Work vehicles

Abstract

To solve such a problem that a work vehicle such as a carrot harvesting vehicle having a crane device is known, the crane device includes a suspension crane arm which is driven so as to protrude to suspend a carrot storage container, however the sufficient usability of the crane device is not necessarily realized in the work vehicle such as the conventional carrot harvesting vehicle.SOLUTION: A carrot harvesting vehicle comprises: a crane device 700 which has a suspension crane arm 710 which is driven so as to protrude to suspend a carrot storage container 650; a vehicle body inclination sensor 810 which detects vehicle body inclination; and a control device 900 which performs control of protrusion drive prohibition of the suspension crane arm 710 when it is detected that the vehicle body inclination exceeds a prescribed level.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to work vehicles, such as carrot harvesting vehicles. [Background technology]

[0002] A work vehicle such as a carrot harvesting vehicle having a crane device is known (see, for example, Patent Document 1). The crane device has, for example, a hanging crane arm that is driven to extend and is used to hang a carrot-containing container. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 7004098 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of work vehicles such as the conventional carrot harvesting vehicle described above, the crane device does not necessarily have sufficient ease of use.

[0005] SUMMARY OF THE INVENTION In consideration of the above-mentioned problems in the prior art, an object of the present invention is to provide a work vehicle that can improve the ease of use of a crane apparatus. [Means for solving the problem]

[0006] The first aspect of the present invention is a crane device (700) having a crane arm (710) for suspending a crop-receiving container (650) that is driven to extend; A vehicle body tilt sensor (810) for detecting a vehicle body tilt; a control device (900) that controls the suspension crane arm (710) to inhibit extension drive when it is detected that the vehicle body tilt exceeds a predetermined level; a liftable conveyor device (500) for transporting the crops harvested by the crop harvesting device (300) to the suspended crop storage container (650); It is equipped with The crane device (700) has an intermediate link arm (720) and one or more dampers (722i, 722o), The hanging crane arm (710) is pivotally attached to the upper end of the intermediate link arm (720), The lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500), The upper ends of the dampers (722i, 722o) are attached to the intermediate link arm (720) via auxiliary link members (723i, 723o), The lower ends of the dampers (722i, 722o) are rotatably attached to the conveyor device (500), One end of the auxiliary link member (723i, 723o) is rotatably attached to the intermediate link arm (720), The other ends of the auxiliary link members (723i, 723o) are rotatably attached to the upper ends of the dampers (722i, 722o), This work vehicle is characterized in that when a force is applied to extend the dampers (722i, 722o), the auxiliary link members (723i, 723o) rotate, thereby suppressing the extension of the dampers (722i, 722o). In the second aspect of the present invention, a pivot point (720f) is provided at which the lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500), The dampers (722i, 722o) are two dampers (722i, 722o) respectively positioned on the inner side and the outer side of the vehicle body in the left-right direction of the vehicle body with the rotation fulcrum (720f) as a reference, the lower end of the damper (722i) located inside the vehicle body is rotatably attached to the conveyor device (500) inside the vehicle body; When the intermediate link arm (720) is tilted toward the inside of the vehicle body, the intermediate link arm (720) abuts against the auxiliary link member (723i) of the damper (722i) located on the inside of the vehicle body, thereby pressing down the damper (722i) located on the inside of the vehicle body, the lower end of the damper (722o) located on the outside of the vehicle body is rotatably attached to the conveyor device (500) on the outside of the vehicle body; When the intermediate link arm (720) is tilted toward the outside of the vehicle body, the intermediate link arm (720) abuts against the auxiliary link member (723o) of the damper (722o) located on the outside of the vehicle body, thereby pressing in the damper (722o) located on the outside of the vehicle body, A pin member (500p) is erected on the conveyor device (500), When the conveyor device (500) is raised, the pin member (500p) abuts against the intermediate link arm (720), thereby lifting the intermediate link arm (720); a lock plate (721) having a slit (721s) for restricting the range in which the intermediate link arm (720) can be tilted is rotatably attached to the intermediate link arm (720); In the work vehicle of the first invention, the pin member (500p) is slidably inserted into the slit (721s). In a third aspect of the present invention, the auxiliary link member (723i) of the damper (722i) located on the inside of the vehicle body has an S-shape, In the work vehicle of the second invention, the auxiliary link member (723o) of the damper (722o) located on the outer side of the vehicle body has an I-shape. First invention related to the present invention a crane device (700) having a crane arm (710) for suspending a crop storage container (650) that is driven to extend; A vehicle body tilt sensor (810) for detecting a vehicle body tilt; a control device (900) that controls the suspension crane arm (710) to inhibit extension drive when it is detected that the vehicle body tilt exceeds a predetermined level; The work vehicle is characterized by being equipped with:

[0007] Second invention related to the present invention a crane device (700) having a hoisting crane arm (710) for hoisting a crop-receiving container (650); a hanging crane arm storage sensor (820) for detecting whether the hanging crane arm (710) is stored; a control device (900) that controls the suspension crane arm (710) to inhibit driving when it is detected that the suspension crane arm (710) is stored; The work vehicle is characterized by being equipped with:

[0008] The third invention related to the present invention a crane device (700) having a crane arm (710) for suspending a crop storage container (650) that is driven to extend; a hoisting crane arm position sensor (830) for detecting whether the position of the hoisting crane arm (710) is in a hoisting crane arm extended position; A vehicle body tilt sensor (810) for detecting a vehicle body tilt; a control device (900) that performs control to stop the engine or inhibit engine start when it is detected that the posture of the hanging crane arm (710) is the hanging crane arm extended posture and that the vehicle body inclination exceeds a predetermined level; The work vehicle is characterized by being equipped with:

[0009] The fourth invention related to the present invention a crane device (700) having a crane arm (710) for suspending a crop storage container (650) that is driven to extend; a hoisting crane arm position sensor (830) for detecting whether the position of the hoisting crane arm (710) is in a hoisting crane arm extended position; a parking brake status sensor (840) for detecting the parking brake status; a control device (900) that performs control to stop the engine or inhibit engine start when it is detected that the posture of the hanging crane arm (710) is the hanging crane arm extended posture and the parking brake state is off; The work vehicle is characterized by being equipped with:

[0010] Fifth invention related to the present invention a conveyor device (500) that can be raised and lowered to transport the crops harvested by the crop harvesting device (300) to the suspended crop storage container (650); The crane device (700) has an intermediate link arm (720) and one or more dampers (722i, 722o), The hanging crane arm (710) is pivotally attached to the upper end of the intermediate link arm (720), The lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500), The upper ends of the dampers (722i, 722o) are attached to the intermediate link arm (720) via auxiliary link members (723i, 723o), The lower ends of the dampers (722i, 722o) are rotatably attached to the conveyor device (500), One end of the auxiliary link member (723i, 723o) is rotatably attached to the intermediate link arm (720), The other ends of the auxiliary link members (723i, 723o) are rotatably attached to the upper ends of the dampers (722i, 722o), When a force that extends the dampers (722i, 722o) is applied, the auxiliary link members (723i, 723o) rotate, thereby suppressing the extension of the dampers (722i, 722o). Any of the first to fourth inventions related to the present invention It is a work vehicle.

