Work vehicle

Abstract

To enable detection of a residual amount of fertilizer or the like in a broad caster mounted in a tractor during travel work with an inexpensive configuration.SOLUTION: Provided is a work vehicle including: a tractor 1; a broad caster 2 that is connected to the tractor 1; a lower link 13 that is provided in the tractor 1 and supports the broad caster 2; a strain gauge 24 that detects a load applied to the lower link 13; and a control unit 11 that determines a state of an amount of fertilizer being an agricultural material filled in the broad caster 2, on the basis of an output value of the strain gauge 24.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a work vehicle equipped with a work implement such as a fertilizer broadcaster. [Background technology]

[0002] Conventionally, there is known a management system for work vehicles which is composed of a number of work vehicles (tractors) 10... each equipped with a means 34 for detecting the amount of consumable materials that decrease with work and a means 4A, 4B for communicating with external devices, and a host control unit 5 which collectively manages the information transmitted from these work vehicles 10..., and which is configured so that the host control unit 5 calculates the amount of time each vehicle can continue working based on the amount of consumable materials, such as fertilizer, consumed by that vehicle, and displays the results of this calculation (Patent Document 1).

[0003] The work vehicle is provided with a weight sensor that detects the weight of the fertilizer loaded on the working machine that spreads the fertilizer, and the available work time of the work vehicle is calculated from the detected rate of weight reduction. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3788015 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the weight sensors mounted on such work machines are expensive due to the cost of the sensors themselves and the cost of communication control devices that transmit the detection signals to the traveling vehicle body, etc., and this causes an increase in the cost of the work machines.

[0006] The present invention has been made in consideration of such problems with conventional work vehicles, and has an object to provide a work vehicle that is capable of detecting the state of the amount of fertilizer or the like remaining with an inexpensive configuration. [Means for solving the problem]

[0007] The first aspect of the present invention is A running vehicle body, A work machine connected to the traveling vehicle body; A support portion provided on the traveling vehicle body and supporting the working machine; A load sensor that detects a load applied to the support portion; and a control unit that determines the state of the amount of agricultural materials loaded into the work machine based on the output value of the load sensor.

[0008] The second aspect of the present invention is a part of the support portion is a lower link that connects the work machine to the traveling vehicle body, In a first work vehicle of the present invention, the load sensor is a strain gauge that detects strain in a connecting shaft of the lower link to the rear frame of the traveling vehicle body.

[0009] The third aspect of the present invention is The control unit has a storage unit that stores the detection value of the load sensor, the control unit stores in the storage unit a non-filling detection value of the load sensor when the agricultural material is not filled in the working machine in a working posture and a filled detection value of the load sensor when the agricultural material is filled in the working machine in a working posture, The control unit is a work vehicle of the first invention, which notifies a worker when the detection value of the load sensor during work falls below a predetermined percentage value of the difference between the stored non-filled detection value and the stored filled detection value.

[0010] The fourth aspect of the present invention is The control unit has a storage unit that stores the detection value of the load sensor, The control unit stores in the storage unit a non-filling detection value of the load sensor in a state in which the agricultural material is not loaded into the work machine in a working posture, In a first work vehicle of the present invention, the control unit notifies the driver when, during work, the difference between the detection value of the load sensor and the stored non-filling detection value becomes equal to or smaller than a predetermined value.

[0011] The fifth aspect of the present invention is The control unit has a storage unit that stores the detection value of the load sensor, the control unit stores in the storage unit a fill detection value of the load sensor in a state in which the agricultural materials are filled in the work machine in a working posture; In a first work vehicle of the present invention, the control unit notifies a driver when, during work, a difference between a detection value of the load sensor and the stored filling detection value becomes equal to or greater than a predetermined value.

[0012] The sixth aspect of the present invention is The control unit analyzes the output signal of the load sensor and removes noise based on the fact that output fluctuations due to a reduction in agricultural materials are monotonically decreasing, whereas output fluctuations due to vibrations of the work machine, which become noise, are repetitive. This is a work vehicle of any of the third to fifth aspects of the present invention. Effect of the Invention

[0013] According to the first aspect of the present invention, it is possible to detect the amount of fertilizer or the like remaining with an inexpensive configuration, without providing an expensive sensor or communication device on the working machine side.

