Work vehicle

Abstract

The invention provides a working device. The present invention relates to a technique capable of appropriately performing planting by means of non-constant-speed rotation even when the travel speed is high, and a technique capable of easily detecting abnormalities such as deterioration over year of an actuator for driving a work device. An exemplary work vehicle is provided with: a traveling body; a working device that is supported by the traveling body and has a working unit that is provided so as to be able to change working settings for a field; a drive device that rotates or drives a working part of the working device; and a control device that controls the drive device. The control device corrects the phase lag of the acceleration and deceleration when the working unit performs a non-uniform rotation in which the angular velocity during one rotation is accelerated and decelerated. In addition, the control device corrects the drive setting of the drive device in accordance with the deviation of the actual work with respect to the work setting of the work unit, and determines an abnormality of the drive device on the basis of the correction.

Description

Technical Field

[0001] The invention relates to a working vehicle. Background Art

[0002] In the past, it is known that: in order to prevent the seedlings from falling forward or causing floating seedlings, the rotating shell of the transplanting mechanism is rotated at unequal speeds during thinning, and a working vehicle with a working device driven by an engine (for example, refer to Patent Document 1). Patent Document 1 discloses the following structure: the unequal speed component is assembled to the plant spacing speed change device in the gearbox to rotate at unequal speeds. Regarding this structure, the power transmission system from the plant spacing speed change device to the transplanting mechanism is composed of transmission elements such as gears and rotating shafts. The unequal speed component accelerates and decelerates the angular velocity of the transmission element in one rotation to produce unequal speed rotation. In addition, the working vehicle disclosed in Patent Document 1 has a gearbox that changes the speed of the engine power. The power of the engine is transmitted from the gearbox to the plant spacing speed change device via the planting power transmission shaft. The plant spacing speed change device changes the rotation of the planting power transmission shaft and transmits it to the seedling planting device via the PTO shaft.

[0003] In addition, in the past, the following working machine is known: the speed of the working power transmitted to the working part is continuously changed regardless of the speed of the traveling power by changing the speed of the continuously variable transmission device (for example, refer to Patent Document 2). That is, the following structure is known: the traveling device and the working part each have a driving source. According to the existing structure, the interval (supply interval) in the travel direction of the machine body that supplies agricultural materials to the field ground by the working part changes steplessly.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2013-192458

[0007] Patent Document 2: Japanese Patent Application Publication No. 2019-170344 Summary of the invention

[0008] When the transplanting mechanism is driven to rotate at an unequal speed, the speed of the unequal rotation changes in conjunction with the travel speed. Specifically, if the travel speed increases, the speed of the unequal rotation increases. Moreover, if the speed of the unequal rotation reaches a high-speed region above a constant value, the action cycle of the planting claws of the transplanting mechanism is staggered due to the influence of the vibration of the transmission element becoming significant, thereby causing poor planting. In order to prevent the occurrence of such poor planting, it was previously necessary to set a limit on the travel speed in order to prevent the speed of the unequal rotation from becoming high. In addition, the working device of the working vehicle can be driven not by the engine but by an actuator such as a motor. With such a structure, the load is stably applied due to the load of the field, etc., so the actuator sometimes has a response lag. It can be considered to control the actuator to correct the occurrence of such a response lag. However, if the actuator has abnormalities such as deterioration over the years, even if correction is performed, it is sometimes impossible to make the working device perform the action properly. In addition, with regard to planting and sowing machines, the traveling device and the working device are usually driven in conjunction. Regarding the structure of driving the travel device and the working device in linkage, usually, when an abnormality occurs in each device, not only the abnormal device but also the other devices are stopped in linkage. For example, if the travel device stops due to an abnormality in the working device, the operator may fall off the vehicle due to the emergency stop of the travel device.

[0009] The object of the present invention is to provide: a technology that can properly perform planting based on unequal speed rotation even when the driving speed is high, a technology that can easily detect abnormalities such as aging degradation of an actuator that drives a working device, and a technology that can enable each device to properly perform actions when an abnormality occurs in a driving device or a working device.

[0010] An exemplary work vehicle of the present invention comprises: a traveling body; a working device supported by the traveling body; a driving device that rotates a working part of the working device; and a control device that controls the driving device. When the working part performs an unequal speed rotation that accelerates and decelerates the angular velocity in one rotation, the control device corrects the phase lag of the acceleration and deceleration. In addition, an exemplary work vehicle of the present invention comprises: a traveling body; a working device supported by the traveling body and having a working part that is configured to change the working setting for the field; a driving device that drives the working part; and a control device that controls the driving device. The control device corrects the drive setting of the driving device according to the deviation of the actual work relative to the working setting of the working part, and determines the abnormality of the driving device based on the correction. In addition, an exemplary working vehicle of the present invention includes: a traveling body including a first driving source and a first abnormality detecting device; at least one working device supported by the traveling body and including a second driving source and a second abnormality detecting device; and a control device that controls the first driving source and the second driving source. The control device performs a first control on the first driving source when the working device detects an abnormality, and performs a second control different from the first control on at least one of the second driving sources when the traveling body detects an abnormality.

[0011] Effects of the Invention

[0012] According to the exemplary present invention, planting based on unequal speed rotation can be properly performed even when the travel speed is high. In addition, according to the exemplary present invention, abnormalities such as aging degradation of the actuator (drive device) driving the working device can be easily detected. In addition, according to the exemplary present invention, when an abnormality occurs in the travel device or the working device, each device can perform an action appropriately. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a side view which shows the schematic structure of a rice transplanter.

[0014] Figure 2 It is a top view which shows the schematic structure of a rice transplanter.

[0015] Figure 3 It is a top view which shows the schematic structure of the power transmission mechanism with which the rice transplanter is equipped.

[0016] Figure 4 This is a block diagram showing a schematic configuration of a rice transplanter.

[0017] Figure 5 This is a block diagram showing a detailed configuration of a working device included in the rice transplanter.

[0018] Figure 6 This is a schematic diagram for explaining the drive based on the unequal speed rotation of the planting part.

[0019] Figure 7 This is a block diagram showing an overview of control of a drive device by a control device.

[0020] Figure 8 is a schematic diagram showing an image of phase lag correction.

[0021] Fig. 9 This is a flowchart showing an example of a process for correcting a phase lag during acceleration and deceleration.

[0022] Fig.10 This is a flowchart illustrating an example of a calibration flow of a correction map.

[0023] Fig.11 This is a block diagram showing the functions of a control device related to abnormality determination of a drive device and the like.

[0024] Fig.12 This is a flowchart showing an example of a flow of reporting an abnormality of a drive device.

[0025] Fig.13 It is a diagram showing a first embodiment of a control mode of a control device when abnormality is detected.

[0026] Fig.14 It is a diagram showing a second embodiment of the control mode of the control device when abnormality is detected.

[0027] Description of Reference Numerals

[0028] 1…traveling body; 2…working device; 2A…planting device; 2B…material supply device; 3…control device; 5…storage device; 5a…correction mapping; 14…first driving source; 23…first abnormality detection device; 34…planting section (working section); 40…driving device (second driving source); 43, 53…second abnormality detection device; 50…supply motor (second driving source); 100…rice transplanter (working vehicle); 441…rotation angle sensor (sensor). DETAILED DESCRIPTION

[0029] Embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals and description thereof will not be repeated.

[0030] In this manual, the Figure 1The direction perpendicular to the travel plane S on which the work vehicle 100 shown is traveling is set as the up-down direction, and the up-down is defined by setting the work vehicle 100 side relative to the travel plane S as the up side. In addition, the direction in which the work vehicle 100 travels straight is set as the front-back direction, and the front-back is defined by setting the steering wheel 21 relative to the driver's seat 20 as the front side. In addition, the direction perpendicular to the up-down direction and the front-back direction is set as the left-right direction, and the right side when facing from the rear to the front is set as the right and the left side when facing from the rear to the front is set as the left to define the left and the right side. In addition, the above directions are merely names for explanation, and are not intended to limit the actual positional relationship and direction.

[0031] In addition, in the present embodiment, the working vehicle 100 is a rice transplanter. Hereinafter, the working vehicle 100 is referred to as the rice transplanter 100. However, the working vehicle of the present invention may also be a vehicle other than a rice transplanter. The working vehicle of the present invention may be, for example, a sowing machine that drives while sowing seeds in a field, or a transplanter that transplants vegetables and grains into a field.

[0032] <1. Overview of Rice Transplanter>

[0033] Figure 1 1 is a side view showing a schematic structure of the rice transplanter 100 according to the embodiment of the present invention. Figure 1 It is a left view of the rice transplanter 100. In addition, Figure 1 In order to facilitate understanding of the structure of a portion that is originally hidden from the rear wheel 12b, the rear wheel 12b is indicated by an imaginary line (two-dot chain line). Figure 2 1 is a plan view showing a schematic structure of the rice transplanter 100. In detail, Figure 2 It is a top view of the rice transplanter 100. Figure 3 It is a top view which shows the schematic structure of the power transmission mechanism with which the rice transplanter 100 is equipped.

[0034] The rice transplanter 100 performs a planting operation of planting rice seedlings on the ground of the field while traveling in the field. Figure 1 and Figure 2 As shown, the rice transplanter 100 includes a traveling body 1 and a working device 2. The rice transplanter 100 includes a traveling body 1 and at least one working device 2.

