than the switching height h1, the process proceeds to step S68.

In step S68, it is confirmed whether or not the planting clutch flag that is set when the planting state is switched is set, and if it is detected that the planting clutch flag is set, the step is taken. Proceed to S69.

In step S69, the left-right direction of the marker mode swinging direction stored by the control unit 50 is inverted, the planting clutch flag is reset (OFF state), the inverted marker swinging direction is stored, and then the reverse marker swinging direction is stored. The process proceeds to step S51.

If it is detected in step S67 that the height of the planting work machine 6 is lower than the swing height, the planting machine 6 returns after that. Further, when it is detected in step S68 that the planting clutch flag is in the reset state, the process returns thereafter.

That is, the control unit 50 does not detect the left-right swing operation (marker posture switching operation) by the work machine lever 19 during the work running in the state set to the auto mode by the marker control switch 26. When the planting clutch flag indicating that the planting work machine 6 has been switched to the planting state is detected, the control unit 50 is automatically shaken out in the next process after turning. It is configured to reverse the swing direction of the marker mode stored in the control unit 50 so that the swing direction of 47 is opposite to the left and right.

FIG. 14 is a processing flow diagram showing a subroutine for marker output control. When the marker output control subroutine is executed, the process proceeds to step S71. In step S71, the ON / OFF state of the planting preparation switch 24 is confirmed, and when the ON state of the planting preparation switch 24 is detected, the process proceeds to step S72. If the OFF state of the planting preparation switch 24 is detected in step S71, the plant returns after that.

In step S72, it is confirmed whether or not the marker control switch 26 is set to the auto mode in which the marker device 38 automatically controls the swing direction of the marker 47, and when the ON state of the marker control switch 26 is detected. Proceeds to step S73. If an OFF state (a state in which the auto mode is not set) of the marker control switch 26 is detected in step S72, the marker control switch 26 is then returned.

In step S73, the lift angle potentiometer 61 confirms whether or not the elevating height H of the planting work machine 6 is the switching height h1 or more, and the planting work machine 6 has the switching height h1 or more. If is detected, the process proceeds to step S74.

In step S74, the ON / OFF state of the marker storage switch 53R on the right side is confirmed, and if the storage posture of the marker 47 on the right side is not detected, the process proceeds to step S75. In step S75, the marker motor 49R on the right side switches the marker 47 on the right side to the retracted posture, and the process proceeds to step S76.

In step S76, the ON / OFF state of the left marker storage switch 53L is confirmed, and if the storage posture of the left marker 47 is not detected, the process proceeds to step S77. In step S77, the left marker motor 49L switches the left marker 47 to the retracted posture, and then returns.

If the storage posture of the left marker 47 is detected in step S76, the process proceeds to step S78. In step S78, the storage posture of the marker 47 on the left side is maintained, and then the marker 47 returns. Similarly, in step S74, when the storage posture of the marker 47 on the right side is detected, the process proceeds to step S79. In step S79, the storage posture of the marker 47 on the right side is maintained, and then the marker 47 returns.

That is, when the control unit 50 detects that the elevating height H of the planting work machine 6 is higher than the switching height h1 when the auto marker control is executed, the control unit 50 is irrespective of the state of the auto mode. Both the markers 47 and 47 on both the left and right sides are configured to be switched to the stored state in which they are in the stored posture.

If it is detected in step S73 that the planting work machine 6 is lower than the switching height h1, the process proceeds to step S80. In step S80, it is confirmed whether or not the marker mode in the auto mode is swinging to the right, and if the marker mode is swinging to the right, the process proceeds to step S81.

In step S81, it is confirmed whether or not the notification flag is set, and if the notification flag is reset, the process proceeds to step S82. If the notification flag is set in step S81, the signal returns after that.

In step S82, the ON / OFF state of the marker swing switch 54R on the right side is confirmed, and if the swing posture of the marker 47 on the right side is not detected, the process proceeds to step S83. In step S83, the right marker 47 is switched to the swinging posture via the right marker motor 49R and the tension spring 51, and then returns.

If the swinging posture of the marker 47 on the right side is detected in step S82, the process proceeds to step S84. In step S84, the swinging posture of the marker 47 on the right side is maintained, and then the marker 47 returns.

If a state other than the right swing is detected in the marker mode in the auto mode in step S80, the process proceeds to step S85. In step S85, it is confirmed whether or not the marker mode in the auto mode is left swing, and if the marker mode is left swing, the process proceeds to step S86.