[0014] According to the second aspect of the present invention, the connecting shaft on the lower link side is used, which makes it easy to detect changes in the amount of fertilizer, etc., and therefore the detection accuracy is high.

[0015] According to the third aspect of the present invention, the accuracy is high since the judgment can be made based on the ratio value.

[0016] The fourth aspect of the present invention has the advantage that the only step required in advance is to detect the non-filling detection value.

[0017] The fifth aspect of the present invention has the advantage that advance preparation requires only detection of the fill detection value.

[0018] According to the sixth aspect of the present invention, noise such as vibration of the work machine can be eliminated, and accuracy is improved. [Brief description of the drawings]

[0019] [Figure 1] FIG. 1 is a side view of a tractor according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a perspective view of the tractor's running body from below. [Diagram 3] FIG. 2 is a perspective view of the lower link of the vehicle body of the tractor, with the connecting shaft at the center. [Figure 4] Configuration diagram of the tractor's control unit, etc. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0021] 1 is a configuration diagram of a tractor as an example of a work vehicle according to an embodiment of the present invention. In the following, forward / backward, left / right, and up / down are defined based on the traveling direction of the tractor.

[0022] In Fig. 1, reference numeral 1 denotes a tractor vehicle body, and a broadcaster 2 for spreading agricultural materials such as fertilizer, feed, and other powders, tablets, liquids, etc. is connected to the rear of this vehicle body 1. This broadcaster 2 is an example of a working machine of the present invention.

[0023] A vehicle body 1 is provided with an engine 3 at the front of the vehicle body, and is configured to move by transmitting rotational power of the engine 3 to rear wheels 4, 4 via a plurality of transmissions. Here, reference numerals 5, 5 denote front wheels.

[0024] A dashboard 6 is provided behind the engine 3 and is equipped with a liquid crystal display device 7 and the like. A steering wheel 9 is disposed behind the dashboard 6, and a pilot's seat 10 is provided behind it. A control unit 11 is built into the dashboard 6. Reference numeral 8 denotes a cabin.

[0025] Next, the broadcaster 2 and other components connected to the traveling vehicle body 1 will be described.

[0026] A three-point link mechanism consisting of a top link 12 and left and right lower links 13, 13 is provided at the rear of the traveling body 1 (see Figures 2 and 3), to which the broadcaster 2 is connected. In addition, the left and right lower links 13, 13 can be raised and lowered by left and right cylinder rods 14, 14, as will be described later.

[0027] The fertilizer spreader 2 is equipped with a tank 2a filled with fertilizer, which is an example of a consumable material that decreases as work is carried out, and a disk for spreading the fertilizer.

[0028] 2 and 3 are perspective views of the rear part of the vehicle body 1, the top link 12, the left and right lower links 13, 13, the cylinder rods 14, 14, etc., as viewed from below.

[0029] That is, the lower ends of the left and right lower links 13, 13 are rotatably connected and supported by connecting shafts 15, 15 to the rear frames 16, 16 of the traveling body 1. In addition, locking portions R1, R2 to which the broadcaster 2 is attached are formed at the upper ends of the left and right lower links 13, 13.

[0030] A top link 12 is provided above the left and right lower links 13, 13, and the lower end of the top link 12 is rotatably supported by a connecting shaft 21 on a rear frame 20 of the traveling body 1. The upper end of the top link 12 is formed with a locking portion R3 to which the broadcaster 2 is attached.

[0031] Furthermore, the lower ends of left and right hydraulic cylinder rods 14, 14 are connected to the middle positions of the left and right lower links 13, 13 by connecting shafts 19, 19, respectively, so that the left and right lower links 13, 13 can be raised and lowered.

[0032] The upper ends of the left and right hydraulic cylinder rods 14, 14 are connected by connecting shafts 18, 18 to arms 17, 17 connected to the rear frame of the traveling body 1.

[0033] The left and right reference numerals 22, 22 denote buffers, and 23 denotes a hydraulic cylinder for creating a difference in height between the left and right lower links 13, 13.

[0034] The top link 12, the left and right lower links 13, the left and right cylinder rods 14, the arms 17, the rear frame 16, and their connecting shafts 15, 18, 19 and locking parts R1, R2, R3 are examples of the support parts of the present invention.