[0035] The vehicle 1 includes a vehicle frame 11 and a pair of wheel portions 12 arranged at intervals from each other in the left-right direction of the vehicle frame 11. The left and right wheel portions 12 include a front wheel 12a and a rear wheel 12b. A first driving source 14 covered from above by an engine cover 13 is arranged at the left-right center of the front portion of the vehicle frame 11. Figure 1 and Figure 2In the embodiment, the first drive source 14 is covered by the engine cover 13 and is not visible, so it is shown by an imaginary line (dashed line). In addition, the position of the first drive source 14 can also be set to a position different from the position of the present embodiment. In detail, the first drive source 14 is a diesel engine. However, the first drive source 14 is not limited to a diesel engine, and can also be a gasoline engine, a motor, etc.

[0036] like Figure 1 and Figure 3 As shown, a transmission 15 is arranged behind the first driving source 14. In addition, the transmission is not a necessary structure. For example, when the first driving source 14 is a motor, the transmission may not be provided. The transmission 15 changes the speed of the driving force generated by the first driving source 14. A front axle 16 is arranged on the left and right sides of the transmission 15. The front wheel 12a is mounted on a front wheel shaft 16a provided on the front axle 16, and the front wheel 12a is driven by the driving force transmitted from the transmission 15.

[0037] In addition, a rear axle 17 is arranged behind the transmission 15. Specifically, the rear axle 17 and the transmission 15 are connected by a coupling 18 extending in the front-rear direction. A rear wheel drive shaft 19 is arranged along the coupling 18. The rear wheel drive shaft 19 transmits the driving force from the transmission 15 to the rear axle 17. The rear wheel 12b is mounted on a rear wheel shaft 17a provided on the rear axle 17. The rear wheel 12b is driven by the driving force transmitted from the transmission 15 via the rear wheel drive shaft 19.

[0038] The traveling body 1 includes a driver's seat 20 supported by a vehicle body frame 11. The driver's seat 20 is disposed above the joint 18. A steering wheel 21, which is a steering wheel for an operator to steer the rice transplanter 100, is disposed in front of the driver's seat 20. In addition, a shift lever, a shift pedal, and a brake pedal (not shown) are disposed around the driver's seat 20.

[0039] The traveling body 1 is provided with a preliminary seedling loading platform 22 arranged on the left-right outer side of the engine cover 13. A seedling raising mat for replenishment is placed on the preliminary seedling loading platform 22. The preliminary seedling loading platforms 22 are arranged on the left and right sides, respectively. A plurality of preliminary seedling loading platforms 22 are arranged in the vertical direction on the left and right sides, respectively.

[0040] The working device 2 is supported by the traveling body 1. In the present embodiment, in detail, the rice transplanter 100 is provided with a plurality of working devices 2A and 2B. That is, the working device 2 includes a plurality of working devices 2A and 2B. In detail, the first working device 2A is a planting device, and the second working device 2B is a material supply device. In addition, the types and numbers of the plurality of working devices are not limited to the structure of the present embodiment, and can be appropriately changed.

[0041] The planting device 2A includes a seedling placing platform 30 on which a seedling raising mat is placed, and a main frame 31. The main frame 31 is a rod-shaped member extending in the left-right direction, and includes a central housing 32 (see FIG. Figure 1 , 3 ). The center housing 32 has a gear train including bevel gears (not shown). The drive shaft 42 is connected to the input shaft 32a of the center housing 32 by means of a universal joint 41. The end of the drive shaft 42 on the opposite side to the side connected to the input shaft 32a of the center housing 32 is connected to the output shaft 40a of the drive device 40 by means of the universal joint 41. In addition, the output shaft 40a extends in the front-rear direction and protrudes to the rear. The output shaft 32b of the center housing 32 (see Figure 3 ) is arranged along the main frame 31. That is, the output shaft 32b extends in the left-right direction.

[0042] Planting transmission boxes 33 are arranged at approximately equal intervals at multiple locations (four locations in the present embodiment) in the left-right direction behind the main frame 31. The planting transmission box 33 is connected to the output shaft 32b of the central housing 32. A pair of planting parts (transplanting mechanisms) 34 are arranged on the left and right sides of the planting transmission box 33. The pair of planting parts 34 respectively include a rotating housing 35 and a planting claw 36. The rotating housing 35 is mounted on the planting transmission box 33 in a manner that allows it to rotate around an axis extending in the left-right direction. Two planting claws 36 arranged on opposite sides of the rotating housing 35 are mounted on each rotating housing 35 in a manner that allows it to rotate around an axis extending in the left-right direction. Each planting claw 36 is mounted on the rotating housing 35 in a manner that allows it to rotate around an axis extending in the left-right direction. The two planting claws 36 are displaced as the rotating housing 35 rotates. The planting of one ridge of seedlings is performed by the displacement of the two planting claws 36.

[0043] The driving force generated by the driving device 40 is transmitted to the planting section 34 via the driving shaft 42, the central shell 32 and the planting transmission box 33. The planting device 2A has a lateral feed drive unit (not shown) that moves the seedling platform 30 in the left and right direction. While the seedling platform 30 moves back and forth left and right, each planting unit 34 takes out the seedlings from the seedling platform 30 and plants them in the field. In the present embodiment, there are multiple (8 in detail) planting sections 34, so planting for multiple ridges can be performed simultaneously. In other words, the planting device 2A (working device) has multiple planting sections 34 as working sections that can perform planting for multiple ridges simultaneously.

[0044] Furthermore, in the present embodiment, the planting section 34 is configured to be able to change the operation setting for the field. That is, the planting device 2A (operating device) has an operating section configured to be able to change the operation setting for the field. The planting section 34 is configured to be able to change whether to use it. In more detail, the rice transplanter 100 equipped with the planting device 2A can simultaneously plant a maximum of 8 ridges of seedlings. The operation setting is the setting of the number of uses of multiple planting sections 34. By changing the operation setting, the number of uses of the planting sections 34 can be reduced, thereby reducing the number of planted ridges of seedlings. That is, the rice transplanter 100 equipped with the planting device 2A can perform the so-called rice transplanting ridge stop. For example, a rice transplanting ridge stop clutch that switches the state of transmitting power from the central housing 32 to the planting transmission box 33 and the state of not transmitting power is provided in each planting transmission box 33, thereby enabling the rice transplanting ridge stop. With regard to the planting device 2A, 8-ridge planting, 6-ridge planting, 4-ridge planting, or 2-ridge planting can be set.

[0045] As can be seen from the above description, the rice transplanter 100 is provided with a driving device 40 that drives the planting part 34 (working part) of the planting device 2A (working device). In detail, the rice transplanter 100 is provided with a driving device 40 that rotates the planting part 34 of the planting device 2A. In the present embodiment, the driving device 40 is an electric motor that converts electric power supplied from a battery (not shown) into a rotational driving force. However, the driving device 40 is not limited to an electric motor, and may also be a hydraulic motor or the like. In addition, the driving device 40 may be a structure including an electric motor and a speed change gear connected to the output shaft of the electric motor.

[0046] In addition, the drive device 40 is arranged above the rear axle 17. Specifically, the drive device 40 is arranged at a position further to the right than the left-right center above the rear axle 17. By arranging the drive device 40 that drives the planting part 34 of the planting device 2A at such a position, the possibility of the drive device 40 being immersed in water or soiled by mud can be reduced when working in the field.

[0047] In addition, the planting device 2A is provided with a lifting device 37. The lifting device 37 is provided with a columnar frame 371, an upper link member 372, a lower link member 373, and a hydraulic cylinder 374. The columnar frame 371 extends upward from the rear axle 17 and is connected to the rear portion of the vehicle body frame 11. The upper link member 372 and the lower link member 373 constitute a pair of link members arranged parallel to each other. The columnar frame 371 and the seedling loading platform 30 are connected by the above-mentioned pair of link members 372 and 373. The nodes of the columnar frame 371, the seedling loading platform 30 and the pair of link members 372 and 373 constitute the four vertices of a parallelogram. The hydraulic cylinder 374 is connected to the joint 18 and the lower link member 373. The pair of link members 372 and 373 are swung with the node on the side of the columnar frame 371 as a fulcrum by the extension and contraction of the hydraulic cylinder 374, thereby causing the seedling loading platform 30 to be raised and lowered.

[0048] The material supply device 2B supplies agricultural materials to the field. In the present embodiment, the agricultural materials are fertilizers. That is, the material supply device 2B is a fertilizing device for spreading fertilizers on the field. However, agricultural materials are not limited to fertilizers, and may also be pesticides, seeds, etc. The material supply device 2B is arranged on the vehicle body frame 11 behind the driver's seat 20. The material supply device 2B is arranged between the driver's seat 20 and the seedling loading platform 30 in the front-rear direction.

[0049] The material supply device 2B has a rectangular parallelepiped hopper 51 extending in the left-right direction. Fertilizer is stored in the hopper 51. The material supply device 2B has: a supply device (not shown) that supplies a predetermined amount of granules from the hopper 51; and a hose (not shown) connected to the lower part of the supply device. The other end of each hose is extended to the side of the planting position of each ridge of the planting device 2A. On the left and right sides of the hopper 51 (the left side in this embodiment, refer to Figure 1 ) is provided with a fan 52, and the wind from the fan 52 is conveyed into the hose. The granules supplied from the supply device are conveyed to the vicinity of the planting position by the wind conveyed into the hose and discharged to the field.