In step S86, it is confirmed whether or not the notification flag is set, and if the notification flag is reset, the process proceeds to step S87. If the notification flag is set in step S86, the signal returns after that.

In step S87, the ON / OFF state of the left marker swing switch 54L is confirmed, and if the swing posture of the left marker 47 is not detected, the process proceeds to step S88. In step S88, the left marker 47 is switched to the swinging posture via the left marker motor 49L and the tension spring 51, and then returns.

If the swinging posture of the marker 47 on the left side is detected in step S87, the process proceeds to step S89. In step S89, the swinging posture of the marker 47 on the left side is maintained, and then the marker 47 returns.

If a state other than the left swing is detected in the marker mode in the auto mode in step S85, the process proceeds to step S90. In step S90, it is confirmed whether or not the marker mode in the auto mode is right-storing, and if the marker mode is right-storing, the process proceeds to step S91.

In step S91, the ON / OFF state of the marker storage switch 53R on the right side is confirmed, and if the storage posture of the marker 47 on the right side is not detected, the process proceeds to step S92. In step S92, the right marker motor 49R is driven to switch the right marker 47 to the retracted posture, and then return.

If the storage posture of the marker 47 on the right side is detected in step S91, the process proceeds to step S93. In step S93, the storage posture of the marker 47 on the right side is maintained, and then the marker 47 returns.

If a state other than right storage is detected in the marker mode in the auto mode in step S90, the process proceeds to step S94. In step S94, it is confirmed whether or not the marker mode in the auto mode is left storage, and if the marker mode is left storage, the process proceeds to step S95. If a state other than the left storage of the marker mode is detected in step S94, the process returns thereafter.

In step S95, the ON / OFF state of the left marker storage switch 53L is confirmed, and if the storage posture of the left marker 47 is not detected, the process proceeds to step S96. In step S96, the left marker 47 is switched to the retracted posture by driving the left marker motor 49L, and then returns.

If the storage posture of the marker 47 on the left side is detected in step S95, the process proceeds to step S97. In step S97, the storage posture of the marker 47 on the left side is maintained, and then the marker 47 returns.

That is, when the control unit 50 is set to the auto mode in which the auto marker control is executed and it is detected that the elevating height H of the planting work machine 6 is lower than the switching height h1, the marker Based on the mode state, the posture switching operation of the markers on both the left and right sides in the retracted state is executed.

At this time, in particular, when it is detected that the notification flag is set, even if it is detected that the marker mode is set to the right swing state or the left swing state, the marker 47 moves to the swing posture. It is configured so that the switching operation of is regulated.

More specifically, when the markers 47 and 47 on both the left and right sides are switched to the swinging state on both sides (the notification flag is set), the planting work machine 6 rises during turning on the field edge side. When the planting work machine 6 is lowered to a height lower than the switching height h1 after being switched to the retracted posture by the operation, the right swing state or the left swing state is automatically set. However, unless the notification flag is reset by the manual operation of the work equipment lever 19 (see FIG. 13), the marker is not switched to the swinging posture.

FIG. 15 is a processing flow diagram showing a subroutine of marker notification control. When the marker notification control subroutine is executed, the process proceeds to step S101. In step S101, the ON / OFF state of the planting preparation switch 24 is confirmed, and when the ON state of the planting preparation switch 24 is detected, the process proceeds to step S102. If the OFF state of the planting preparation switch 24 is detected in step S101, the plant returns after that.

In step S102, it is confirmed whether or not the marker control switch 26 is set to the auto mode in which the marker device 38 automatically controls the swing direction of the marker 47, and when the ON state of the marker control switch 26 is detected. Goes to step S103. If the OFF state of the marker control switch 26 (a state in which the auto mode is not set) is detected in step S102, the switch returns after that.

In step S103, it is confirmed whether or not the notification flag is set, and if it is detected that the notification flag is set, the process proceeds to step S104. In step S104, the lift angle potentiometer 61 confirms whether or not the elevating height H of the planting work machine 6 is the switching height h1 or more, and the planting work machine 6 has the switching height h1 or more. If is detected, the process proceeds to step S105.

In step S105, by blinking the notification lamps 63R and 63L in the directions stored by the control unit 50, the state in which the marker swing operation by the work equipment lever 19 is restricted is notified, and the process proceeds to step S106.