[0035] Next, the load sensor will be described. For example, a strain gauge is used.

[0036] In this embodiment, the strain gauges 24, 24 are attached to the left and right connecting shafts 15, 15 at the lower ends of the lower links 13, 13. They are indicated by the reference numerals 24, 24 in FIG.

[0037] The output signals from the strain gauges 24, 24 are input to the control unit 11. The manner in which the signals are processed in the control unit 11 will be described below with reference to FIG.

[0038] <Example 1> First, the broadcaster 2 is attached to the traveling vehicle body 1 and the vehicle is placed in a working position (a state in which the vehicle can travel to spread fertilizer). With no fertilizer or the like loaded, the output signals of the left and right strain gauges 24, 24 are received by the receiving unit 11a of the control unit 11, and the average value of the left and right strain gauges 24, 24 is calculated by the calculation unit 11b and stored in the memory unit 11c.

[0039] For this purpose, a dedicated switch for instructing calculation and storage is provided on the dashboard 6, and by pressing this switch for a short time, the output value (non-filling detection value) of the strain gauge 24 in a state where no fertilizer or the like is filled (called the initial state) is calculated and stored in the memory unit 11c.

[0040] Instead of using this dedicated switch, a switch which executes another function when pressed for a short time may be pressed for a long time to obtain an initial state output signal.

[0041] Furthermore, when a dedicated switch is pressed, the control unit 11 calculates not only the output value at that moment, but also the average output value over about 10 seconds and stores it in the memory unit 11c. By doing so, it is possible to improve the accuracy beyond the instantaneous output value. The same can be done for switches that are pressed for a long time.

[0042] As described above, the control unit 11 stores the output value in the storage unit 11c, and notifies the operator of the storage by the notification unit 11d, for example by sounding a buzzer once, or by displaying the same on the liquid crystal display device 7.

[0043] Next, with the broadcaster 2 attached to the traveling vehicle body 1 and in a working position, and with fertilizer or the like filled in (referred to as a filled state), the receiver 11a of the control unit 11 receives output signals (filling detection values) from the left and right strain gauges 24, 24. Then, the calculation unit 11b calculates the average value of the left and right strain gauges 24, 24 and stores it in the memory unit 11c.

[0044] For this purpose, the signal (filling detection value) can be stored by pressing a dedicated switch for a short time. The long press switch can also be used.

[0045] Also, an average value over a period of about 10 seconds may be used as the fill detection value.

[0046] As described above, the control unit 11 stores the fill detection value in the memory unit 11c, and notifies the operator of the storage by the notification unit 11d. For example, the buzzer sounds twice to distinguish from the initial state, or the liquid crystal display device 7 displays the information.

[0047] In this way, two signal values, the non-filling detection value and the filling detection value, are stored in the memory unit 11c. The control unit 11 further stores the non-filling detection value in the initial state and the filling detection value in the filled state in the memory unit 11c, and calculates the difference between them. This difference value corresponds to the total amount of fertilizer filled to the full.

[0048] After the preparation is completed in this manner, the robot starts to travel for work such as spreading fertilizer, etc. During this work, detection signals are transmitted from the strain gauges 24 to the control unit 11.

[0049] If the difference value corresponding to the total amount of fertilizer filled up is taken as 100%, when the average value of the strain gauge 24 for about 10 seconds reaches or falls below a predetermined percentage value, the notification unit 11d notifies the operator of this. For example, a buzzer may sound continuously for a long period of time, or the liquid crystal display device 7 may display this fact.

[0050] As the percentage value, for example, the difference between the average value of the output of the strain gauge 24 during the work and the non-filling detection value can be set to 50% of the difference value, and in such a case, the worker will know that the fertilizer has been reduced by half.

[0051] Alternatively, the predetermined percentage value can be 10%. The operator can easily tell when the amount of fertilizer remaining is low. It is preferable to change the notification method when the amount of fertilizer remaining is half and when it is 10%. For example, a low sound is used when the amount of fertilizer remaining is half, and a high sound is used when it is 10%.

[0052] The notification sound from the buzzer or the like in the notification unit 11d can be stopped by pressing the dedicated switch or the long press type switch again.