[0050] Figure 4 is a block diagram showing a schematic structure of the rice transplanter 100. Figure 4 Components necessary for explaining the features of the embodiments are shown, and description of components that do not need to be particularly explained is omitted.

[0051] like Figure 4As shown, the traveling body 1 includes a first driving source 14 and a first abnormality detection device 23. As described above, the first driving source 14 is an engine that applies driving force to the front wheels 12a and the rear wheels 12b. The first abnormality detection device 23 is a device for detecting abnormalities occurring in the traveling body 1. The first abnormality detection device 23 can be a device for detecting abnormalities occurring particularly in the first driving source 14. The type of abnormality occurring in the traveling body 1 is not limited to one type, but can also be multiple types. In the case where multiple abnormalities need to be detected, the first abnormality detection device 23 can be a structure including multiple detection devices. As the type of abnormality, for example, it can be an abnormality in the rotation speed, torque or temperature of the driving source. In addition to the first abnormality detection device 23, the traveling body 1 also includes at least one sensor 24. In the present embodiment, the at least one sensor 24 includes a speed sensor (vehicle speed sensor).

[0052] In addition, if Figure 4 As shown, the working device 2 includes a second driving source 40, 50 and a second abnormality detection device 43, 53. The second driving source 40, 50 applies a driving force to the working part of the working device 2. The second abnormality detection device 43, 53 is a device for detecting an abnormality generated in the working device 2. As described above, in detail, the working device 2 includes a planting device 2A and a material supply device 2B. Figure 5 2 is a block diagram showing the detailed structure of the working device 2 included in the rice transplanter 100. Figure 5 As shown, the planting device 2A and the material supply device 2B independently include the second driving sources 40, 50 and the second abnormality detection devices 43, 53, respectively.

[0053] In the present embodiment, the second driving source 40 included in the planting device 2A is a driving device 40 composed of an electric motor as described above. The second abnormality detection device 43 included in the planting device 2A is a device for detecting abnormalities occurring in the planting device 2A. The second abnormality detection device 43 may be a device for detecting abnormalities occurring particularly in the driving device 40. The type of abnormality occurring in the planting device 2A is not limited to one type, but may be multiple types. In the case where it is necessary to detect multiple abnormalities, the second abnormality detection device 43 may be a structure including multiple detection devices. As the type of abnormality, for example, it may be an abnormality in the voltage, current or temperature of the motor, or an abnormality in the state of the battery.

[0054] The planting device 2A includes at least one sensor 44 different from the second abnormality detection device 43. In the present embodiment, the sensor 44 includes a planting ridge stop clutch sensor for detecting the state (engagement / disengagement) of the planting ridge stop clutch. In addition, the sensor 44 includes a rotation angle (phase angle) sensor 441 (see Figure 7 ).

[0055] The second driving source 50 included in the material supply device 2B is a supply motor included in the above-mentioned supply device for supplying fertilizer. The second abnormality detection device 53 included in the material supply device 2B is a device for detecting abnormalities occurring in the material supply device 2B. The second abnormality detection device 53 can be a device for detecting abnormalities occurring particularly in the supply motor 50. The type of abnormality occurring in the material supply device 2B is not limited to one type, but can also be multiple types. In the case where it is necessary to detect multiple abnormalities, the second abnormality detection device 53 can be a structure including multiple detection devices. As the type of abnormality, for example, it can be an abnormality in the voltage, current or temperature of the motor, or an abnormality in the state of the battery. In addition, the material supply device 2B includes at least one sensor different from the second abnormality detection device 53, similarly to the planting device 2A.

[0056] Back to Figure 4 The rice transplanter 100 is provided with a control device 3 for controlling the first driving source 14 and the second driving source 40, 50. In other words, the rice transplanter 100 is provided with a control device 3 for controlling the driving device 40. The control device 3 is a so-called computer device, which is configured to include a computing device, a memory, and an input-output unit. The computing device is a processor or a microprocessor. The memory can be a storage device 5 described later, but it can also be a device different from the storage device 5.

[0057] From the first abnormality detection device 23, the sensor 24, the second abnormality detection devices 43, 53, and the sensor 44 (see Figure 5 ), operating device 4, etc., input information to the control device 3. The control device 3 widely controls the actions of the rice transplanter 100 based on the input information. In addition, the operating device 4 is a device that can be instructed by the operator to the control device 3. The operating device 4 can be a structure provided in the rice transplanter 100, but can also be a structure provided outside the rice transplanter 100. In addition, the operating device 4 can be a structure provided in the rice transplanter 100 and outside the rice transplanter 100. The operating device 4 provided outside the rice transplanter 100 can be a structure that can communicate wirelessly with the rice transplanter 100. Specifically, the operating device 4 provided in the rice transplanter 100 can be, for example, a button, a rod, or a touch panel. In addition, the operating device 4 provided outside the rice transplanter 100 can be, for example, a portable terminal such as a tablet terminal, a smart phone, or a notebook personal computer.

[0058] The storage device 5 is a main storage device such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The storage device 5 may also include an auxiliary storage device such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 5 stores various programs and data. For example, the storage device 5 stores a calibration map 5a described in detail later. The computing device constituting the control device 3 reads various programs from the storage device 5 and performs computing processing according to the programs.

[0059] In addition, the control device 3 may be composed of one hardware, but may also be composed of a plurality of hardwares that can communicate with each other. The functions of the control device 3 may be realized by causing the computing device to execute a program, that is, by using software, but may also be realized by other methods. At least a part of the functions of the control device 3 may be realized, for example, by using ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc. That is, at least a part of the functions of the control device 3 may be realized by hardware using a dedicated IC, etc. In addition, at least a part of the functions of the control device 3 may also be realized by using both software and hardware.

[0060] <2. Drive device control>

[0061] Next, the control of the driving device 40 for driving the planting section 34 of the planting device 2A by the control device 3 will be described.

[0062] Before describing in detail the control of the driving device 40 by the control device 3, the rice seedling planting operation using the planting device 2A of the rice transplanter 100 will be described. In the rice seedling planting operation, the planting claw 36 rotates while revolving around the axis of the rotating shell 35, so as to move back and forth between the seedling platform 30 and the ground of the field, rake up the rice seedlings one by one from the seedling mat 1 and plant them in the field. Every time the rotating shell 35 rotates 1 / 2 turn, the two planting claws 36 provided at the two ends of the rotating shell 35 are used to rake up and plant the rice seedlings. In addition, it is set that if the drive shaft 42 rotates 1 turn, the rotating shell 35 rotates 1 / 2 turn. The planting cycle of the planting claw 36 is linked to the travel speed of the traveling body 1, and the planting interval (spacing) of the rice seedlings is kept constant even if the travel speed changes. In other words, the control device 3 changes the rotation speed of the planting part 34 (operating part) according to the speed of the traveling body 1.

[0063] The rice transplanter 100 is configured to be able to change the number of plants per unit area (3.3 square meters in this example). As an example, the number of plants per unit area can be set to 85, 70, 60, 50, 43, or 37. The movement speed of the planting claw 36 is changed according to the set number of plants. The change changes the spacing between plants, thereby changing the number of plants planted per unit area.

[0064] The smaller the number of plants per unit area is set, the more it is necessary to slow down the movement speed (planting speed) of the planting claw 36 to increase the plant spacing. However, when the planting speed is slowed down, the tip of the planting claw 36 is pulled in the field, causing the seedlings to fall forward or causing floating seedlings. In order to prevent such a phenomenon, when thinning is performed to reduce the number of plants per unit area, the control device 3 controls the drive device 40 to drive the planting unit 34 to rotate at an unequal speed. In the present embodiment, in the case of thinning in which the number of plants per unit area is less than 50, the planting unit 34 is driven to rotate at an unequal speed. On the other hand, in the case of dense planting in which the number of plants per unit area is more than 50, the planting unit 34 is driven to rotate at a constant speed in order to prevent the above-mentioned seedlings from falling forward, etc.

[0065] Figure 6 Schematic diagram for explaining the driving based on the uneven speed rotation of the planting part 34. Figure 6 In the figure, reference numeral S1 represents the ground surface of the field, and reference numeral S2 represents the water surface of the field. Reference numeral SE represents rice seedlings. The solid line T1 represents the end trajectory of the planting claw 36 when the rice transplanter 100 is moving forward and rotating at an uneven speed. The dotted line T2 represents the end trajectory of the planting claw 36 when the rice transplanter 100 is moving forward and rotating at an even speed. The single-point dashed line T3 represents the end trajectory of the planting claw 36 when the rice transplanter 100 is stopped and rotating at an uneven speed. In addition, Figure 6 In the embodiment, the rotating housing 35 is rotated counterclockwise by the driving device 40. The planting claw 36 rotates clockwise relative to the rotating housing 35.

