Paddy field work vehicle

Abstract

To provide a paddy field work vehicle which can take rational safety measures, to an inclined posture of a vehicle body lateral direction.SOLUTION: A paddy field work vehicle comprises: a traveling vehicle body which is supported and grounded by wheels; a lateral inclined angle determining part 81 for determining a lateral inclined angle of the traveling vehicle body; an inclination determining part 82 for issuing a warning signal when the lateral inclined angle exceeds a warning inclined angle; and a warning control part 83 for, on the basis of issuing of the warning signal, executing warning control to change a state of the traveling vehicle body to a state where safety of the traveling vehicle body is enhanced, and when the warning signal is issued over a prescribed period of time, the warning control is performed.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to paddy field working vehicles such as riding or walking rice transplanters, direct seeding machines, and pesticide sprayers. [Background technology]

[0002] Since the work vehicle runs on uneven ground and slopes, it is important to ensure stability in the inclined position. In particular, the paddy field work vehicle uses wheels with a relatively large diameter to increase the height of the power source, control equipment, etc. from the ground in order to prevent them from being submerged in water. For this reason, the paddy field work vehicle has a higher center of gravity than other work vehicles, making the vehicle body more unstable in the inclined position. Furthermore, paddy field work vehicles such as rice transplanters are sometimes transported from a barn to a field by truck, and when loading and unloading, the paddy field work vehicle not only assumes an inclined position in the front-rear direction of the vehicle body, but also in the left-right direction of the vehicle body when entering and leaving the field, since the paddy field work vehicle runs on the field divided by ridges having inclined surfaces. Furthermore, when working in the field, if foreign objects such as stones or wood are thrown into the field, the paddy field work vehicle that runs over the foreign objects assumes an inclined position in the left-right direction. Since the vehicle body frequently tilts in the fore-and-aft direction when loading / unloading or traveling uphill, safety measures against the vehicle body tilting in the fore-and-aft direction have long been taken.

[0003] Regarding safety measures against the vehicle body's lateral tilt posture, for example, Patent Document 1 discloses a rice transplanter that is provided with an acceleration sensor that detects the vertical acceleration of the vehicle body and a lateral tilt angle detection means that detects the lateral tilt of the vehicle body, and issues an alarm based on the detection results of the acceleration sensor and the lateral tilt angle detection means. Patent Document 2 discloses a work vehicle that is provided with an inclination angle sensor that detects the inclination angle in the vehicle width direction, and a vehicle speed sensor, in which the higher the vehicle speed, the smaller the predetermined inclination angle is set, and the vehicle decelerates when the inclination angle becomes equal to or greater than the predetermined inclination angle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 10-278711 [Patent Document 2] JP 2019-094035 A Summary of the Invention [Problem to be solved by the invention]

[0005] In the rice transplanter of Patent Document 1, as a safety measure against the vehicle body's left-right tilt posture, an alarm is issued only when the vehicle body is tilted to a predetermined angle, so there is a problem that safety cannot be ensured if the driver does not notice the alarm. In addition, in the work vehicle of Patent Document 2, safety is ensured by decelerating when the vehicle body is tilted to a predetermined angle. However, since an alarm is issued each time the vehicle body tilt angle suddenly and instantaneously reaches the predetermined angle, there is a problem that the alarm becomes bothersome when the predetermined angle is set small or when traveling on rough ground.

[0006] In view of the above circumstances, an object of the present invention is to provide a paddy field working vehicle in which rational safety measures are taken against the vehicle body being tilted in the lateral direction. [Means for solving the problem]

[0007] The paddy field working vehicle according to the present invention comprises a running body supported on the ground by wheels, a left / right inclination angle determination unit which determines the left / right inclination angles of the running body, a tilt determination unit which issues a warning signal when the left / right inclination angle exceeds a warning inclination angle, and a warning control unit which executes warning control to change the state of the running body to a state that enhances the safety of the running body based on the issuance of the warning signal, and the warning control is executed when the warning signal is issued for a predetermined period of time.

[0008] According to this configuration, the warning control is not executed immediately when the left-right inclination angle determined by the left-right inclination angle determination unit exceeds the warning inclination angle, but is executed based on the progress state in which the warning signal is issued, for example, when the warning signal is issued for a predetermined time. This warning control changes the state of the traveling vehicle body to a state that enhances the safety of the traveling vehicle body. Since the warning control is executed taking into consideration the progress state in which the warning signal is issued, by appropriately setting the predetermined time, the inconvenience of the inclination angle of the traveling vehicle body suddenly and instantaneously reaching the warning inclination angle and the warning control being executed at that time is suppressed.

