| 摘要 |
PURPOSE:To accurately determine a work end position, by measuring the distance to a levee with a levee sensing means at a position where a working machine is turned 90 deg. to a forward direction in carrying out butt turning. CONSTITUTION:A controlling part 19 senses the distance to a levee 12 with a levee detecting sensor 13 to judge whether the distance attains a preset turning distance (M) or not. When the distance is judged to be the turning distance (M), a rice transplanting robot 1 is turned by front back steering actuators 10 and 11. When the robot 1 is judged to be turned 90 deg., a distance (L) to the levee 12 in the direction at right angles to the forward direction is measured by the levee detecting sensor 13. When the robot 1 is judged to be turned 180 deg., a planting part 7 is lowered by an actuator 23 for vertically moving the planting part and a planting clutch is simultaneously connected by an actuator 25 for the planting clutch to start planting work.
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