[0066] like Figure 6As shown, when the driving device 40 causes the rotating shell 35 to rotate at an unequal speed, the angular velocity of the rotating shell 35 in one rotation changes. In detail, when the driving device 40 causes the rotating shell 35 to rotate at an unequal speed, the angular velocity of the rotating shell 35 in one rotation is accelerated and decelerated. Specifically, the angular velocity decreases in the stage before planting with the planting claws 36 (arrow P1 interval), and the angular velocity increases after planting with the planting claws 36 (arrow P2 interval). Since the angular velocity increases after planting, the speed at which the planting claws 36 retreat from the field can be accelerated. As a result, the seedlings can be prevented from being pulled by the planting claws 36 and planted in a nearly upright posture. In addition, the acceleration and deceleration ratio of the angular velocity is, for example, ± tens of percent.

[0067] When the planting part 34 is driven to rotate at such an uneven speed, if the speed of the traveling body 1 increases, the planting part 34 (rotating housing 35) does not rotate smoothly, and a phenomenon called stick-slip occurs. Stick-slip is also called a disturbance of the movement trajectory, and the following mechanism is considered as its occurrence mechanism.

[0068] In the present embodiment, the driving device 40 driving the planting part 34 does not directly drive the planting part 34, but drives the planting part 34 via the power transmission system as described above. The power transmission system from the driving device 40 to the planting part 34 includes transmission elements such as gears and rotating shafts. It is conceivable that stick-slip occurs due to the time lag of the transmission elements and the deterioration of the balance with the inertial force of the driven side. In addition, it is conceivable that if the speed of the traveling body 1 increases, the rotation speed (angular velocity) of the planting part 34 also increases, so stick-slip is likely to occur.

[0069] In view of the above problems, in this embodiment, the control device 3 is configured as follows: when the planting part 34 (working part) performs an unequal speed rotation in which the angular velocity in one rotation is accelerated or decelerated, the phase lag of the acceleration or deceleration is corrected. Thus, even when the speed of the rice transplanter 100 is increased, the occurrence of the stick-slip phenomenon can be suppressed. The correction of the phase lag of the acceleration or deceleration is described in detail below.

[0070] Figure 7 4 is a block diagram showing an overview of the control of the drive device 40 by the control device 3. Figure 7 In FIG. 1 , the modules in the solid-line frame represent the functions of the control device 3. For example, the functions are realized by the processor constituting the control device 3 executing the calculation processing according to the program. Figure 7 In the figure, the modules in the single-dot chain frame do not represent the functions of the control device 3 but represent hardware.

[0071] As shown in the figure, the rice transplanter 100 is provided with a sensor 441 capable of detecting or predicting the rotation angle of the planting part 34 (working part). In the present embodiment, the rotation angle sensor 441 is a sensor capable of predicting the rotation angle of the planting part 34. In addition, the rotation angle sensor 441 may also be a structure capable of directly detecting the rotation angle of the planting part 34. With such a structure, the phase lag of the planting part 34 (rotating shell 35) can be directly derived, so the phase lag can be corrected with high precision. However, with respect to the structure for directly detecting the rotation angle of the planting part 34, the rotation angle sensor 441 needs to be arranged near the rotating shell 35. In this case, for example, the number of planting parts 34 provided by the rice transplanter 100 is multiple, so the required number of rotation angle sensors 441 increases. In addition, the installation position of the rotation angle sensor 441 is close to the ground of the field, so a structure for preventing dirt and flooding is required. That is, in the case of a structure for directly detecting the rotation angle of the planting part 34, the manufacturing cost may increase. In the present embodiment, in consideration of reducing the manufacturing cost, a rotation angle sensor 441 having a structure capable of predicting the rotation angle of the planting section 34 is adopted.

[0072] Specifically, the rotation angle sensor 441 includes a bottom dead center detection sensor 441 a and an output shaft rotation pickup sensor 441 b .

[0073] The bottom dead point detection sensor 441a is an example of a zero point sensor, which is used to detect the reference position required to obtain the absolute angle of the rotation direction of the output shaft 40a of the drive device 40 (motor). It is formed as a structure to detect the position of the end of the planting claw 36 at the bottom dead point of the rotational motion as a reference position, so it is called the bottom dead point detection sensor 441a. The bottom dead point detection sensor 441a can be, for example, a proximity sensor provided near the output shaft 40a of the drive device 40. The proximity sensor only needs to be adjusted so that the detection value increases when the planting claw 36 is at the bottom dead point by the drive of the drive device 40. The bottom dead point detection sensor 441a outputs the detection of the bottom dead point to the actual planting spacing calculation unit 303 and the output shaft phase calculation unit 305.

[0074] The output shaft rotation pickup sensor 441b is provided on the output shaft 40a of the drive device 40 to detect the rotation speed of the output shaft 40a. When used in combination with the bottom dead center detection sensor 441a, the absolute angle (rotation angle, phase) of the output shaft 40a can be obtained. In addition, when the drive device 40 is a structure capable of outputting its own rotation speed, the output shaft rotation pickup sensor 441b may not be provided. The output shaft rotation pickup sensor 441b outputs the detected rotation speed to the output shaft phase calculation unit 305.

[0075] like Figure 7As shown, the control device 3 has a CAN information interface unit 301, a target planting spacing calculation unit 302, an actual planting spacing calculation unit 303, a speed correction coefficient calculation unit 304, an output shaft phase calculation unit 305, a phase lag correction unit 306 and an indicated speed determination unit 307 as its functions.

[0076] The CAN information interface unit 301 uses CAN (Controller Area Network) communication to acquire information obtained using the sensors 24, 44, etc. provided in the rice transplanter 100. The information acquired by the CAN information interface unit 301 includes the speed of the traveling body 1 and the set number of rice seedlings per unit area planted by the planting device 2A. The CAN information interface unit 301 outputs the set number of rice seedlings per unit area to the target planting spacing calculation unit 302. The CAN information interface unit 301 outputs the speed of the traveling body 1 to the actual planting spacing calculation unit 303 and the phase lag correction unit 306.

[0077] The target planting spacing calculation unit 302 obtains the set number of seedlings per unit area from the CAN information interface unit 301 and calculates the spacing corresponding to the set number of seedlings as the target planting spacing. The target planting spacing calculation unit 302 outputs the calculated target planting spacing to the rotation speed correction coefficient calculation unit 304 and the phase lag correction unit 306.

[0078] The actual planting spacing calculation unit 303 calculates the actual spacing of the seedlings during planting (actual planting spacing) based on the speed of the traveling body 1 obtained from the CAN information interface unit 301 and the bottom dead point detection information obtained from the bottom dead point detection sensor 441a. In addition, the actual planting spacing can be obtained by calculating the moving distance of the traveling body 1 from the detection of the bottom dead point to the detection of the next bottom dead point based only on the speed of the traveling body. However, when calculating the actual planting spacing, a slip correction that takes into account the slip of the traveling body 1 can be performed. In addition, instead of calculating the actual planting spacing based on the speed of the traveling body 1, the actual planting spacing can be calculated using a position sensor such as a GPS (Global Positioning System) sensor. The actual planting spacing calculation unit 303 outputs the calculated actual planting spacing to the rotation speed correction coefficient calculation unit 304.

[0079] The rotation speed correction coefficient calculation unit 304 calculates the correction coefficient for correcting the rotation speed of the driving device 40 so that the actual planting spacing is close to the target planting spacing. The correction coefficient can be calculated using a pre-prepared correction coefficient calculation formula or table. The calculated correction coefficient is used to correct the rotation speed setting of the driving device 40. That is, the control device 3 corrects the drive setting of the driving device 40 according to the deviation of the actual operation relative to the operation setting of the planting section 34 (operating section). In the present embodiment, the operation setting is the setting of the spacing (spacing) of the seedlings planted by the planting section 34 (operating section). The control device 3 corrects the drive setting according to the deviation between the interval in the operation setting and the interval in the actual operation. The rotation speed correction coefficient calculation unit 304 outputs the calculated correction coefficient to the indicated rotation speed determination unit 307.

[0080] In addition, in this embodiment, the working device is a planting device 2A, but this is only an example. The working device may be a sowing device instead of the planting device 2A. In this case, the above-mentioned working setting may be a setting of the interval of rice seeds sown by the working part of the sowing device.

[0081] The output shaft phase calculation unit 305 calculates the absolute angle, i.e., the rotation angle (phase), of the output shaft 40a of the drive device 40 based on the bottom dead center detection information obtained from the bottom dead center detection sensor 441a and the rotation speed information obtained from the output shaft rotation pickup sensor 441b. The output shaft phase calculation unit 305 outputs the calculated rotation angle of the output shaft 40a to the phase lag correction unit 306.

[0082] The phase lag correction unit 306 corrects the phase lag of acceleration and deceleration of the angular velocity performed to perform non-uniform rotation. The phase lag correction unit 306 performs the phase lag of acceleration and deceleration based on the rotation angle (phase) of the output shaft 40a of the drive device 40 obtained from the output shaft phase calculation unit 305. That is, the control device 3 corrects the phase lag of acceleration and deceleration based on the information of the rotation angle obtained from the rotation angle sensor 441. In the present embodiment, the following structure is formed: instead of directly obtaining the rotation angle of the planting part 34 (rotating shell 35), the rotation angle of the planting part 34 is predicted based on the rotation angle of the output shaft 40a obtained from the rotation angle sensor 441 to correct the phase lag. The rotation angle sensor 441 is a structure arranged near the planting part 34, so the correction of the phase lag of acceleration and deceleration can be achieved inexpensively as described above.