In step S106, it is confirmed whether or not the planting work machine 6 is lowered by the work machine lever 19 by the work machine operation switch 57, and if the lowering operation of the planting work machine 6 is detected, the step S106 is performed. Proceed to S107. In step S107, the notification buzzer 62 starts sounding and then returns.

If it is detected in step S104 that the elevating height of the planting work machine 6 is lower than the switching height h1, the process proceeds to step S108. In step S108, since the left and right markers 47 are switched to the retracted posture, the left and right notification lamps 63R and 63L are turned on, and then the lamp returns.

If it is detected in step S103 that the notification flag has been reset, the process proceeds to step S109. In step S109, the notification lamps 63R and 63L in the direction stored by the control unit 50 are turned on, and the process proceeds to step S110.

In step S110, it is confirmed whether or not the notification buzzer 62 is sounding, and if it is detected that the notification buzzer 62 is sounding, the process proceeds to step S111. In step S111, the notification buzzer 62 is stopped, and then the buzzer 62 returns.

That is, when the control unit 50 detects that the notification flag that regulates the automatic attitude switching of the marker device 38 by the auto marker control is set, the planting work machine 6 sets the switching height h1. When the marker device 38 is switched to the retracted state by being raised to a higher position, the notification lamp 63 starts blinking to notify the operator that the notification flag is set. After that, when the lowering operation of the planting work machine 6 by the operator is detected without resetting the notification flag (manual operation of the marker 47 by the work machine lever 19), the notification by the notification lamp 62 is performed together with the notification. The notification by the notification buzzer 63 is also configured to be executed.

According to the configuration, the marker device 38 is switched to the bilateral swing state and the notification flag is set, which is stepwise notified by the visual information by the notification lamp 62 and the sound information by the notification buzzer 63. In particular, it is possible to prevent a situation in which the notification sound by the notification buzzer 63 sounds at an unnecessary timing and becomes annoying.

The notification buzzer 63 may be configured to sound an alarm sound only while the lowering operation by the planting work machine 6 is detected with the notification flag set. According to this configuration, since the notification by the notification buzzer 63 is performed to the minimum at the required timing, it is possible to surely prompt the operator to swing the marker 47 and suppress the annoyance of the notification sound.

3 Traveling machine 6 Planting work machine 19 Work machine lever (marker operating means)
26 Marker control switch (mode setting means)
47 Marker 50 Control unit 54 Marker swing switch (marker posture detecting means)
53 Marker storage switch (marker posture detecting means)
61 Lift angle potentiometer (elevation position detection means)
62 Notification buzzer (notification means)
63 Notification lamp (notification means)

Claims (2)

A planting work machine that is connected so that it can be raised and lowered on the rear side of the traveling machine,
A pair of left and right markers that are drawn to the left and right outside of the traveling machine and draw a traveling reference line on the planting line in the next process,
One-sided swinging state in which the markers on one of the left and right sides are in the swinging posture and the marker on the other side is in the retracted posture that is swung upward, and both-sided swinging state in which the markers on both the left and right sides are in the swinging posture, and both left and right sides. A marker operating means for switching between the storage states in which the markers are set to the storage posture, and
A mode setting means for setting an auto mode that automatically switches the posture of the marker, and
Marker posture detecting means for detecting the posture of each marker, and
A work machine lever that operates the raising and lowering operation of the planting work machine,
Lifting position detecting means for detecting the lifting position of the planting work machine,
Notification means and
Equipped with a control unit
When the control unit detects that the planting work machine has risen to a predetermined height while being set to the auto mode, the control unit switches the marker to the retracted state, and then the planting work machine is lowered to a predetermined height. On the condition that it is detected, the auto marker control that automatically switches the marker from the retracted state to the one-sided swing state is configured to be executable.
Further, the control unit regulates the automatic switching operation from the stored state of the marker to the one-sided swinging state when the bilateral swinging state of the marker is detected during the execution of the auto marker control, and the notification means. A transplant machine configured to encourage the operator to swing out the marker by the marker operating means. A notification lamp and a notification buzzer are provided as the notification means.
When the control unit detects that both sides of the marker are swung out during the execution of the auto marker control, the control unit sends the notification lamp to the operator when it is detected that the planting work machine has risen to a predetermined height. The transplant machine according to claim 1, wherein the notification is executed, and when the lowering operation of the planting work machine is detected, the notification buzzer is used to notify the operator.

Images