[0009] Even if a warning tilt angle occurs within a predetermined time during which warning control is not performed, if such an event continues intermittently multiple times, a problem may occur in the stability of the traveling vehicle body. In order to avoid this problem, the present invention also proposes that the warning control unit executes the warning control when the integrated value of issuing the warning signal within the predetermined time exceeds an allowable value.

[0010] When the progress state at which the warning signal is issued requires the execution of warning control, warning control is executed to change the state of the traveling vehicle body to a state that enhances the safety of the traveling vehicle body. A first embodiment of this warning control is deceleration control to reduce the traveling speed of the traveling vehicle body, or stop control to stop the traveling vehicle body. By such traveling speed control, the kinetic energy of the traveling vehicle body is reduced, thereby ensuring safety during incline traveling.

[0011] In the case where a transmission that transmits power from a drive source to the drive wheels is installed on the traveling vehicle body, the second embodiment of the warning control is a neutral switching control that switches the transmission to neutral. By switching the transmission to neutral, the traveling vehicle body decelerates and stops. This ensures safety when traveling on an incline.

[0012] The third embodiment of the warning control is a steering control for steering the steering wheels provided on the traveling vehicle body in a direction that enhances the safety of the traveling vehicle body. It is known that when the traveling vehicle body tilts in the left-right direction, the stability of the traveling vehicle body can be improved by adjusting the steering angle. A rule table such as a look-up table that associates the left-right tilt state of the traveling vehicle body with the steering state that improves the stability of the traveling vehicle body at that time is created, and the safety during inclined driving is ensured by using the steering control.

[0013] The above-mentioned steering control for steering the vehicle body in a direction that enhances the safety of the vehicle body is particularly suitable for automatic driving. For this reason, in one aspect of the present invention, the vehicle body can be driven in either an automatic driving mode or a manual driving mode, and the steering control is performed while the vehicle body is driving in the automatic driving mode.

[0014] The field map data is used to create a target driving route in an automatic driving mode and to create driving support guidance in a manual driving mode. The field map data is stored in the control unit via data communication, a portable memory, or the like. When the field map data includes inclination data in the field, the inclination data can be used for steering control to enhance the safety of the traveling vehicle body. The inclination data in the field includes the inclination of the field surface, the inclination of the ridge surface, the inclination of the field entrance / exit, and the like. For this reason, in one aspect of the present invention, field map data including inclination data in the field is acquired, and steering control is performed in a direction that enhances the safety based on the inclination data.

[0015] A paddy field work vehicle performs paddy field work by attaching a seedling work device to the traveling vehicle body via a lifting mechanism. In a fourth embodiment of the warning control for such paddy field work, the warning control is a lowering control that lowers the seedling work device. By lowering the seedling work device, the center of gravity of the traveling vehicle body is lowered, ensuring safety when traveling on an incline.

[0016] In one preferred embodiment of the present invention, the traveling vehicle body can travel in either an automatic travel mode or a manual travel mode, and the warning tilt angle in the manual travel mode is set to be smaller than the warning tilt angle in the automatic travel mode. Since the automatic travel mode is used for unmanned travel, even if the traveling vehicle body becomes unstable, no harm will be caused to the passengers. This provides a reasonable safety measure against the vehicle body inclining in the left-right direction.

[0017] In one preferred embodiment of the present invention, a rollover prevention body that touches the ground at a predetermined tilt angle of the tilting motion during the left-right tilting motion of the paddy field work vehicle is provided on the outer circumferential region of the wheel, and the tilt determination unit detects that the tilt of the traveling vehicle body has reached a special tilt angle based on a detection signal from a ground contact detector that detects that the rollover prevention body has touched the ground. According to this configuration, when the left-right tilt angle of the traveling vehicle body reaches the special tilt angle, the prevention part of the rollover prevention body touches the ground, and a resistance force (braking force) against further tilt is generated. If this special tilt angle is made to coincide with the above-mentioned warning tilt angle, the tilt determination unit regards the tilt angle of the traveling vehicle body at the time when the detection signal is output from the ground contact detector as the warning tilt angle, so that the above-mentioned warning control prevents overturning and the rollover prevention body prevents overturning at the same time, resulting in higher safety.