[0083] The phase lag correction unit 306 also corrects the phase lag of acceleration and deceleration based on the speed of the traveling body 1 obtained from the CAN information interface unit 301. That is, the control device 3 also corrects the phase lag of acceleration and deceleration based on the speed of the traveling body 1. Consider the phase lag of acceleration and deceleration generated according to the speed of the traveling body 1. For example, the output shaft 40a of the drive device 40 and the rotation speed of the planting part 34 change according to the speed of the traveling body 1. Therefore, when correcting the phase lag of acceleration and deceleration, the output shaft 40a of the drive device 40 and the rotation speed of the planting part 34 can be used instead of the speed of the traveling body 1. In particular, the main reason for the phase lag of acceleration and deceleration is that the inertia of the planting part 34 is dominant. Therefore, the phase lag of acceleration and deceleration can be predicted with good reproducibility based on the speed of the traveling body 1, the rotation speed of the output shaft 40a of the drive device 40, or the rotation speed of the planting part 34.

[0084] The phase lag correction unit 306 also corrects the phase lag of acceleration and deceleration based on the target planting spacing acquired from the target planting spacing calculation unit 302. Consider a pattern of determining the acceleration and deceleration of the angular velocity to be executed for non-uniform speed rotation based on the target planting spacing.

[0085] Specifically, the phase lag correction unit 306 uses the acquired rotation angle (phase) of the output shaft 40a, the speed (vehicle speed) of the traveling body 1 and the target planting distance, and the correction map 5a ( Figure 4 Reference) to obtain the output speed (speed of the output shaft 40a) that can correct the phase lag of acceleration and deceleration. In addition, the correction map 5a is a three-dimensional mapping with the rotation angle of the output shaft 40a, the speed of the traveling body 1 and the target planting spacing as axes, and is created in advance. The correction map 5a can be used to obtain, for example, the phase lag of acceleration and deceleration. The correction value for correcting the phase lag is determined based on the acquired phase lag of acceleration and deceleration. The pre-created correction map 5a is stored in the storage device 5. That is, the control device 3 uses the correction map 5a stored in the storage device 5 to correct the phase lag of acceleration and deceleration. The phase lag correction unit 306 outputs the obtained correction information to the indicated speed determination unit 307.

[0086] Figure 8 is a schematic diagram showing an image of phase lag correction. Figure 8 In the figure, the horizontal axis is the phase (rotation angle) and the vertical axis is the acceleration / deceleration ratio. Figure 8 In FIG. 1 , the dotted line represents the default acceleration / deceleration mode, and the solid line represents the acceleration / deceleration mode corrected by the phase lag correction unit 306. Figure 8 As shown, the phase lag correction unit 306 performs correction so that the output shaft 40a of the drive device 40 rotates in an acceleration / deceleration pattern whose phase is advanced compared to the default acceleration / deceleration pattern.

[0087] The indicated speed determination unit 307 determines the final indicated value of the speed of the output shaft 40a based on the correction coefficient for the drive setting of the drive device 40 obtained from the speed correction coefficient calculation unit 304 and the correction information for correcting the phase lag of acceleration and deceleration obtained from the phase lag correction unit 306. The drive device 40 rotates the output shaft 40a based on the final indicated value determined by the indicated speed determination unit 307.

[0088] Furthermore, in the present embodiment, the control device 3 corrects the phase lag of acceleration and deceleration based on the operation setting. By configuring in this way, even if the phase lag of acceleration and deceleration is different according to the operation setting, the phase lag can be properly corrected. In detail, the control device 3 corrects the phase lag of acceleration and deceleration based on the setting of the number of uses of the plurality of planting units 34 (rice transplanting ridge stop setting). The phase lag mode of acceleration and deceleration is considered to change according to the number of uses of the planting units 34. For example, the phase correction of acceleration and deceleration is performed using a correction map 5a prepared separately for each setting of the number of uses of the planting units 34.

[0089] Fig. 9 2 is a flowchart showing an example of a process for correcting the phase lag of acceleration and deceleration. For example, when the number of plants per unit area is set to 40 plants or 37 plants, the operation is performed using the planting device 2A. Fig. 9 processing.

[0090] In step S1, the control device 3 obtains various information. Specifically, the control device 3 appropriately processes the information input from the outside to obtain the target planting spacing, the rotation angle (phase) of the output shaft 40a of the drive device 40, the speed of the traveling body 1 (vehicle speed), and the number of planting parts 34 used. In addition, the number of planting parts 34 used can be obtained by obtaining information from the above-mentioned transplanting ridge stop clutch sensor. If various information is obtained, the process proceeds to the next step S2.

[0091] In step S2, the control device 3 selects the calibration map 5a to be used according to the number of used planting parts 34. In this example, the calibration maps 5 stored in the storage device 5 are prepared for each number of used planting parts 34. That is, a plurality of calibration maps 5a are stored in the storage device 5. If the calibration map 5a to be used is selected, the process proceeds to the next step S3.

[0092] In step S3, the control device 3 determines the correction value of the phase lag for correcting acceleration and deceleration using the selected correction map 5a, the previously acquired target planting spacing, the phase of the output shaft 40a, and the vehicle speed. When determining the correction value, the final indicated speed of the drive device 40 is determined by taking into account the correction coefficient for the speed of the output shaft 40a obtained based on the deviation between the target planting spacing and the actual planting spacing. In addition, Fig. 9 The processing shown is repeatedly performed while the working device 2 is driven.

[0093] In addition, in the present embodiment, the control device 3 performs calibration of the correction map 5a. This calibration can be performed, for example, based on an external instruction using the operating device 4. As another example, it can also be automatically performed each time the engine of the rice transplanter 100 is started. By calibrating the correction map 5a, the influence of the deviation of the phase lag of acceleration and deceleration between the plurality of rice transplanters 100 can be eliminated and the phase lag can be appropriately corrected. In addition, by calibrating the correction map 5a, the influence of the aging change of the work vehicle 100 can be suppressed and the phase lag of acceleration and deceleration can be appropriately corrected.

[0094] Fig.10 2 is a flowchart illustrating an example of a calibration flow of the correction map 5 a . Fig.10 The calibration shown can be performed, for example, when the rice transplanter 100 is shipped from the factory or before starting work using the rice transplanter 100. Fig.10 The calibration process shown needs to be performed as closely as possible to the conditions when the calibration map 5a was initially created (default calibration map creation conditions). Such conditions include, for example, that the rice seedlings are not placed on the seedling loading platform 30, that the SOC (State Of Charge) of the battery supplying power to the drive device 40 is above a constant value, and that there are no abnormalities in various sensors 44 and other equipment.

[0095] In step S11, the control device 3 monitors whether there is a calibration execution instruction. For example, the calibration execution instruction is issued by the operating device 4. When there is a calibration execution instruction (Yes in step S11), the process proceeds to the next step S12. When there is no calibration execution instruction (No in step S11), the process of step S11 is repeatedly performed.

[0096] In step S12, the control device 3 drives the planting unit 34 (working unit) in a predetermined calibration mode. The predetermined calibration mode is, for example, a mode in which the drive device 40 is driven in a predetermined arbitrary acceleration and deceleration pattern. When the drive device 40 is driven in the predetermined calibration mode, the process proceeds to the next step S13.

[0097] In step S13, the control device 3 acquires the torque variation when the drive device 40 is driven in a predetermined calibration mode. If the torque variation is acquired, the process proceeds to the next step S14.

[0098] In step S14, the control device 3 compares the torque variation obtained in step S13 with the pre-prepared reference torque variation (representative value) to calculate the phase difference of the torque variation. In addition, the reference torque variation is, for example, the torque variation obtained when the rice transplanter 100 for which the correction map 5a is created is subjected to a prescribed calibration mode. If the phase difference is calculated, the process proceeds to the next step S15.

[0099] In step S15, the control device 3 shifts the phase in the correction map 5a by the phase difference of the torque fluctuation obtained in step S14. Calibration of the correction map 5a is thus completed. The phase lag of acceleration and deceleration is performed using the calibrated correction map 5a with the phase shift.

[0100] <3. Determination of abnormality of drive device, etc.>

[0101] Next, the abnormality determination of the drive device 40 and the like executed by the control device 3 will be described. In the present embodiment, the abnormality of the drive device 40 and the like includes aging degradation. Fig.11 4 is a block diagram showing the functions of the control device 3 related to abnormality determination of the drive device 40 and the like. Fig.11 As shown, the control device 3 includes an abnormality determination unit 308 and a notification processing unit 309 as its functions. The abnormality determination unit 308 and the notification processing unit 309 are realized by, for example, a processor constituting the control device 3 executing a calculation process according to a program.

[0102] The abnormality determination unit 308 determines the abnormality of the drive device 40 based on the correction of the drive setting of the drive device 40. That is, the control device 3 determines the abnormality of the drive device 40 based on the correction of the drive setting of the drive device 40. With such a structure, the abnormality of the drive device can be determined using the current correction content, the past correction history, etc. In this embodiment, the correction of the drive setting of the drive device 40 refers to: using the above-mentioned speed correction coefficient calculation unit 304 (refer to Figure 7 ) is used to perform correction based on the correction coefficient obtained.