[0011] The sixth invention related to the present invention a pivot point (720f) at which the lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500); The dampers (722i, 722o) are two dampers (722i, 722o) respectively positioned on the inner side and the outer side of the vehicle body in the left-right direction of the vehicle body with the rotation fulcrum (720f) as a reference, the lower end of the damper (722i) located inside the vehicle body is rotatably attached to the conveyor device (500) inside the vehicle body; When the intermediate link arm (720) is tilted toward the inside of the vehicle body, the intermediate link arm (720) abuts against the auxiliary link member (723i) of the damper (722i) located on the inside of the vehicle body, thereby pressing down the damper (722i) located on the inside of the vehicle body, the lower end of the damper (722o) located on the outside of the vehicle body is rotatably attached to the conveyor device (500) on the outside of the vehicle body; When the intermediate link arm (720) is tilted toward the outside of the vehicle body, the intermediate link arm (720) abuts against the auxiliary link member (723o) of the damper (722o) located on the outside of the vehicle body, thereby pressing in the damper (722o) located on the outside of the vehicle body, A pin member (500p) is erected on the conveyor device (500), When the conveyor device (500) is raised, the pin member (500p) abuts against the intermediate link arm (720), thereby lifting the intermediate link arm (720); a lock plate (721) having a slit (721s) for restricting the range in which the intermediate link arm (720) can be tilted is rotatably attached to the intermediate link arm (720); The pin member (500p) is slidably inserted into the slit (721s). Fifth invention related to the present invention It is a work vehicle.

[0012] Seventh invention related to the present invention The auxiliary link member (723i) of the damper (722i) located on the inside of the vehicle body has an S-shape, The auxiliary link member (723o) of the damper (722o) located on the outside of the vehicle body is I-shaped. The sixth invention related to the present invention It is a work vehicle. [Effects of the Invention]

[0013] The present invention can improve the ease of use of a crane apparatus, and in addition to the effects of the present invention described above, can also improve the durability of a crane apparatus. First invention related to the present invention This makes it possible to improve the ease of use of the crane device.

[0014] Second invention related to the present invention This makes it possible to improve the ease of use of the crane device.

[0015] The third invention related to the present inventionThis makes it possible to improve the ease of use of the crane device.

[0016] The fourth invention related to the present invention This makes it possible to improve the ease of use of the crane device.

[0017] Fifth invention related to the present invention Therefore, Any of the first to fourth inventions related to the present invention In addition to the above effect, the durability of the crane apparatus can be improved.

[0018] The sixth invention related to the present invention Therefore, Fifth invention related to the present invention In addition to the above effect, the configuration of the crane apparatus can be simplified.

[0019] Seventh invention related to the present invention Therefore, The sixth invention related to the present invention In addition to the above effect, the configuration of the crane apparatus can be further simplified. [Brief explanation of the drawings]

[0020] [Figure 1] (a) is a front view of a carrot harvesting vehicle according to an embodiment of the present invention; (b) is a left side view of the carrot harvesting vehicle according to an embodiment of the present invention; [Figure 2] (a) is a plan view of a carrot harvesting vehicle according to an embodiment of the present invention; (b) is a partial rear view of a carrot harvesting vehicle according to an embodiment of the present invention; (c) is a partial right side view of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 3](a) An explanatory diagram (part 1) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (c) An explanatory diagram (part 3) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (d) An explanatory diagram (part 4) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (e) An explanatory diagram (part 5) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (f) An explanatory diagram (part 6) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (g) An explanatory diagram (part 7) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, (h) An explanatory diagram (part 8) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 4] 1 is a rear view of the vicinity of a hanging crane arm of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 5] (a) A schematic perspective view of the vicinity of a crane arm retraction sensor of a carrot harvesting vehicle according to an embodiment of the present invention; (b) A schematic front view of the vicinity of a crane arm retraction sensor of a carrot harvesting vehicle according to an embodiment of the present invention; (c) A schematic rear view (part 1) of the vicinity of a hanging crane arm of a carrot harvesting vehicle according to an embodiment of the present invention; (d) A schematic rear view (part 2) of the vicinity of a hanging crane arm of a carrot harvesting vehicle according to an embodiment of the present invention; (e) A schematic right side view of a carrot harvesting vehicle according to an embodiment of the present invention; (f) A schematic front view of a carrot harvesting vehicle according to an embodiment of the present invention; (g) A schematic exploded perspective view of the vicinity of a vehicle body tilt sensor of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 6] FIG. 1 is a front view (part 1) of the vicinity of the intermediate link arm of the carrot harvesting vehicle according to the embodiment of the present invention. [Figure 7] FIG. 2 is a front view of the vicinity of the intermediate link arm of the carrot harvesting vehicle according to the embodiment of the present invention (part 2); [Figure 8] 1 is a front view of the vicinity of a lock plate of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 9] FIG. 1 is a perspective view of the vicinity of a lock plate of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 10]FIG. 2 is a perspective view of the vicinity of the lock plate of the carrot harvesting vehicle according to the embodiment of the present invention (part 2); [Figure 11] FIG. 3 is a perspective view of the vicinity of the lock plate of the carrot harvesting vehicle according to the embodiment of the present invention (part 3); [Figure 12] FIG. 3 is a front view of the vicinity of the intermediate link arm of the carrot harvesting vehicle according to the embodiment of the present invention (part 3) [Figure 13] FIG. 10 is an explanatory diagram of pressure release control in the carrot harvesting vehicle of the embodiment of the present invention, with the carrot harvester crane specifications. [Figure 14] (a) An explanatory diagram (part 1) of the control configuration of a crane-type hydraulic circuit of a carrot harvesting vehicle according to an embodiment of the present invention, (b) An explanatory diagram (part 2) of the control configuration of a crane-type hydraulic circuit of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 15] FIG. 3 is an explanatory diagram of a crane-type hydraulic circuit control configuration of a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 16] FIG. 1 is an explanatory diagram (part 1) of a power steering solenoid input circuit for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 17] FIG. 2 is an explanatory diagram (part 2) of a power steering solenoid input circuit for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 18] FIG. 1 is an explanatory diagram (part 1) of pressure release control for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 19] FIG. 2 is an explanatory diagram (part 2) of pressure release control for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 20] FIG. 3 is an explanatory diagram (part 3) of pressure release control for the crane-type carrot harvesting vehicle according to the embodiment of the present invention. [Figure 21] FIG. 10 is an explanatory diagram of a misoperation process for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 22] FIG. 1 is an explanatory diagram (part 1) of a parking brake input circuit for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 23] FIG. 2 is an explanatory diagram (part 2) of a parking brake input circuit for a crane-type carrot harvesting vehicle according to an embodiment of the present invention. [Figure 24] FIG. 1 is an explanatory diagram of a bucket folding configuration of a carrot harvesting vehicle according to an embodiment of the present invention; [Figure 25] (a) An explanatory diagram (part 1) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention; (b) An explanatory diagram (part 2) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 26] (a) An explanatory diagram (part 3) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, (b) an explanatory diagram (part 4) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, and (c) an explanatory diagram (part 5) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 27] (a) An explanatory diagram (part 6) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, (b) an explanatory diagram (part 7) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, and (c) an explanatory diagram (part 8) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 28] (a) An explanatory diagram (Nos. 9 to 11) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention; (b) An explanatory diagram (Nos. 9 to 11) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention; (c) An explanatory diagram (Nos. 9 to 11) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 29] (a) An explanatory diagram (part 12) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, (b) an explanatory diagram (part 13) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, and (c) an explanatory diagram (part 14) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 30] (a) An explanatory diagram (part 15) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, (b) an explanatory diagram (part 16) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, and (c) an explanatory diagram (part 17) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. [Figure 31] (a) An explanatory diagram (part 18) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, (b) an explanatory diagram (part 19) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, and (c) an explanatory diagram (part 20) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings.