[0018] In one preferred embodiment of the present invention, the warning tilt angle is a value between 1 / 4 and 3 / 4 of the prescribed tilt angle prescribed for rollover prevention. The warning tilt angle is preferably smaller than the prescribed angle prescribed for rollover prevention of the paddy field work vehicle, but by setting it to about 1 / 4 to 3 / 4 of the rollover angle, the safety of the paddy field work vehicle against rollover is further improved. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is an overall side view of a riding rice transplanter. [Diagram 2] This is a diagram of the power transmission system of a riding rice transplanter. [Diagram 3] FIG. 2 is a functional block diagram of a control unit. [Figure 4]FIG. [Diagram 5] FIG. 4 is a vertical sectional front view of the rear axle case, the rear wheel support case, and the rear wheel. [Figure 6] FIG. 4 is a schematic diagram showing the attitude of the lug and the rollover prevention body when tilting left or right. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] In this specification, unless otherwise specified, "front" means forward in the longitudinal direction (travel direction) of the aircraft, and "rear" means rearward in the longitudinal direction (travel direction) of the aircraft. Furthermore, left-right or lateral direction means the transverse direction (width direction) of the aircraft that is perpendicular to the longitudinal direction of the aircraft. "Up" and "down" refer to the positional relationship in the vertical direction (perpendicular direction) of the aircraft, and indicate the relationship in terms of height above the ground.

[0021] A riding rice transplanter, which is an example of a paddy field working machine, is shown in Fig. 1. As shown in Fig. 1, a link mechanism 11, which is a lifting mechanism that can swing up and down, is provided at the rear of a traveling body 10 supported on the ground by wheels consisting of a pair of left and right front wheels 1 and a pair of left and right rear wheels 2, and a seedling planting device 12, which is an example of a seedling working device, is supported at the rear of the link mechanism 11. The link mechanism 11 is raised and lowered by a hydraulic cylinder 11a, which also raises and lowers the seedling planting device 12. The front wheels 1 are configured as steering wheels and driving wheels, and the rear wheels 2 are configured as driving wheels.

[0022] As shown in Fig. 1, the seedling planting device 12 is equipped with a planting arm, a float, a seedling tray, etc. During the operation, as the seedling tray is driven to move back and forth sideways, the planting arm takes out seedlings from the bottom of the seedling tray and plants them on the surface of the rice field.

[0023] A driver's seat 13 is provided in the rear area of ​​the traveling vehicle body 10, and a steering wheel 14 is provided in front of the driver's seat 13. An engine (internal combustion engine) 15 as an example of a drive source is disposed below the steering wheel 14. As the drive source, other than the engine 15, an electric motor, a hybrid engine combining an electric motor and an engine, etc. are used. In the following description, the engine 15 will be treated as an example of a drive source.

[0024] The steering wheel 14 and the front wheels 1 are connected by a rack-and-pin-on steering mechanism (not shown), and the front wheels 1 are steered by operating the steering wheel 14. If an electric steering device is incorporated into the steering mechanism, the front wheels 1 can be automatically steered by steering control.

[0025] Next, the power transmission mechanism of this rice transplanter will be described with reference to Figure 2. The power transmission mechanism, which uses an engine 15 as a power source, is divided into a running power transmission mechanism 16 that transmits power to the front wheels 1 and rear wheels 2, and a working power transmission mechanism 17 that transmits power to the seedling planting device 12. The running power transmission mechanism 16 that transmits engine power to the drive wheels and the working power transmission mechanism 17 that transmits engine power to the seedling planting device 12 are well-known structures, so their explanations will be omitted, but they are equipped with a speed change device (hydrostatic continuously variable transmission or gear speed change device) that has a neutral position and a clutch that cuts off power. A brake mechanism is provided downstream of the power transmission to the front wheels 1, and left and right rear wheel side clutches are provided downstream of the power transmission to the rear wheels 2.

[0026] Next, the rollover prevention control provided in this rice transplanter will be described using the functional block diagram shown in Figure 3. The rice transplanter is equipped with an electronic travel control system with a control unit 3 as its core element. In this embodiment, the control unit 3 includes a travel control unit 3A, an operation control unit 3B, and a rollover prevention control unit 8.

[0027] The driving control unit 3A includes an engine control unit 31, which is an example of a drive source control unit, a transmission control unit 32, and a steering control unit 33. The engine control unit 31 controls the rotation speed based on the load of the engine 15, etc. The transmission control unit 32 changes the swash plate angle of the hydrostatic continuously variable transmission of the transmission device in the driving power transmission mechanism 16, and selects the gear stage including clutch ON / OFF of the gear transmission device. The steering control unit 33 controls the operation of the electric steering device in a driving mode such as automatic driving.