[0103] The abnormality determination unit 308 (control device 3) can determine the abnormality of the drive device 40 based on the number of times the correction value set for the correction drive setting is set. The abnormality can be particularly aging degradation. For example, when the number of times the correction coefficient is changed (updated) based on the default value (initial value) of the correction coefficient exceeds a predetermined number of times, for example, determined in advance based on experiments or simulations, the aging degradation of the drive device 40 can be detected. In addition, as another example, when the number of times a correction exceeding a predetermined amount determined in advance based on experiments or the like exceeds a predetermined number of times determined in advance based on experiments or the like, the aging degradation of the drive device 40 can be detected.

[0104] In addition, the abnormality determination unit 308 (control device 3) can determine the abnormality of the drive device 40 based on the correction amount set by the correction drive. The abnormality can be particularly aging degradation. For example, in the case where a correction coefficient is set based on the default value of the correction coefficient and deviates from a predetermined range predetermined based on experiments, etc., the aging degradation of the drive device 40 can be detected. In addition, as another example, in the case where the correction coefficient is set based on the default value of the correction coefficient and deviates from a predetermined range predetermined based on experiments, etc., and occurs more than a predetermined number of times within a predetermined period predetermined based on experiments, etc., the aging degradation of the drive device 40 can be detected.

[0105] In addition, the abnormality determination unit 308 (control device 3) can determine the abnormality of the drive device based on the torque information obtained when driving the planting unit 34 (working unit). The abnormality determination based on the torque information can include the abnormality determination of devices other than the drive device 40. For example, when it is determined that the acquired torque change is different from the default torque change stored in the storage device 5, it can be detected that an abnormal torque has been generated. Moreover, in this case, the fault occurrence location and the aging degradation can be detected based on the location (phase area, etc.) where the abnormal torque is generated.

[0106] In addition, abnormal torque can be detected in any case of a case where the torque is greater than the default torque or less than the default torque. For example, when a torque smaller than the default torque by a predetermined amount determined based on experiments or the like is detected, aging degradation can be detected. In addition, for example, when a torque greater than the default torque by a predetermined amount determined based on experiments or the like is detected, abnormalities of the seedling mat, failures of components such as bearings and gears, etc. can be detected.

[0107] The notification processing unit 309 (control device 3) performs a process of notifying the abnormality detected by the abnormality determination unit 308. For example, the abnormality is notified by using a notification device such as a display device that displays the abnormality on a screen, a voice output device that notifies the abnormality by sound such as voice, etc. That is, the rice transplanter 100 is equipped with a notification device for notifying the abnormality. By forming a structure for notifying the abnormality, the occurrence of the abnormality can be quickly notified to the user (operator). In addition, by forming a structure for notifying the abnormality, the cause and location of the abnormality can also be notified to the user.

[0108] Fig.12 40. For example, when the planting device 2A starts the planting operation, the planting device 2A is executed. Fig.12 Processing shown. Fig.12 It is assumed that an abnormality (eg, aging degradation) of the drive device 40 is determined based on the correction amount of the drive setting of the drive device 40 .

[0109] In step S21, the control device 3 sets the variable N to zero. If the variable N is set to zero, the process proceeds to the next step S22.

[0110] In step S22, the control device 3 determines whether the rotation speed correction coefficient calculation unit 304 (see Figure 7 ) is calculated. If the correction coefficient is obtained (Yes in step S22), the process proceeds to the next step S23. If the correction coefficient is not obtained (No in step S22), the process of step S22 is repeatedly performed. That is, in step S22, the control device 3 monitors the acquisition state of the correction coefficient.

[0111] In step S23, it is determined whether the correction coefficient obtained is out of the prescribed range set based on the default value of the correction coefficient. As an example, the default value of the correction coefficient is 100%, and the prescribed range is set to ±50% relative to the reference. In this case, if the correction coefficient obtained is a value greater than 150% of the default value, it is outside the prescribed range. In addition, if the correction coefficient obtained is a value less than 50% of the default value, it is outside the prescribed range. In the case where the correction coefficient obtained is out of the prescribed range set based on the default value (Yes in step 23), the process enters step S24. In the case where the correction coefficient obtained does not deviate from the prescribed range set based on the default value (No in step 23), the process returns to step S22.

[0112] In step S24, the control device 3 performs a process of adding 1 to the variable N. After the process of adding 1 to the variable N is performed, the process proceeds to the next step S25.

[0113] In step S25, the control device 3 determines whether the variable N exceeds a predetermined number of times. If the variable N exceeds the predetermined number of times (Yes in step S25), the process proceeds to the next step S26. If the variable N does not exceed the predetermined number of times (No in step S25), the process returns to step S22.

[0114] In step S26, the control device 3 detects an abnormality and uses the notification device to report the abnormality. According to this process, the notification device reports the abnormality. The operator or other user recognizes the abnormality (such as aging degradation) of the drive device 40 by using, for example, a notification sound or a monitor display.

[0115] <4. Control during abnormality detection>

[0116] Next, the control process performed by the control device 3 when an abnormality that requires stopping the driving of the driving sources 14 , 40 , 50 is detected in the traveling body 1 or the working device 2 will be described in detail.

[0117] As can be seen from the above description, in the present embodiment, each drive source 14, 40, 50 can be controlled independently. However, when the work is performed using the work device 2, usually, each drive source 14, 40, 50 is driven in conjunction with an instruction from the control device 3. For example, when the first drive source 14 is controlled to increase the speed of the traveling body 1, the drive device 40 (an example of the second drive source) is controlled in conjunction with it to increase the planting action of the planting section 34, and the supply motor 50 (another example of the second drive source) is controlled to increase the supply speed of agricultural materials (fertilizer in this example). In the case where an abnormality is detected that requires the drive of the drive sources 14, 40, 50 to be stopped, if the drive source that has not detected the abnormality is immediately stopped in conjunction with the drive source that has generated the abnormality, an undesirable situation may sometimes occur. The control device 3 is formed into a structure that performs control to eliminate the undesirable situation.

[0118] In addition, as an abnormality that requires the drive of the drive sources 14, 40, and 50 to be stopped, for example, the following abnormalities can be given as examples. As an abnormality that requires the drive of the drive sources 14, 40, and 50 to be stopped, for example, an abnormality in the rotation speed of the output shaft, an abnormality in the torque, or an abnormality in the temperature (oil temperature, water temperature), etc. can be given as examples. As described above, the above abnormality can be detected by the first abnormality detection device 23. In addition, as an abnormality that requires the drive of the second drive source (specifically, the drive device 40 and the supply motor 50) to be stopped, for example, an abnormality in the voltage or current of the motor, an abnormality in the temperature of the motor, or an abnormality in the battery state, etc. can be given as examples. As described above, the above abnormality can be detected by the second abnormality detection device 43, 53.

[0119] In the present embodiment, when the working device 2 detects an abnormality, the control device 3 performs a first control on the first drive source 14. When the traveling body 1 detects an abnormality, the control device 3 performs a second control different from the first control on at least one of the second drive sources 40 and 50. The control of the traveling body 1 when the working device 2 detects an abnormality is different from the control of at least one of the second drive sources 40 and 50 when the traveling body 1 detects an abnormality, so that the actions of the traveling body 1 and the working device 2 when the abnormality is detected can be made appropriate. In addition, the control device 3 performs a stop control to immediately stop the driving of the drive sources 14, 40, and 50 on the traveling body 1 and the working device 2 in which the abnormality is detected. This stop control can be said to be a forced stop control.

[0120] In detail, the first control includes: a deceleration process of decelerating to a predetermined speed, and a drive stop process of stopping the drive after the deceleration process. That is, the first control includes a multi-stage control process. Thus, a control different from a forced stop can be performed, and an emergency stop of the drive source can be avoided. In addition, in this example, the deceleration process is one type, but the deceleration process may include multiple types. In addition, the speed of the drive source in this example refers to the rotation speed.

[0121] The deceleration process may be a process of simply setting the speed of the driving source to a prescribed speed. However, the deceleration process may also be configured as follows: the speed of the driving source is set to the prescribed speed while being decelerated at a prescribed deceleration (negative acceleration). The prescribed speed may be a pre-set fixed value, but may also be a settable and changeable value that can be appropriately changed by a user or the like. In addition, the prescribed deceleration in the example of decelerating at a prescribed deceleration may also be a pre-set fixed value, but may also be a settable and changeable value that can be appropriately changed by a user or the like.

[0122] The drive stop process in the first control may be started after the target speed is reached by the deceleration process and after an arbitrary time has passed. The arbitrary time may be a fixed value determined based on experiments or the like. However, the arbitrary time may also be configured to be appropriately set by a user or the like. The drive stop process may simply be a process for immediately stopping the drive of the drive source. However, the drive stop process may also be a process for stopping the drive while reducing the speed at a prescribed deceleration. In this case, the prescribed deceleration may be a pre-set fixed value, but may also be a settable and changeable value that can be appropriately changed by a user or the like.

[0123] The first control may be a process other than the above-described control process, and for example, may be a process of stopping the drive while changing the set speed a plurality of times to reduce the speed continuously or in stages.