[0022] Similarly, some components may not be shown in the drawings, or may be shown in perspective or in simplified form.

[0023] (1) First, the configuration and operation of a carrot harvesting vehicle according to an embodiment of the present invention will be specifically described with reference to Figures 1(a), 1(b), and 2(a) to 2(c).

[0024] Here, Figure 1(a) is a front view of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 1(b) is a left side view of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 2(a) is a plan view of a carrot harvesting vehicle according to an embodiment of the present invention, Figure 2(b) is a partial rear view of a carrot harvesting vehicle according to an embodiment of the present invention, and Figure 2(c) is a partial right side view of a carrot harvesting vehicle according to an embodiment of the present invention.

[0025] While explaining the operation of the carrot harvesting vehicle of this embodiment, a work vehicle operation control method according to an invention related to the present invention, which is realized by the control device 900 and the like, will also be explained.

[0026] The carrot harvesting vehicle of this embodiment is a vehicle that harvests carrots using the carrot harvesting device 300 while traveling on the traveling device 200 in accordance with manual or automatic operation of the steering device 400.

[0027] The conveyor device 500 is a device that transports the carrots harvested by the carrot harvesting device 300 toward the outside of the vehicle body.

[0028] The mounting table 600 is a table attached to the vehicle body 100 so as to protrude outward from the vehicle body in the left-right direction, and is used to mount a carrot storage container 650 for storing carrots harvested by the carrot harvesting device 300.

[0029] The carrot harvesting device 300 is provided on the left side in the left-right direction of the vehicle body, the mounting table 600 is provided on the right side in the left-right direction of the vehicle body, and the carrot storage container 650 that stores carrots harvested by the carrot harvesting device 300 is held on the right side in the left-right direction of the vehicle body 100. Therefore, the conveying direction of the conveyor device 500 is rightward in the left-right direction of the vehicle body.

[0030] The hanger 750 is a hanger for suspending the carrot storage container 650 that stores the carrots that drop from the end of the conveyor of the conveyor device 500.

[0031] The two hangers 750 are arranged as container hanging members aligned in the longitudinal direction of the vehicle body, with the front hanger 750 hanging the front side of the bag opening of the ginseng-storing container 650 and the rear hanger 750 hanging the rear side of the bag opening of the ginseng-storing container 650.

[0032] The crane device 700 can move the hanger 750 suspending the carrot storage container 650 toward the outside of the vehicle body.

[0033] The conveyor device 500 is rotatably attached to the car body 100, and the height of the end of the conveyor can be changed as the conveyor device 500 rotates.

[0034] The crane device 700 is rotatably attached to the conveyor device 500 .

[0035] The carrot harvesting vehicle of this embodiment is a vegetable harvester that transports carrots, which are root vegetables, using a conveyor device 500, which is a movable conveyor device for sorting, etc., and stores the carrots in a carrot storage container 650, which is a flexible container for sorting, etc. The carrot storage container 650 is attached to a hanger 750 with a container hanging ring (not shown), such as a sling, and set at the end of the conveyor. As the height of the end of the conveyor increases at the end of the harvesting operation, the carrot storage container 650 is moved sideways while still hanging and lowered to the ground in the field at a position next to the vehicle body 100.

[0036] The crane device 700 is an apparatus having a hanging crane arm 710 that is driven to extend and is used to hang the carrot-containing container 650 .

[0037] The vehicle body tilt sensor 810 is a sensor that detects vehicle body tilt. The hoisting crane arm storage sensor 820 is a sensor that detects whether the hoisting crane arm 710 is stored or not. The hoisting crane arm position sensor 830 is a sensor that detects whether the position of the hoisting crane arm 710 is in the hoisting crane arm extended position or not. The parking brake state sensor 840 is a sensor that detects the parking brake state.

[0038] When it is detected that the vehicle body tilt exceeds a predetermined level, the control device 900 controls the suspension crane arm 710 to prohibit the extension drive.

[0039] The carrots of this embodiment are a specific example of a crop in the present invention, and the carrot harvesting vehicle of this embodiment is a specific example of a work vehicle in the present invention.

[0040] The carrot harvesting device 300 is a specific example of a crop harvesting device in accordance with the present invention. The carrot storage container 650 is a specific example of a crop storage container in accordance with the present invention.

[0041] (2) Next, the configuration and operation of the carrot harvesting vehicle according to the embodiment of the present invention will be described in more detail.

[0042] In the link configuration of the intermediate link arm 720 and the check control of the hanging crane arm 710 that hangs the storage bag of the vegetable harvester, if the check control of the crane operation for the crane configuration that lifts the bag that stores the harvested produce is only based on the parking brake, it may not be an appropriate check control depending on the working conditions. In addition, further improvements are expected for other safety controls and their configurations.

[0043] As shown in Figures 3(a) and 3(b), which are explanatory diagrams (parts 1 and 2) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, the conveyor of the conveyor device 500 is connected to a crane arm that suspends a storage bag for storing the harvested crop, and the vegetable harvesting machine is configured to automatically perform the process from digging up the crop to transporting it to the storage bag. A possible configuration is one that includes a restraint control that prevents the hanging crane arm 710 from operating based on the combined detection of three detection sensors: a hanging crane arm attitude sensor 830 that detects the position (storage position and extension position) of the hanging crane arm 710; a parking brake status sensor 840 that detects whether the parking brake of the harvester is engaged or disengaged; and a vehicle body inclination sensor 810 that detects the inclination of the harvester's body. In crane operations, placing harvested goods in the designated location requires checking various conditions, such as the machine's tilt in the field and the current crane extension state. Checking the parking brake alone for check control may not be suitable for certain work situations. Therefore, a combination of the hanging crane arm attitude sensor 830, which detects the position of the hanging crane arm 710, and the vehicle body tilt sensor 810, which detects the harvester's body tilt, is required. Furthermore, because the storage bag containing harvested goods is heavy, when the crane is used to lift it up, the center of gravity of the vehicle body 100 is raised. Furthermore, when lifting with a crane, lifting the harvester while it is tilted relative to the ground or while moving increases the risk of the harvester tipping over, as the center of gravity is different from when lifting on level ground. By checking the crane arm position, the harvester's stopped state, and the machine's state when it is not tilted, the harvest bag can be lifted up within a safe range.

[0044] We will explain the crane restraints for carrot harvester crane specifications.

[0045] In the above-mentioned configuration, the restraint control can be configured to operate by turning on and off three detection switches: the hanging crane arm attitude sensor 830, also known as the crane arm detection switch, the parking brake status sensor 840, also known as the parking brake detection switch, and the vehicle body tilt sensor 810, also known as the vehicle body tilt detection switch. By checking the position of the crane, whether it is traveling or not, and whether it is tilting or not, the restraint can be activated to prevent the crane from tipping over.

[0046] In the above-described configuration, the crane arm detection switch for the check control can be configured to detect when the crane arm is in the stowed position (on when stowed, off when extended). The same effects as those described above can be expected.

[0047] In the above-described configuration, the parking brake detection switch for the restraint control can be configured to detect whether the parking brake is on or off (on when the parking brake is applied, off when the parking brake is released). The same effects as those described above can be expected.

[0048] In the above-described configuration, the aircraft tilt detection switch for the check control may be configured to detect the aircraft's tilt in the left-right direction. The same effects as those described above can be expected.