[0028] The work control unit 3B includes a PTO control unit 34 and a lift control unit 35. The PTO control unit 34 controls the clutch and selects the gear stage in the work power transmission mechanism 17. The lift control unit 35 controls the hydraulic valve for the hydraulic cylinder 11a of the link mechanism 11 to lift and lower the seedling planting device 12.

[0029] The rollover prevention control unit 8 includes a left / right inclination angle determination unit 81, an inclination determination unit 82, and a warning control unit 83 as control function units for rollover prevention control of the traveling vehicle body 10. The left / right inclination angle determination unit 81 determines the left / right inclination angle of the traveling vehicle body 10 based on an inclination signal from an inclination sensor 88. In this embodiment, an IMU is used as the inclination sensor 88, but other electronic or mechanical inclination sensors may be used. The inclination determination unit 82 compares the left / right inclination angle determined by the left / right inclination angle determination unit 81 with a warning inclination angle that has been set, and issues a warning signal when the left / right inclination angle exceeds the warning inclination angle. The warning inclination angle is set to a value between 1 / 4 and 3 / 4 of the legally prescribed inclination angle or the prescribed inclination angle prescribed by the rules of the manufacturer, for example, 1 / 2, in order to prevent rollover. The warning control unit 83 executes warning control to change the state of the traveling vehicle body 10 to a state that enhances the safety (rollover prevention) of the traveling vehicle body 10 based on the issuance of the warning signal from the inclination determination unit 82.

[0030] The alert control unit 83 executes alert control when an alert signal is issued for a predetermined period of time. Specifically, alert control is executed when an alert signal is issued for T seconds, for example. However, in this embodiment, the alert control unit 83 also executes alert control when an alert signal is issued for less than T seconds a predetermined number of times within a predetermined period of time (T seconds), or when the accumulated value of issuance of an alert signal for less than T seconds exceeds an allowable value.

[0031] Examples of control events that can be realized through vigilance control include the following events: (1) Deceleration control for reducing the traveling speed of the traveling vehicle body 10 This is achieved by the alert control unit 83 giving a deceleration command to the gear shift control unit 32. (2) Stop control for stopping the traveling vehicle body 10 This is realized by the alert control unit 83 giving an emergency stop command to the driving control unit 3A. (3) Neutral switch control for switching the transmission to neutral This is realized by the alert control unit 83 giving the shift control unit 32 a swash plate neutral command or a clutch neutral command for the hydrostatic continuously variable transmission. (4) Steering control in a safe direction This is realized by the alert control unit 83 giving a safe steering command to the steering control unit 33 to steer the front wheels 1, which are the steered wheels, in a direction (a direction to reduce the inclination) that increases the safety (a direction to reduce the inclination) of the traveling vehicle body 10. This is particularly suitable for application in the automatic driving mode, but it can also be applied in the manual driving mode by a method such as giving safe steering advice as driving assistance guidance. (5) Steering control using field slope data When the field map data stored in the control unit 3 via data communication or a portable memory includes inclination data for the field (such as the inclination of the field surface, the inclination of the ridge surface, and the inclination of the field entrance / exit), the inclination data is used to perform safety steering to improve the safety of the traveling body 10. As a specific example, when the inclination data indicates the inclination of each micro-division obtained by dividing the field, automatic steering is performed to avoid the division with a large inclination, thereby improving the safety of the traveling body 10. In addition, when the inclination of the left-right direction of the traveling body 10 (the inclination of the traveling surface) is calculated from the inclination of the micro-division that is the traveling target, an unexpected change in direction of the traveling body is avoided by incorporating wheel steering to the upstream side (the side where the position is higher) of the inclination. Furthermore, when the inclination of the micro-division through which the left and right wheels pass is different, the steering amount that improves the safety of the traveling body 10 may be calculated from the direction and magnitude of the inclination of the micro-division, and steering control may be performed based on this calculation result. In addition, in the steering control using the tilt data, the farm field map data including the tilt data does not necessarily need to be stored in the control unit 3. For example, based on a real-time tilt measurement value by a tilt sensor 88 such as an IMU sensor, automatic steering in a direction that enhances the running stability of the traveling body 10 described above may be performed. (6) Lowering control for lowering the seedling work device This is achieved by the alert control unit 83 giving a descent command to the lift control unit 35 .