[0124] In addition, the second control is a process of stopping the drive without executing the deceleration process of decelerating to a prescribed speed. That is, in the second control, the deceleration process in the first control is omitted, and only the drive stop process in the first control is executed. In addition, in the case where the drive stop process is only a process of stopping the drive of the drive source immediately, the second control is the same as the above-mentioned forced stop control executed on the drive source that has generated an abnormality. However, in the case where the drive stop process is the above-mentioned process of stopping the drive while reducing the speed at a prescribed deceleration, the second control is different from the forced stop control.

[0125] Below, two embodiments are listed to illustrate specific examples of the control processing performed by the control device 3 when an abnormality is detected that requires the drive of the drive source 14, 40, 50 to be stopped. In addition, in addition to the control corresponding to the detection of the abnormality, the control device 3 can also perform a third control corresponding to the operation setting such as the rice planting ridge stop setting. The third control is a control that causes the drive source 14, 40, 50 to perform a control process that is not accompanied by a drive stop. The third control can be, for example, a control that limits the rotation speed, torque, motor voltage, motor current or hydraulic pressure of the drive source 14, 40, 50. For example, in a case where the number of planting parts 34 used is reduced due to the stop of the rice planting ridge, the third control can be configured to limit the torque. According to such a structure, energy saving can be achieved.

[0126] [4-1. First embodiment]

[0127] First, the first embodiment will be described. In the first embodiment, the working device 2 includes a planting device 2A and a material supply device 2B having second driving sources 40 and 50 that are independent of each other. Fig.13 It is a diagram showing a first embodiment of a control mode of the control device 3 when abnormality is detected. Fig.13 The relationship between the abnormality occurrence location and the control contents of each driving source when the abnormality occurs in the abnormality occurrence location is shown.

[0128] also, Fig.13 The abnormality in is an abnormality that requires the driving of the driving sources 14, 40, 50 to be stopped. Fig.13 In the process, the driving source of the abnormality-generating part is forcibly stopped by the control device 3. Fig.13 The traveling body driving source in is the first driving source 14 included in the traveling body 1 . Fig.13 The planting device driving source in is an example of a second driving source, and is the driving device 40 included in the planting device 2A. Fig.13 The material supply device driving source in is another example of the second driving source, and is the supply motor 50 included in the material supply device 2B.

[0129] exist Fig.13 In the first embodiment shown, the control device 3 performs the second control on each of the second drive sources 40, 50 included in the plurality of working devices 2A, 2B when an abnormality is detected in the traveling body 1. That is, when an abnormality is detected in the traveling body 1, the second control is performed on the second drive sources 40, 50 of all the working devices 2A, 2B.

[0130] As described above, the second control is a drive stop process for stopping the drive of the drive source. Therefore, in the first embodiment, when the traveling body 1 detects an abnormality, the drive stop process is performed on the drive device 40 of the planting device 2A and the supply motor 50 of the material supply device 2B in conjunction with the drive stop of the first drive source 14 of the traveling body 1. Thus, the drive of the drive device 40 and the supply motor 50 is stopped in accordance with the stop of the traveling body 1, so that it is possible to suppress the unnecessary waste of rice seedlings and agricultural materials (fertilizers in this example).

[0131] In addition, in this example, when an abnormality is detected in the traveling body 1, the drive stop process is performed on any of the first driving source 14, the driving device 40, and the supply motor 50, but the specific processing content of the drive stop process may be different depending on the driving source. The method of stopping the driving of each driving source can be configured to be appropriately set by the user or the like. For example, the driving device 40 and the supply motor 50 can be configured as follows: the deceleration is reduced compared to the case where the traveling body 1 is detected to stop the driving.

[0132] In addition, Fig.13 In the first embodiment shown, when an abnormality is detected in any one of the plurality of working devices 2A and 2B, the control device 3 performs the first control on the first drive source 14, and performs the second control on the second drive sources included in all the working devices 2 except the working device 2 in which the abnormality has occurred. That is, when an abnormality is detected in any one of the plurality of working devices 2, different drive source control methods are performed between the traveling body 1 and the working device 2 in which the abnormality is not detected.

[0133] Specifically, when the planting device 2A detects an abnormality, the control device 3 performs the first control on the first drive source 14. As described above, the first control is a multi-level (two-level in this example) control including a deceleration process and a drive stop process. Therefore, when the planting device 2A detects an abnormality, the traveling body 1 can stop slowly, unlike the planting device 2A that is forcibly stopped. As a result, it is possible to prevent the operator riding on the rice transplanter 100 from detaching from the rice transplanter 100. That is, the safety of the rice transplanter 100 can be improved.

[0134] In addition, when the planting device 2A detects an abnormality, the control device 3 performs the second control (drive stop processing) on ​​the supply motor 50. That is, when the planting device 2A detects an abnormality, the supply of agricultural materials based on the material supply device 2B is quickly stopped. Therefore, it is possible to avoid wasting agricultural materials (fertilizers in this example) in vain.

[0135] In addition, when the material supply device 2B detects an abnormality, the control device 3 also performs the first control (deceleration processing and drive stop processing after deceleration processing) on ​​the first drive source 14. Thereby, the emergency stop of the rice transplanter 100 can be avoided, and the passenger can be prevented from falling from the rice transplanter 100.

[0136] In addition, when the material supply device 2B detects an abnormality, the control device 3 performs the second control on the drive device 40. That is, when the material supply device 2B detects an abnormality, the supply of the seedlings by the planting device 2A is quickly stopped. Therefore, it is possible to avoid wasting the seedlings in vain. In addition, by stopping the planting of the seedlings corresponding to the stop of the supply of agricultural materials, it is possible to visually confirm the section where the agricultural materials (in this example, fertilizers) are not supplied to the field.

[0137] [4-2. Second embodiment]

[0138] Next, the second embodiment will be described. In the second embodiment, similarly to the first embodiment, the working device 2 also includes a planting device 2A and a material supply device 2B having second driving sources 40 and 50 that are independent of each other. Fig.14 It is a diagram showing a second embodiment of the control mode of the control device 3 when abnormality is detected. Fig.14 The control contents of each drive source during abnormality detection are Fig.13 have different points, but, with respect to other points Fig.13 The same is true for Fig.14 When explaining the Fig.13 In principle, repeated descriptions of related contents will be omitted.

[0139] exist Fig.14 In the second embodiment shown, when an abnormality is detected in the traveling body 1, the control device 3 selects the first control or the second control according to the types of the plurality of working devices 2A, 2B, and executes the selected control on each of the second drive sources 40, 50. That is, when an abnormality is detected in the traveling body 1, the content of the control to be executed on the drive source of the working device 2 in accordance therewith is selected according to the type of the working device 2. Therefore, a dense control according to the type of the working device 2 can be performed.

[0140] In detail, when an abnormality is detected in the traveling body 1, the control device 3 selects and executes the second control (drive stop processing) on ​​the drive device 40 of the planting device 2A. Thereby, it is possible to suppress the waste of useless seedlings. In addition, when an abnormality is detected in the traveling body 1, the control device 3 selects and executes the first control (deceleration processing and subsequent drive stop processing) on ​​the supply motor 50 of the material supply device 2B. Thereby, it is possible to avoid the sudden stop of the supply motor 50 and reduce the damage to the machinery. In addition, depending on the situation, when an abnormality is detected in the traveling body 1, the first control can be executed on the drive device 40. Moreover, when an abnormality is detected in the traveling body 1, the second control can be executed on the supply motor 50.

[0141] In addition, Fig.14 In the second embodiment shown, when an abnormality is detected in any one of the plurality of working devices 2A and 2B, the control device 3 performs the first control on the first drive source 14. In addition, with respect to working devices 2 other than the working device 2 in which the abnormality has occurred, the control device 3 selects the first control or the second control according to the type of the working device 2, and performs the selected control on each second drive source.

[0142] Specifically, when the planting device 2A detects an abnormality, the control device 3 performs the first control (deceleration processing and subsequent drive stop processing) on ​​the first drive source 14. Therefore, when the planting device 2A detects an abnormality, the travel body 1 can stop slowly, unlike the planting device 2A that is forced to stop. As a result, it is possible to prevent the operator riding on the rice transplanter 100 from falling off the rice transplanter 100.

[0143] In addition, when the planting device 2A detects an abnormality, the control device 3 selects and executes the first control (deceleration processing and subsequent drive stop processing) on ​​the supply motor 50. As a result, the supply amount of agricultural materials (fertilizers in this example) can be gradually reduced, and the occurrence of a portion where the supply amount of agricultural materials increases locally due to the stop of the traveling body 1 can be suppressed. As a result, the deviation in the growth and development of crops can be reduced.

[0144] In addition, when the material supply device 2B detects an abnormality, the control device 3 also performs the first control (deceleration processing and drive stop processing after deceleration processing) on ​​the first drive source 14. Thereby, the emergency stop of the rice transplanter 100 can be avoided, and the passenger can be prevented from falling from the rice transplanter 100.

[0145] In addition, when the material supply device 2B detects an abnormality, the control device 3 selects and executes the second control (drive stop processing) on ​​the drive device 40. This can avoid wasting the seedlings in vain. In addition, by stopping the planting of the seedlings corresponding to the stop of the supply of agricultural materials, it is possible to visually confirm the section where the agricultural materials are not supplied to the field.