[0049] As shown in Figures 3(c) and 3(d), which are explanatory diagrams (parts 3 and 4) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, when the vehicle body inclination sensor 810, which detects the vehicle body inclination, detects an abnormality, the crane arm is not operated. If an abnormality is detected during operation, the vehicle is immediately stopped. When the vehicle body inclination sensor 810, which detects the vehicle body inclination, detects an abnormality, the ground is likely to be inclined, and spreading the hanging crane arm 710 from this state could result in the vehicle tipping over, so the spreading of the hanging crane arm 710 is restrained.

[0050] The restraint control is configured so that the crane cannot be extended when moving or digging on level ground (when the parking brake detection switch is off and the machine tilt detection switch is on, the crane will not extend if the crane arm detection switch changes from on to off). If the crane is extended during operation, the center of gravity will shift to the right and there is a risk of it tipping over, so by not being able to extend it, tipping can be prevented.

[0051] The restraint control is configured so that the crane cannot be extended when moving or digging on a slope (when the parking brake detection switch is off and the machine tilt detection switch is off, the crane arm detection switch will not extend if it changes from on to off). If the crane is extended while working on a slope, the center of gravity will shift to the right and there is a risk of it tipping over, so by not being able to extend it, tipping over can be prevented.

[0052] The check control is configured so that the crane cannot be extended when parked on a slope (when the parking brake detection switch is on and the machine tilt detection switch is off, the crane arm detection switch does not extend if it changes from on to off). If the crane is extended on a slope, the center of gravity will shift to the right and there is a risk of it tipping over, so by not being able to extend the crane, tipping over can be prevented.

[0053] When it is detected that the position of the hoisting crane arm 710 is the hoisting crane arm extended position and the vehicle body tilt exceeds a predetermined level, the control device 900 performs control to stop the engine or inhibit engine start.

[0054] As shown in Figures 3(e) and 3(f), which are explanatory diagrams (parts 5 and 6) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, if the vehicle body inclination sensor 810, which detects vehicle body inclination, detects an abnormality while the hanging crane arm 710 is in the extended position, the engine is immediately stopped. If the vehicle body inclination sensor 810, which detects vehicle body inclination, detects an abnormality while the hanging crane arm 710 is extended and in operation, it is determined that the vehicle body 100 may suddenly tilt and tip over due to the state of the field or the lifting condition, and the engine is immediately stopped to prevent danger and provide safety control.

[0055] In the check control, if the machine tilts to the right while the crane is extended, an emergency stop is activated and the engine is stopped (when the crane arm detection switch and parking brake detection switch are off, and the machine tilt detection switch changes from on to off, the emergency stop is activated). Effects similar to those described above are expected.

[0056] When it is detected that the position of the hanging crane arm 710 is the hanging crane arm extended position and the parking brake state is off, the control device 900 performs control to stop the engine or inhibit engine start.

[0057] As shown in Figures 3(g) and 3(h), which are explanatory diagrams (parts 7 and 8) of crane control for a carrot harvesting vehicle according to an embodiment of the present invention, if it is detected that the parking brake has been released while the hanging crane arm 710 is in the extended position, the engine is immediately stopped. If it is detected that the parking brake has been released while the hanging crane arm 710 is extended and in operation, there is a possibility that the vehicle body 100 may move, so the engine is immediately stopped to prevent danger and provide safety control.

[0058] In check control, if the parking brake is released while the crane is extended on level ground, the emergency stop is activated and the engine is stopped (when the crane arm detection switch is off and the machine tilt detection switch is on, the emergency stop is activated when the parking brake detection switch changes from on to off). If the crane is driven with the crane extended, there is a risk of it tipping over, so stopping the engine can prevent this.

[0059] As shown in Figure 4, which is a rear view of the vicinity of the hanging crane arm 710 of a carrot harvesting vehicle according to an embodiment of the present invention, a long warning sound is output in conjunction with the movement of the crane arm 710 in the left-right direction of the vehicle body, and a short warning sound is output in conjunction with the restraint stop of the crane arm 710, and there is an operating angle play of approximately 5 degrees from on to off.

[0060] When it is detected that the hanging crane arm 710 is stored, the control device 900 performs control to inhibit the driving of the hanging crane arm 710.

[0061] When the hanging crane arm storage sensor 820, which is a position detection sensor for the hanging crane arm 710, detects that the hanging crane arm is in the stored state, it prevents the hanging crane arm 710 from operating. When the crane is stored, it is stored above the harvester, so if the hanging crane arm 710 were to operate, such as by unfolding, this could cause problems such as damage to the machine, and this can be prevented.

[0062] As shown in Figure 5(a), which is a schematic oblique view of the vicinity of the crane arm storage sensor 820 of a carrot harvesting vehicle of an embodiment of the present invention, and Figure 5(b), which is a schematic front view of the vicinity of the crane arm storage sensor 820 of a carrot harvesting vehicle of an embodiment of the present invention, the crane arm storage sensor 820 is provided as a storage switch by utilizing a crane arm storage stay 820s.

[0063] In the above-described configuration, it is possible to consider a configuration in which the crane arm cannot be extended when the crane is in the storage position, which can prevent incorrect operation during storage (preventing contact with walls or objects due to incorrect operation).

[0064] The crane restraint of the carrot harvester crane specification will be further explained.

[0065] As shown in Figure 5(c), which is a schematic rear view (part 1) of the vicinity of the hanging crane arm 710 of a carrot harvesting vehicle according to an embodiment of the present invention, a hanging crane arm position sensor 830 is provided as a crane arm detection switch.

[0066] In the above-mentioned configuration, the crane extension restraint system can be configured so that the crane cannot be extended when the parking brake detection switch or machine tilt detection switch sensor is off or when the crane arm detection switch changes from on to off. By not extending the crane while the machine is traveling or tilting, it is possible to prevent the crane from tipping over.

[0067] As shown in Figure 5(d), which is a schematic rear view (part 2) of the vicinity of the hanging crane arm 710 of a carrot harvesting vehicle according to an embodiment of the present invention, in the parking brake release prevention, when the hanging crane arm 710 is extended in an extended position, if the parking brake is released, an emergency engine stop is performed.

[0068] In the above-described configuration, the parking brake release prevention can be configured so that when the crane arm detection switch is off, an emergency engine stop is activated when the parking brake detection switch changes from on to off. Activating the emergency engine stop disables the crane from traveling when it is extended, preventing it from tipping over.

[0069] In the above-described configuration, a configuration is conceivable in which the controller performs three types of control based on the angle of the machine body (angle of the slope sensor): automatic leveling control, tipping alarm control, and crane extension restraint control. Although only automatic leveling control and tipping alarm control are possible, a configuration with these three types of control is more preferable.

[0070] As shown in Figure 5(e), which is a schematic right side view of a carrot harvesting vehicle according to an embodiment of the present invention, and Figure 5(f), which is a schematic front view of a carrot harvesting vehicle according to an embodiment of the present invention, in the case of crane extension restraint, when the vehicle body tilts by 4 degrees or more, or when the parking brake is released while driving, the crane arm is not extended.

[0071] In the above-mentioned configuration, the crane extension restraint control can be configured to operate when the vehicle is tilted at an angle of 4 degrees or more. By not deploying the crane when the vehicle is tilted at an angle of 4 degrees or more, it is possible to prevent the vehicle from tipping over.

[0072] In the above configuration, it is possible to consider a configuration in which the control is released when the aircraft tilts at an angle of 3 degrees or less. By setting the control activation and release angle at 1 degree, chattering between on and off can be prevented and the life of the controller can be extended.