[0032] It is not necessary to adopt all of the above-mentioned security control events, but it is sufficient to adopt at least one control event. Also, the above-mentioned security control events (1) to (6) are examples, and other security control events may be adopted as long as they change the state of the traveling vehicle body 10 to one that enhances the safety.

[0033] This rice transplanter can run in either an automatic driving mode or a manual driving mode, and either driving mode is selected by operating a switching operation tool not shown. Furthermore, if a state unsuitable for automatic driving occurs, the automatic driving mode is automatically switched to the manual driving mode. In the automatic driving mode, if no worker is on board the traveling vehicle body 10, even if the vehicle rolls over, personal injury is avoided. In the manual driving mode, since a driver is on board, the possibility of rollover must be reduced. For this reason, the warning tilt angle in the manual driving mode is set smaller than the warning tilt angle in the automatic driving mode.

[0034] This rice transplanter has additional safety measures in place to enhance rollover safety. As shown in Figures 4 and 5, the rear wheel 2 includes an annular main body 20, a lug 4 that functions as a ground contact portion, and a rollover prevention body 5. The main body 20 includes an annular rim 21, a hub 22 located in the central region of the ring formed by the rim 21, and a plurality of spokes 23 (four in this embodiment) provided between the rim 21 and the hub 22.

[0035] The rim 21 is formed, for example, by bending a hollow pipe member into an annular shape. In this embodiment, the hub 22 is produced by drawing (pressing) a plate-shaped member, and the spokes 23 are made of hollow pipe members.

[0036] The tips of the spokes 23 (the outer ends in the radial direction of the rear wheel 2) are attached to the inner periphery of the rim 21. The spokes 23 and the rim 21 are connected by, for example, welding. The other ends of the spokes 23 (the inner ends in the radial direction of the rear wheel 2) are attached to the hub 22.

[0037] An annular flange portion 22a is formed in the central region of the hub 22, and a plurality of holes (three in this embodiment) are formed in the flange portion 22a. The flange portion 22a is connected to a flange portion 18a of the axle 18 by a plurality of bolts 19. In this way, the rear wheel 2 is attached to the axle 18. The inner surface (concave surface) of the hub 22 faces the inside of the aircraft body.

[0038] The lugs 4 are attached to the outer periphery of the main body 20. The lugs 4 shown in Fig. 5 have attachment parts 41 attached to the tips of the spokes 23 and an outer periphery 42 that surrounds the rim 21. The lugs 4 are molded from hard rubber. However, the material and manufacturing method of the lugs 4 are not limited to molding and hard rubber, and the lugs 4 may be manufactured by machining or the like using metal as the material.

[0039] Furthermore, a rollover prevention body 5 is disposed on the left-right outer side of the outer circumferential portion 42 of the lug 4, that is, in the outer peripheral region of the wheel. As shown in an enlarged view in FIG. 6, the rollover prevention body 5 is formed with a blocking portion 51 that contacts the ground at a predetermined inclination angle θ of the tilting motion (indicated by the symbol RM and an arrow in FIG. 5) during the left-right tilting motion of the rice transplanter (traveling body 10) with the ground contact point of the lug 4 as the rotation axis. One example of the form of the rollover prevention body 5 is a substantially rectangular parallelepiped with one side being a slope. This planar slope functions as the blocking portion 51, and contacts (contacts) the ground (field scene 100) at the inclination of the traveling body 10 at the predetermined inclination angle θ, creating a resistance force (braking force) against further inclination. The predetermined inclination angle θ is of course set smaller than the prescribed angle specified by the regulations to prevent the paddy field working vehicle from rolling over, but is set to about 1 / 4 to 3 / 4 of the prescribed angle in consideration of safety.

[0040] In this embodiment, the rollover prevention bodies 5 are molded integrally with the lugs 4. The rollover prevention bodies 5 may be formed at a predetermined pitch, or may be continuously formed in an annular shape. Furthermore, the rollover prevention bodies 5 may not be molded integrally with the lugs 4, but may be molded separately from the lugs 4 and attached to the lugs 4 or the main body 20 using brackets or the like.

[0041] [Another embodiment] (1) In the above-described embodiment, an IMU provided on the traveling vehicle body 10 is used as the inclination sensor 88. Alternatively, or in addition to this, a ground contact detector 89 that detects when the rollover prevention body 5 touches the ground may be used as the inclination sensor 88, as depicted by a dotted line in FIG. 3. In this case, the ground contact detector 89 is disposed inside or on the surface of the rollover prevention body 5 so as to detect the ground contact pressure of the rollover prevention body 5. The inclination determination unit 82 detects that the prevention unit 51 of the rollover prevention body 5 has reached a special inclination angle based on a detection signal from the ground contact detector 89.