[0146] <5. Notes, etc.>

[0147] Various technical features disclosed in this specification can be modified in various ways without departing from the scope of its technical creation. In addition, multiple embodiments and modified examples shown in this specification can be combined and implemented within the possible scope.

[0148] <6. Additional Notes>

[0149] An exemplary working vehicle of the present invention can be of the following structure (the first structure), comprising: a traveling body; a working device supported on the traveling body; a driving device that rotates a working part of the working device; and a control device that controls the driving device, and when the working part performs an uneven speed rotation that accelerates and decelerates the angular velocity in one rotation, the control device corrects the phase lag of the acceleration and deceleration.

[0150] According to the work vehicle of the first structure, a sensor capable of detecting or predicting the rotation angle of the work unit may be provided, and the control device may correct the phase lag of the acceleration and deceleration based on the information of the rotation angle obtained from the sensor (second structure).

[0151] According to the work vehicle of the second structure, the control device may be configured as follows (third structure): the control device changes the rotation speed of the work unit according to the speed of the traveling body, and the control device further corrects the phase lag of the acceleration and deceleration based on the speed of the traveling body.

[0152] According to the work vehicle of the second or third configuration, the control device may be configured as follows (fourth configuration): the control device corrects the phase lag of the acceleration and deceleration using a correction map stored in a storage device.

[0153] According to the work vehicle of the fourth configuration, the following configuration may be adopted (fifth configuration): the control device calibrates the correction map.

[0154] According to the working vehicle of any one of the first to fifth structures, the working vehicle may be configured to be able to change working settings of the working unit on the field, and the control device may correct the phase lag of the acceleration and deceleration based on the working settings (sixth structure).

[0155] According to the work vehicle of the above-mentioned sixth structure, it can be configured as follows (seventh structure): the work device is a planting device having a plurality of planting units as the work unit that can simultaneously perform planting on a plurality of ridges, and the work setting is a setting of the number of the plurality of planting units to be used.

[0156] In addition, regarding the exemplary work vehicle of the present invention, the work vehicle according to the above-mentioned first structure can be the following structure (the eighth structure), comprising: a traveling body; a working device, which is supported by the traveling body and has a working part configured to change the working settings for the field; a driving device, which drives the working part; and a control device, which controls the driving device, the control device corrects the driving setting of the driving device according to the deviation of the actual work relative to the working setting of the working part, and determines the abnormality of the driving device based on the correction.

[0157] According to the work vehicle of the eighth configuration, the control device may be configured as follows (ninth configuration): the control device determines the abnormality based on the number of times a correction value for correcting the drive setting is set.

[0158] According to the work vehicle of the eighth or ninth configuration, the following configuration may be adopted (a tenth configuration): the control device determines the abnormality based on a correction amount for correcting the drive setting.

[0159] The working vehicle according to any one of the eighth to tenth structures may be configured as follows (eleventh structure): the control device determines the abnormality based on torque information obtained when the working unit is driven.

[0160] The work vehicle according to any one of the eighth to eleventh structures may be configured as follows (twelfth structure): the control device executes a process of notifying the abnormality.

[0161] According to any one of the above-mentioned structures 8 to 12, the working vehicle can be configured as follows (structure 13): the working setting is a setting for the interval of seedlings planted by the working unit or the interval of rice seeds sown by the working unit, and the control device corrects the drive setting based on the deviation between the interval in the working setting and the interval in the actual working.

[0162] In addition, regarding the exemplary working vehicle of the present invention, the working vehicle according to the above-mentioned first structure can be the following structure (14th structure), comprising: a traveling body, which includes a first drive source and a first abnormality detection device; at least one working device, which is supported on the traveling body and includes a second drive source and a second abnormality detection device; and a control device, which controls the first drive source and the second drive source, and the control device performs a first control on the first drive source when the working device detects an abnormality, and performs a second control different from the first control on at least one of the second drive sources when the traveling body detects an abnormality.

[0163] According to the above-mentioned 14th structure of the working vehicle, it can be the following structure (15th structure): the first control includes a deceleration process for decelerating to a specified speed, and a drive stop process for stopping the drive after the deceleration process, and the second control is a process for stopping the drive without executing the deceleration process.

[0164] According to the above-mentioned 14th or 15th structure, the working vehicle can be configured as follows (16th structure): the working device includes a plurality of working devices having the second driving source independent of each other, and when an abnormality is detected in the traveling body, the control device performs the second control on each of the second driving sources included in the plurality of working devices.

[0165] According to the above-mentioned working vehicle of structure 16, it can be configured as follows (structure 17): when an abnormality is detected in any one of the multiple working devices, the control device performs the first control on the first drive source, and performs the second control on the second drive source included in all working devices other than the working device that has caused the abnormality.

[0166] According to the above-mentioned 14th or 15th structure, the working vehicle can be configured as follows (18th structure): the working device includes a plurality of working devices having the second driving source that is independent of each other, and when an abnormality is detected in the traveling body, the control device selects the first control or the second control according to the types of the plurality of working devices, and executes the selected control on each of the second driving sources.

[0167] According to the above-mentioned working vehicle of structure 18, it can be configured as follows (structure 19): when an abnormality is detected in any of the multiple working devices, the control device performs the first control on the first drive source, selects the first control or the second control for working devices other than the working device that has caused the abnormality according to the type of the working device, and performs the selected control on each of the second drive sources.

Claims

1. A working vehicle, characterized in that: The working vehicle has: Running body; A working device supported by the traveling body; a driving device that rotates a working portion of the working device; and a control device for controlling the driving device, When the working unit performs non-uniform speed rotation in which the angular velocity in one rotation is accelerated or decelerated, the control device corrects a phase lag of the acceleration or deceleration.

2. The working vehicle according to claim 1, characterized in that: The working vehicle includes a sensor capable of detecting or predicting a rotation angle of the working unit. The control device corrects the phase lag of the acceleration and deceleration based on the information of the rotation angle obtained from the sensor.

3. The working vehicle according to claim 2, characterized in that: The control device changes the rotation speed of the working unit according to the speed of the traveling body. The control device further corrects the phase lag of the acceleration and deceleration based on the speed of the traveling body.

4. The working vehicle according to claim 2 or 3, characterized in that: The control device corrects the phase lag of the acceleration and deceleration using a correction map stored in a storage device.

5. The working vehicle according to claim 4, characterized in that: The control device performs calibration of the correction map.

6. The working vehicle according to claim 1, characterized in that: The working setting of the working unit for the field can be changed. The control device corrects the phase lag of the acceleration and deceleration based on the operation setting.

7. The working vehicle according to claim 6, characterized in that: The working device is a planting device having a plurality of planting sections as the working sections capable of simultaneously planting a plurality of ridges. The operation setting is setting of the number of the plurality of planting parts to be used.

8. The working vehicle according to claim 1, characterized in that: The working device includes a working unit configured to be able to change working settings for a field. The control device corrects the drive setting of the drive device according to a deviation of an actual work with respect to the work setting of the work unit, and determines an abnormality of the drive device based on the correction of the drive setting.

9. The working vehicle according to claim 8, characterized in that: The control device determines the abnormality based on the set number of times the correction value of the driving setting is corrected.

10. The working vehicle according to claim 8, characterized in that: The control device determines the abnormality based on a correction amount for correcting the drive setting.

11. The working vehicle according to claim 8, characterized in that: The control device determines the abnormality based on torque information obtained when the working unit is driven.

12. The working vehicle according to claim 8, characterized in that: The control device executes a process of notifying the abnormality.

13. The working vehicle according to claim 8, characterized in that: The operation setting is the setting of the interval between the rice seedlings planted by the operation unit or the interval between the rice seeds sown by the operation unit. The control device corrects the drive setting based on a deviation between the interval in the work setting and the interval in the actual work.

14. The work vehicle according to claim 1, characterized in that: The traveling body includes a first driving source and a first abnormality detection device. The working device includes a second driving source and a second abnormality detection device. The control device controls the first driving source and the second driving source. The control device performs a first control on the first drive source when the working device detects an abnormality, and performs a second control different from the first control on at least one of the second drive sources when the traveling body detects an abnormality.

15. The work vehicle according to claim 14, characterized in that: The first control includes a deceleration process of decelerating to a predetermined speed and a drive stop process of stopping the drive after the deceleration process. The second control is a process of stopping the driving without executing the deceleration process.

16. The work vehicle according to claim 14, characterized in that: The working device includes a plurality of working devices having the second driving source independent of each other, When an abnormality is detected in the traveling body, the control device executes the second control on each of the second drive sources included in the plurality of types of working devices.

17. The work vehicle according to claim 16, characterized in that: When an abnormality is detected in any one of the plurality of working devices, the control device performs the first control on the first drive source, and performs the second control on the second drive sources included in all working devices other than the working device in which the abnormality has occurred.

18. The work vehicle according to claim 14, characterized in that: The working device includes a plurality of working devices having the second driving source independent of each other, When an abnormality is detected in the traveling body, the control device selects the first control or the second control according to the types of the plurality of working devices, and executes the selected control on each of the second driving sources.

19. The working vehicle according to claim 18, characterized in that: When an abnormality is detected in any of the multiple working devices, the control device performs the first control on the first drive source, selects the first control or the second control for working devices other than the working device that has caused the abnormality according to the type of the working device, and performs the selected control on each of the second drive sources.

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