[0073] In the above-described configuration, the automatic level control and the crane overhang check control can be configured to be performed simultaneously. Even if the control angles overlap, each control can be performed.

[0074] In the above-described configuration, it is possible to consider a configuration in which the tipping warning control and the crane extension restraint control can be performed simultaneously, and the same effects as those described above can be expected.

[0075] 5(g), which is a schematic exploded perspective view of the vicinity of a vehicle body tilt sensor 810 of a carrot harvesting vehicle according to an embodiment of the present invention, a vehicle body tilt sensor 810 is provided as a tilt pendulum sensor, for example, having a pendulum 810p and a limit switch 810s in a crane operation switch box. The pendulum-type tilt sensor switch uses a sheet metal arm assembled with sheet metal, and the switch is closed when the vehicle is horizontal, and when the vehicle is tilted, the switch is open and the arm faces downward due to its own weight.

[0076] In the above-described configuration, the aircraft body tilt detection switch may be configured as a pendulum and a limit switch.

[0077] In the above-described configuration, the machine body tilt switch may be provided in the crane operation switch box, which allows for easy adjustment.

[0078] In the above-described configuration, the aircraft tilt switch may be provided on the front side of the aircraft, and the same effects as those described above can be expected.

[0079] The crane device 700 has an intermediate link arm 720 and two dampers 722i and 722o. The hanging crane arm 710 is pivotally attached to the upper end of the intermediate link arm 720. The lower end of the intermediate link arm 720 is pivotally attached to a hoistable conveyor device 500 that transports carrots harvested by the carrot harvesting device 300 to a suspended carrot storage container 650.

[0080] The upper end of the damper 722i is attached to the intermediate link arm 720 via an auxiliary link member 723i. The lower end of the damper 722i is rotatably attached to the conveyor device 500. One end of the auxiliary link member 723i is rotatably attached to the intermediate link arm 720. The other end of the auxiliary link member 723i is rotatably attached to the upper end of the damper 722i. When a force to extend the damper 722i is applied, the auxiliary link member 723i rotates, thereby suppressing the extension of the damper 722i.

[0081] The upper end of the damper 722o is attached to the intermediate link arm 720 via an auxiliary link member 723o. The lower end of the damper 722o is rotatably attached to the conveyor device 500. One end of the auxiliary link member 723o is rotatably attached to the intermediate link arm 720. The other end of the auxiliary link member 723o is rotatably attached to the upper end of the damper 722o. When a force to extend the damper 722o is applied, the auxiliary link member 723o rotates, thereby suppressing the extension of the damper 722o.

[0082] As shown in Figures 6 and 7, which are front views (parts 1 and 2) of the intermediate link arm 720 and its vicinity of a carrot harvesting vehicle according to an embodiment of the present invention, the link configuration of the hanging crane arm 710 includes an intermediate link section of the intermediate link arm 720 and two dampers 722i and 722o between the conveyor section of the conveyor device 500 and the hanging crane arm 710 to prevent damper interference at either the lowest or highest position. The intermediate link section has a pivot point located at the tip of the conveyor, and dampers 722i and 722o connecting the intermediate link and the conveyor around the pivot point are provided on both the side where the intermediate link moves upward toward the inside and the side where it moves downward toward the outside. Auxiliary links of auxiliary link members 723i and 723o are inserted between the intermediate link, the dampers, and the conveyor. The maximum operating range of the auxiliary link is less than half the extension range of the dampers 722i and 722o. The intermediate link is dogleg-shaped, and a cylinder that expands the hanging crane arm 710 is positioned near the center of the dogleg. In addition to the above-described check control, the configuration of the hanging crane arm 710 also responds by gently operating in the escape direction when the hanging crane arm 710 comes into contact with an obstacle. This allows the dampers 722i and 722o to interfere and assist with check control even if the carbody 100 momentarily loses balance and tilts, causing the hanging crane arm 710 to come into contact with an obstacle. The dampers 722i and 722o also have a natural lifting function to remove slack from the storage bag. However, by providing this function on both the lifting and lowering sides, they can move gently in both directions. Furthermore, by adding auxiliary links to the auxiliary link members 723i and 723o, pressure is applied to only one side of the dampers 722i and 722o relative to the neutral position, preventing interference between the dampers and ensuring good function.

[0083] The intermediate link of the intermediate link arm 720 is lifted by contact with the movable conveyor of the conveyor device 500. The auxiliary links of the auxiliary link members 723i and 723o are free, and the cushioning force of the dampers 722i and 722o is not very strong. Therefore, when the dampers 722i and 722o are fully extended, the auxiliary links rotate naturally, protecting the dampers 722i and 722o. Conversely, because the opposite side is pushed, the outer damper, damper 722o, is likely to be pressed down when the auxiliary links are free and stopped in the tensioned position. In other words, the inner auxiliary link of the auxiliary link member 723i is expected to transmit the damping force of the inner damper, damper 722i, and prevent damage due to overextension. The outer auxiliary link of the auxiliary link member 723o is expected to transmit the damping force of the outer damper, damper 722o, and prevent damage due to overextension. The retraction side stops mid-stroke. The movable conveyor and dampers 722i and 722o are rotatably connected, the intermediate link of intermediate link arm 720 and the auxiliary links of auxiliary link members 723i and 723o are rotatably connected, and the movable conveyor and intermediate link of conveyor device 500 are rotatably connected. The extension forces of the two inner and outer dampers 722i and 722o contact the intermediate link near its free length via the auxiliary link, and the rotation of the intermediate link acts as a reaction force pushing against each other, causing the intermediate link to come to a neutral stop relative to the movable conveyor at a neutral position where the angle is the neutral angle.

[0084] As the load of the flexible container, ginseng-containing container 650, increases, the intermediate link of intermediate link arm 720 rotates outward, compressing outer damper 722o. At the same time, the inner auxiliary link of the opposite auxiliary link member 723i rotates and no longer abuts, widening the gap. When the flexible container is empty, the outer damper 722o's extension force causes it to rotate inward until it abuts against the inner auxiliary link of auxiliary link member 723i, where it is obstructed and stopped at the neutral position where it abuts against the inner auxiliary link. Damage to the inner damper 722i is prevented, while the damping of the outer damper 722o is not obstructed. Dampers 722i and 722o remain stationary in the neutral position without pressing against the intermediate link of intermediate link arm 720, and function to return to the neutral position when a downward external force is applied. Such dampers 722i and 722o are dampers that can be compressed by rotating the intermediate link, that is, dampers that are soft and release slightly when touched by a person.

[0085] Damper 722o, which is an outer damper, comes into contact with the abutment portion of intermediate link arm 720 at an angle that prevents kinking, and pushes the intermediate link of intermediate link arm 720. The extension force of the outer damper acts to take up slack in the flexible container, and the extension force of damper 722i, which is an inner damper, acts to assist in lifting it from the storage position.

[0086] A pivot point 720f is provided at which the lower end of the intermediate link arm 720 is pivotally attached to the conveyor device 500. The dampers 722i and 722o are located on the inside and outside of the vehicle body in the left-right direction of the vehicle body, respectively, with the pivot point 720f as the reference.

[0087] The lower end of the damper 722i located on the inside of the car body is rotatably attached to the conveyor device 500 on the inside of the car body. When the intermediate link arm 720 tilts toward the inside of the car body, it abuts against the auxiliary link member 723i of the damper 722i located on the inside of the car body, thereby pressing in the damper 722i located on the inside of the car body.