[0042] (2) In the above-described embodiment, the paddy field work vehicle of the present invention was a riding rice transplanter, but the paddy field work vehicle is not limited to a riding rice transplanter and may be a walk-behind rice transplanter, a direct seeder equipped with a sowing device, or a pesticide sprayer, etc.

[0043] In addition, the configurations disclosed in the above embodiments (including other embodiments, the same applies below) can be applied in combination with configurations disclosed in other embodiments, provided no contradiction arises. Furthermore, the embodiments disclosed in this specification are illustrative, and the embodiments of the present invention are not limited thereto, and can be appropriately modified within the scope that does not deviate from the purpose of the present invention. [Industrial Applicability]

[0044] The present invention is applied to a paddy field working vehicle equipped with an electronic driving control system. [Explanation of symbols]

[0045] 1: Front wheel 2: Rear wheel 3: Control unit 3A: Driving control unit 3B: Work control unit 5: Rollover prevention body 8: Rollover control unit 10: Running vehicle 11: Link mechanism 11a: Hydraulic cylinder 12: Seedling planting device 15: Engine (power source) 16: Driving power transmission mechanism 17: Working power transmission mechanism 31: Engine control unit (drive source control unit) 32: Gear shift control section 33: Steering control unit 34: PTO control unit 35: Lift control section 51: Blocking part 81: Left and right tilt angle determining section 82: Incline determination section 83: Security control unit 88: Tilt sensor 89: Ground detector

Claims

1. A paddy field work vehicle, A traveling vehicle body supported on the ground by wheels; a left / right inclination angle determination unit that determines a left / right inclination angle of the traveling vehicle body; a tilt determination unit that issues a warning signal when the left / right tilt angle exceeds a warning tilt angle; and a warning control unit that executes warning control to change the state of the traveling vehicle body to a state that enhances the safety of the traveling vehicle body based on the issuance of the warning signal, A paddy field working vehicle in which the warning control is executed when the warning signal is issued for a predetermined period of time.

2. The paddy field working vehicle according to claim 1 , wherein the alert control unit executes the alert control when an integrated value of issuance of the alert signal within the predetermined time period exceeds an allowable value.

3. 2. The paddy field working vehicle according to claim 1, wherein the warning control is deceleration control for reducing the traveling speed of the traveling vehicle body, or stop control for stopping the traveling vehicle body.

4. 2. The paddy field work vehicle according to claim 1, wherein the traveling vehicle body is equipped with a transmission that transmits power from a drive source to drive wheels, and the alert control is a neutral switch control that switches the transmission to neutral.

5. 2. The paddy field working vehicle according to claim 1, wherein the warning control is a steering control for steering a steering wheel provided on the traveling vehicle body in a direction that enhances the safety of the traveling vehicle body.

6. 6. The paddy field work vehicle according to claim 5, wherein the vehicle body is capable of traveling in either an automatic traveling mode or a manual traveling mode, and the steering control is performed while traveling in the automatic traveling mode.

7. 7. The paddy field working vehicle according to claim 6, wherein field map data including inclination data of the field is acquired, and steering control is performed in a direction that enhances safety based on the inclination data.

8. 2. The paddy field working vehicle according to claim 1, wherein, when a seedling work device is attached to the traveling vehicle body via a lifting mechanism, the alert control is a lowering control for lowering the seedling work device.

9. The paddy field work vehicle according to claim 1, wherein the vehicle body is capable of traveling in either an automatic driving mode or a manual driving mode, and the warning inclination angle in the manual driving mode is set to be smaller than the warning inclination angle in the automatic driving mode.

10. When the paddy field working vehicle tilts in the left-right direction, a rollover prevention body that comes into contact with the ground at a predetermined tilt angle of the tilting movement is provided in the outer circumferential region of the wheel, The paddy field work vehicle according to claim 1, wherein the inclination determination unit detects that the inclination of the running vehicle body has reached a special inclination angle based on a detection signal from a ground contact detector that detects when the rollover prevention body has touched the ground.

11. 11. The paddy field work vehicle according to claim 1, wherein the warning tilt angle is a value between 1 / 4 and 3 / 4 of a specified tilt angle specified for preventing rollover.

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