[0088] The lower end of the damper 722o located on the outside of the vehicle body is rotatably attached to the conveyor device 500 on the outside of the vehicle body. When the intermediate link arm 720 tilts toward the outside of the vehicle body, it abuts against the auxiliary link member 723o of the damper 722o located on the outside of the vehicle body, thereby pressing in the damper 722o located on the outside of the vehicle body.

[0089] A pin member 500p is provided upright on the conveyor device 500. When the conveyor device 500 is raised, the pin member 500p abuts against the intermediate link arm 720, thereby lifting the intermediate link arm 720.

[0090] A lock plate 721 having a slit 721s for restricting the range in which the intermediate link arm 720 can be tilted is rotatably attached to the intermediate link arm 720. A pin member 500p is slidably inserted into the slit 721s.

[0091] As shown in Figure 8, which is a front view of the vicinity of the lock plate 721 of a carrot harvesting vehicle according to an embodiment of the present invention, and Figures 9 to 11, which are oblique views (parts 1 to 3) of the vicinity of the lock plate 721 of a carrot harvesting vehicle according to an embodiment of the present invention, the intermediate link of the intermediate link arm 720 moves freely up to a position restricted by the lock plate 721, also called the lock plate, but escapes within the range of the groove at the working position inside the vehicle body in the left-right direction, and becomes completely free within the range of the groove at the storage position outside the vehicle body in the left-right direction, as the restriction of the lock plate is released.

[0092] When the intermediate link of the intermediate link arm 720 is retracted, the movable conveyor of the conveyor device 500 itself is rotated inward as far as possible, and the weight of the entire intermediate link is applied to the inner damper, damper 722i. The intermediate link of the intermediate link arm 720 is retracted by manually pushing the intermediate link inward. The lock plate 721 moves along the guide groove of the slit 721s and drops at the end of the guide groove under its own weight, automatically holding the intermediate link in the retracted position. After the lock plate 721 is released, the intermediate link of the intermediate link arm 720 is manually lifted and rotated outward until it abuts against the outer auxiliary link of the auxiliary link member 723o. It is then blocked and stopped at the neutral position where it abuts against the outer auxiliary link.

[0093] The two dampers 722i and 722o on the intermediate link of the intermediate link arm 720 do not have an elastic force that can lift the intermediate link, but can apply a biasing force so that the intermediate link swings. The intermediate link and conveyor are linked with a lock plate 721 fixed to the intermediate link. The intermediate link swings around its neutral position by the distance of the lock plate elongated hole in the slit 721s. When the intermediate link catches on both ends of the elongated hole in the slit 721s, it is locked and linked to the movement of the conveyor of the conveyor device 500.

[0094] The auxiliary link member 723i of the damper 722i located on the inside of the vehicle body has an S-shape, and the auxiliary link member 723o of the damper 722o located on the outside of the vehicle body has an I-shape.

[0095] This auxiliary link structure is designed to release the forces of the two dampers 722i and 722o, which press against each other and compete with each other. The auxiliary links of the auxiliary link members 723i and 723o rotate freely to release the forces of the intermediate dampers, dampers 722i and 722o, which interact with each other. Without the auxiliary link inserted, a reaction is likely to occur due to the pushing force of the inner damper, damper 722i, which is pushed in. In other words, the outer damper, damper 722o, oscillates naturally, but the inner damper, damper 722i, is likely to experience a strong return due to the reaction. With the auxiliary link inserted, the rotation of the auxiliary link of the auxiliary link member 723i prevents the inner damper, damper 722i, from being pushed. Therefore, the inner damper, to which no force is applied, extends and oscillates only due to the bias of the outer damper, damper 722o. That is, since the auxiliary links of the auxiliary link members 723i and 723o are inserted, the reaction is reduced, so that the damper 722i, which is the inner damper, is not pressed, and the intermediate link arm 720 swings slowly.

[0096] The crane's movement during lifting is nearly identical to that without the auxiliary link structure. The inner damper, damper 722i, and the outer damper, damper 722o, maintain a stable neutral position relative to each other, allowing the crane's state transition to be largely unaffected by the addition of auxiliary link members 723i and 723o. During crane lifting, the intermediate link is fixed by lock plate 721 and moves integrally with the conveyor of conveyor device 500, thereby stopping the swinging motion described above. After lifting is complete, when the bag containing the carrot-containing container 650 is placed on the platform 600, it naturally swings upward, tensing the bag. Lock plate 721 then moves out of its fixed position and along the elongated hole of slit 721s. Even if the crane of the hanging crane arm 710 hits a person or the like in this raised state, because the auxiliary links of the auxiliary link members 723i and 723o are inserted, the shock is suppressed by the reaction of the intermediate damper, there is no reaction between the dampers 722i and 722o, and the crane of the hanging crane arm 710 smoothly escapes, ensuring safety. Of course, there are limits to tilt beyond the range of the fixing plate elongated hole of the slit 721s provided in the lock plate 721, or to loads that exceed the allowable range of the dampers 722i and 722o that are the dampers on both sides, but for example, if the carbody 100 is slightly tilted and it comes into contact with something, the crane of the hanging crane arm 710 will flexibly escape, so by suppressing the pushing of the links of the two auxiliary link members 723i and 723o against each other, a safety device with a structure that ensures reliable swinging can be obtained.

[0097] The intermediate link arm configuration of the root vegetable harvester will now be described.

[0098] As shown in Figure 12, which is a front view (part 3) of the vicinity of the intermediate link arm 720 of a carrot harvesting vehicle according to an embodiment of the present invention, this self-propelled harvester performs continuous work by sorting and storing harvested root vegetables in containers and then using a crane arm to lower the full container to the ground in a position that is in the extension direction of the sorting conveyor and does not interfere with the vehicle's movement. Among the structures that make up the crane arm, a single link is provided between the tip of the vertically movable conveyor that functions as a boom and the pivotal part of the arm that moves the container laterally toward the ground with a cylinder. This link allows the entire arm to rotate between the lifting stopper when the crane arm extends from the surface of the sorting conveyor in the extension direction of the conveyor. This is because, while the crane arm can usually be accommodated only by extending or shortening the boom length or by raising the boom angle to limit the horizontal extension, this conventional method cannot be used when the movable sorting conveyor is used as a boom. The movable sorting conveyor can be used as a boom, while the arm section can be stored compactly, and the slack in the container can be removed at the midpoint of rotation, and root vegetables can be prevented from spilling out.

[0099] Links are attached to both edges of the conveyor frame, and the link farthest from the sorter is bent into a mountain shape with a reinforcing plate installed in the space created by the concave bottom. This is because a cantilever would not be strong enough to hang the container while keeping its opening wide so as not to interfere with the transport and sorting of root vegetables into the container. This allows for efficient strength to be obtained when hanging the container from a cylinder while keeping its opening wide so as not to interfere with the transport and sorting of root vegetables into the container.

[0100] The link on the side farthest from the sorter was bent into a mountain shape, and its lower recess supported the base of a cylinder that moved the arm laterally.

[0101] The link on the farthest side from the sorter is biased by a spring or the like in the direction away from the lifting stopper and up to the slack take-up position, and is free to move from the slack take-up position to the storage position.The heavy load on the crane arm moves with a light force in accordance with the operator's operation, allowing for efficient use without the need to cancel out opposing forces.

[0102] A link has also been added to the tip of the spring, which allows free biasing from the slack-removing position to the storage position.

[0103] This link pushes up the frame pipe surface of the link that supports the arm.

[0104] The link farthest from the sorting operator is biased by a spring or the like in the direction away from the storage position and up to the slack-taking position, and is free to move from the slack-taking position to the hanging stopper position.

[0105] A link has also been added to the tip of the spring, which allows free biasing from the slack removal position to the hanging stopper position.

[0106] This link pushes up the base of the cylinder.

[0107] (3) Next, the configuration and operation of the carrot harvesting vehicle according to the embodiment of the present invention will be described in more detail.

[0108] As part of the check and balance control, pressure relief control is implemented in the hydraulic circuit of the crane to prevent sudden movement or malfunction of the crane arm. The pressure relief time is set to an extremely short period and the cylinder is operated. The operation sequence can be either from retraction to extension or from extension to retraction.

[0109] This section explains the pressure release control in the carrot harvester crane specifications.

[0110] As shown in Figure 13, which is an explanatory diagram of depressurization control for a carrot harvester crane specification of a carrot harvesting vehicle according to an embodiment of the present invention, in order to avoid pressure increases between the cylinder check valves due to thermal expansion of the hydraulic oil, a specification is considered in which depressurization control is performed under certain conditions by activating the solenoid in the cylinder retraction direction. This is because, in the depressurization control performed on some models, both solenoids are alternately activated to return the cylinder to its original position. However, since the crane is located in front of the assistant passenger, alternating activation could be perceived as a malfunction. In a carrot harvester, the crane's initial state is the most retracted position, so activating the solenoid only in the retraction direction prevents the cylinder from being activated by depressurization control.

[0111] The carrot harvester crane specifications include a cylinder that moves the crane and a hydraulic valve that controls it, with the hydraulic valve being equipped with a double check valve. In this case, pressure relief control is performed under certain conditions to prevent pressure buildup between the cylinder and the check valve due to thermal expansion of the hydraulic oil. This is because without pressure relief control, the check valve will not open due to pressure buildup between the cylinder and the check valve, making the crane uncontrollable and, in the worst case, risking rupture from a location with low pressure resistance.

[0112] In the above-described configuration, the pressure release control is performed in the order of extension first, then retraction. This is because if the control is performed in the order of retraction first, there is a concern that the cylinder may continue to extend slightly. Although this is difficult to imagine, if the cylinder continues to extend, the sensor detecting the retraction state may turn off when the parking brake is released, which could cause the engine to stop suddenly. Because the volume of the piston rod on the retraction side is smaller, if the pressure release control is performed alternately for 40 ms, the stroke on the retraction side will be longer, allowing the cylinder to return to the fully compressed position, which is considered the initial position. If the cylinder does not return, it will move during the pressure release control one minute after the engine starts.

[0113] The crane type hydraulic circuit control configuration will be explained.

[0114] As shown in Figures 14(a), 14(b), and 15, which are explanatory diagrams (parts 1 to 3) of the crane-type hydraulic circuit control configuration for a carrot harvesting vehicle according to an embodiment of the present invention, the rod-side check valve in the hydraulic circuit for the crane extension cylinder is an electromagnetic check valve (preventing leakage in the extension direction), and the head-side check valve is a pilot-operated check valve with hydraulic switching (preventing leakage in the retraction direction). While a double-check valve could be used to check both directions (since leakage in the extension direction also occurs in the circuit), this configuration could cause problems with depressurizing the extension side of the cylinder when controlling pressure release due to hydraulic thermal expansion (e.g., when pressure release is controlled only in the down direction to avoid dangerous operation, problems with pressure release on the rod side can occur). As mentioned above, the rod side uses an electromagnetic check valve (non-leak solenoid), and periodic output from this valve enables rod-side pressure release.

[0115] In the above-mentioned configuration, head side pressure relief control (SOL3a output) and rod side pressure relief control (SOL7) are output alternately at regular intervals. When SOL7 is output, only the pressure in the circuit is released, and the cylinder does not move in the extension direction due to the pressure relief control.

[0116] In the above-described configuration, when the crane is stored (when the cylinder is retracted), the electromagnetic check valve is turned on near the stroke end to perform deceleration control (reducing stopping shock at the stroke end). This is because, while a circuit configuration in which the cylinder operating speed is constant due to a double check valve is possible, the above-described electromagnetic check valve can be turned on during operation in the retraction direction to narrow the flow path, making it possible to decelerate the cylinder operating speed. Being able to control deceleration when the cylinder is retracted at the stroke end saves time when retracting the cylinder, improving work efficiency.

[0117] In the above-described configuration, the cylinder deceleration starts upon detection of a signal from the stroke end detection sensor.

[0118] In the above-described configuration, the stroke end detection sensor is set to detect the stroke end position of the cylinder before the stroke end position, and deceleration control is started and stopped after a certain period of output (the deceleration control output time is set to the time it takes for the cylinder to reliably reach the stroke end).

[0119] The crane-specification power steering solenoid input circuit will be explained.

[0120] As shown in Figures 16 and 17, which are explanatory diagrams (parts 1 and 2) of the power steering solenoid input circuit for the crane-specification carrot harvesting vehicle according to an embodiment of the present invention, diodes are connected in parallel to the output stages of the left and right power steering solenoids, and the circuits are connected to the input terminals of the controller. This is because if a circuit were constructed for each output stage of the left and right power steering solenoids and connected to the input terminals of the controller, two circuits would be required, which would increase costs. Pressure release control can also be performed without any problems.

[0121] The pressure release control for the crane specifications will be explained.

[0122] As shown in Figure 18, which is an explanatory diagram (part 1) of the pressure relief control of the crane-equipped carrot harvesting vehicle according to the embodiment of the present invention, if the power steering solenoid (left and right) inputs are on at the time of the pressure relief control output, no control output is performed. If such inputs are turned off, the control output is performed.

[0123] As shown in Figure 19, which is an explanatory diagram (part 2) of the pressure release control for the crane-type carrot harvesting vehicle according to the embodiment of the present invention, when the power steering solenoid (left or right) input is turned on during pressure release control output, the control output is interrupted. When the input is turned off, the control output is performed.

[0124] As shown in Figure 20, which is an explanatory diagram (part 3) of the pressure release control for the crane-equipped carrot harvesting vehicle according to the embodiment of the present invention, when the pressure release control output timing and the power steering solenoid (left and right) inputs are turned on simultaneously, no control output is performed (manual control is prioritized). When the above inputs are turned off, the control output is performed.

[0125] This section explains the handling of incorrect operation (parking brake) for crane specifications.

[0126] As shown in Figure 21, which is an explanatory diagram of the handling of erroneous operation of the crane specifications of a carrot harvesting vehicle according to an embodiment of the present invention, when the parking brake is not applied and the crane angle is detecting a danger zone, pressing the extension lever switch for the crane operation does not turn on the arm cylinder extension valve. This is because operating the arm extension when the parking brake is not applied and the crane angle is detecting a danger zone could be dangerous if the vehicle starts traveling.

[0127] The parking brake input circuit for the crane specifications will be explained.

[0128] As shown in Figures 22 and 23, which are explanatory diagrams (parts 1 and 2) of the parking brake input circuit of the crane-equipped carrot harvesting vehicle according to the embodiment of the present invention, a parking brake switch is provided and connected to the controller. This is because when the crane angle detects a dangerous area without the parking brake applied, it may not be possible to notify the user of the dangerous state.

[0129] As shown in Figure 24, which is an explanatory diagram of the bucket folding configuration of a carrot harvesting vehicle according to an embodiment of the present invention, the bucket is designed to be folding, and is used in a folded state during crane operation. The range of this folding part can be used to prevent pinching in the event of tipping over.

[0130] For safety control such as preventing tipping over, unmanned operation is used to control the work vehicle and driver as their eyes. The important point is that a CCD camera is used to take the place of human eyes.

[0131] The configuration of the unmanned root vegetable puller will be described.

[0132] As shown in Figures 25(a) and 25(b), which are explanatory diagrams (parts 1 and 2) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a high-speed CCD for measuring the height of the boundary between the leaves and fruit (shoulder) of the root vegetables is installed on the outside of the lug guide / cover on the side opposite the side through which the root vegetables pass, behind the front end of the cover and near the front end and at the height of the clamping belt. The shoulder height can be measured from the image of the root vegetables as the vertical lifting lug crosses, allowing for quick adjustment of the clamping height.

[0133] As shown in Figures 26(a) to 26(c), which are explanatory diagrams (parts 3 to 5) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a CCD is installed with the top and bottom eaves of the CCD. The shoulder height of the root vegetable can be read from the image of the root vegetable while the vertical lifting lug is moving across the lens with little obstruction from soil, backlight, or leaves, and the clamping height can be quickly adjusted.

[0134] The CCD is mounted with a cylindrical canopy in front of the CCD. The shoulder height can be read from the image of the root vegetables between the vertical lifting lugs with little obstruction from soil, backlight or leaves on the lens, and the clamping height can be quickly adjusted.

[0135] As shown in Figures 27(a) to 27(c), which are explanatory diagrams (parts 6 to 8) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a CCD image is displayed on a monitor screen near the steering wheel along with a semi-transparent illustration of the clamping belt. The shadows of the leaves are reduced in the image of the root vegetables as they pass through the vertical lifting lug, making it possible to read the difference between shoulder height and clamping belt height, and quickly adjust the clamping height.

[0136] As shown in Figures 28(a) to 28(c), which are explanatory diagrams (parts 9 to 11) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a time-lapse recording of images linked to the speed at which the lug crosses is displayed on a monitor screen near the steering wheel. The shadows of the leaves are reduced in the image of the root vegetable as the lug crosses, making it possible to read the shoulder height and quickly adjust the clamping height.

[0137] As shown in Figures 29(a) to 29(c), which are explanatory diagrams (parts 12 to 14) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a dial is provided for finely adjusting the recording interval of the time-lapse. The shoulder height can be read by fine-tuning the vertical lifting lug so that the shadow of the leaves is reduced in the root vegetable image as it passes across, allowing for quick adjustment of the clamping height.

[0138] As shown in Figures 30(a) to 30(c), which are explanatory diagrams (parts 15 to 17) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, the time lapse recording interval can be adjusted automatically in proportion to the rotation speed of the pulley.

[0139] As shown in Figures 31(a) to 31(c), which are explanatory diagrams (parts 18 to 20) of the configuration of an unmanned root vegetable puller for a carrot harvesting vehicle according to an embodiment of the present invention, a CCD is selected that can record images at a frequency that is a multiple of the speed at which the lug crosses, and the images are displayed on a monitor screen near the handlebars.The frequency can also be adjusted so that it can be automatically fine-tuned in proportion to the rotation speed of the pulley.

[0140] The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0141] In addition, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or some of the operations of all or some of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0142] It should be noted that the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some of the multiple steps.

[0143] Furthermore, the above-mentioned "operations of steps (or processes, operations, actions, etc.)" means the operations of all or part of the above-mentioned steps.

[0144] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0145] The recording medium also includes a ROM (Read Only Memory).

[0146] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0147] As described above, the configuration of the present invention may be realized in software or hardware. [Industrial Applicability]

[0148] The work vehicle of the present invention can improve the ease of use of the crane device and is useful for use as a work vehicle such as a carrot harvesting vehicle. [Explanation of symbols]

[0149] 100 body 200 Running gear 300 Carrot Harvesting Machine 400 Controls 500 Conveyor equipment 500p pin material 600 Mounting Table 650 Carrot Container 700 Crane Equipment 710 Hanging Crane Arm 720 intermediate link arm 720f Rotating fulcrum 721 Lock Plate 721s Slit 722i, 722o dampers 723i, 723o Auxiliary link members 750 hanger 810 Body tilt sensor 810p Pendulum 810s Limit Switch 820 Crane arm storage sensor 820s crane arm storage stay 830 Hanging crane arm position sensor 840 Parking brake status sensor 900 Control device

Claims

1. a crane device (700) having a crane arm (710) for suspending a crop-receiving container (650) that is driven to extend; a vehicle body tilt sensor (810) for detecting a vehicle body tilt; a control device (900) that controls prohibition of overhang drive of the hoisting crane arm (710) when it is detected that the vehicle body tilt exceeds a predetermined level; a liftable conveyor device (500) for transporting the crops harvested by the crop harvesting device (300) to the suspended crop storage container (650); It is equipped with The crane apparatus (700) has an intermediate link arm (720) and one or more dampers (722i, 722o); The hanging crane arm (710) is pivotally attached to the upper end of the intermediate link arm (720), The lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500), The upper ends of the dampers (722i, 722o) are attached to the intermediate link arm (720) via auxiliary link members (723i, 723o), The lower ends of the dampers (722i, 722o) are rotatably attached to the conveyor device (500), One end of the auxiliary link member (723i, 723o) is rotatably attached to the intermediate link arm (720), The other end of the auxiliary link member (723i, 723o) is rotatably attached to the upper end of the damper (722i, 722o), A work vehicle characterized in that, when a force that extends the dampers (722i, 722o) is applied, the auxiliary link members (723i, 723o) rotate, thereby suppressing the extension of the dampers (722i, 722o).

2. a pivot point (720f) at which the lower end of the intermediate link arm (720) is pivotally attached to the conveyor device (500); The dampers (722i, 722o) are two dampers (722i, 722o) respectively located on the inner side and the outer side of the vehicle body in the left-right direction of the vehicle body with the rotation fulcrum (720f) as a reference, The lower end of the damper (722i) located inside the car body is rotatably attached to the conveyor device (500) inside the car body, When the intermediate link arm (720) tilts toward the inside of the vehicle body, it abuts against the auxiliary link member (723i) of the damper (722i) located on the inside of the vehicle body, thereby pressing in the damper (722i) located on the inside of the vehicle body, The lower end of the damper (722o) located on the outside of the vehicle body is rotatably attached to the conveyor device (500) on the outside of the vehicle body, When the intermediate link arm (720) tilts toward the outside of the vehicle body, it abuts against the auxiliary link member (723o) of the damper (722o) located on the outside of the vehicle body, thereby pressing in the damper (722o) located on the outside of the vehicle body, A pin member (500p) is erected on the conveyor device (500), When the conveyor device (500) is raised, the pin member (500p) abuts against the intermediate link arm (720), thereby lifting the intermediate link arm (720); A lock plate (721) having a slit (721s) for restricting the range in which the intermediate link arm (720) can be tilted is rotatably attached to the intermediate link arm (720), 2. The work vehicle according to claim 1, wherein the pin member (500p) is slidably inserted into the slit (721s).

3. The auxiliary link member (723i) of the damper (722i) located inside the vehicle body has an S-shape, 3. The work vehicle according to claim 2, wherein the auxiliary link member (723o) of the damper (722o) located on the outer side of the vehicle body has an I-shape.

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