[0053] It is also possible to display the current detection value of the strain gauge 24 in real time on the liquid crystal display device 7 as a graph or the like, with the non-filling detection value set as the lower limit and the filling detection value set as the upper limit (see FIG. 3). Furthermore, if the displayed value can be converted into grams of fertilizer, it is preferable to display the value in grams, which makes it easier for the operator to understand. The graph has the advantage of allowing the remaining amount to be intuitively known.

[0054] In this embodiment, even if the relationship between the output value (electrical signal value) of the strain gauge 24 and the mass of the fertilizer or the like is not predetermined, the remaining amount can be known in percentages such as 50% or 10%, which is convenient. This is because the weight of the fertilizer or the like can change due to factors such as humidity, and the value of the strain gauge does not always correspond accurately to the mass of the fertilizer or the like.

[0055] Furthermore, when a work vehicle is actually traveling, the broadcaster 2 may vibrate slightly depending on the state of the field, and these fluctuations may also be picked up by the strain gauge 24.

[0056] Therefore, by removing such noise, the amount of fertilizer, etc. can be detected with high accuracy. The vibration of the spreader 2 appears as a finely repeating vibration wave in the output value of the strain gauge 24, but on the other hand, as the mass of the fertilizer, etc., travels, the output value of the strain gauge 24 decreases monotonically. By utilizing this difference, the fine vibration parts of the spreader 2 can be detected as noise and removed by frequency analysis, amplitude analysis, etc. This noise removal can also be applied to the following Examples 2 and 3.

[0057] In this embodiment, the strain gauge 24 is attached to the connecting shafts 15, 15 at the lower ends of the lower links 13, 13, but this is not limiting and other locations may be used as long as the increase or decrease in mass of the fertilizer or the like can be detected. For example, the locking portions R1, R2 at the upper ends of the lower links 13, 13, the connecting shaft 21 at the lower end of the top link 12, the locking portion R3 at its upper end, the connecting shafts 19, 19 at the lower ends of the cylinder rods 14, 14, and the connecting shafts 18, 18 at their upper ends. Furthermore, other locations may be used as long as the increase or decrease in mass of the fertilizer or the like can be detected. The same applies to the following embodiments 2 and 3. <Example 2> Next, another embodiment will be described.

[0058] In the second embodiment, the control unit 11 stores in the memory unit 11c the non-filling detection value of the strain gauge 24 in the state where the fertilizer or the like is not filled in the spreader 2 in the working posture, and when the difference between the detection value of the strain gauge 24 and the stored non-filling detection value during work travel becomes equal to or less than a predetermined value, the notification unit 11d notifies the driver. For example, the predetermined value indicates that the remaining amount of fertilizer or the like is low.

[0059] In the case of this embodiment, it is necessary to obtain in advance by experiment or the like the relationship between the output value of the strain gauge 24 and the mass of the fertilizer, etc., and then determine the above-mentioned predetermined value.

[0060] This embodiment is convenient in that it is not necessary to perform detection when the fertilizer or the like is filled in the broadcaster 2. <Example 3> Next, another embodiment will be described.

[0061] In the third embodiment, the control unit 11 stores in the memory unit 11c the fill detection value of the strain gauge 24 in the state where the fertilizer or the like is filled in the spreader 2 in the working posture, and when the difference between the detection value of the strain gauge 24 and the stored non-fill detection value during work travel becomes equal to or greater than a predetermined value, the notification unit 11d notifies the driver. For example, this is a predetermined value indicating that the remaining amount of fertilizer or the like is low.

[0062] In the case of this embodiment, it is necessary to obtain in advance by experiment or the like the relationship between the output value of the strain gauge 24 and the mass of the fertilizer, etc., and then determine the above-mentioned predetermined value.

[0063] This embodiment is convenient in that it is not necessary to perform detection when the fertilizer or the like is not filled in the broadcaster 2. [Industrial Applicability]

[0064] The present invention is capable of detecting the remaining amount of fertilizer and the like with an inexpensive configuration, and is ideal for work vehicles equipped with work equipment such as a fertilizer broadcaster. [Explanation of symbols]

[0065] 1 Running vehicle 2. Broadcaster 3 Engine 4 Rear Wheel 5 Front wheel 6. Dashboard 7 LCD display equipment 8 Cabin 9 Steering handle 10 Pilot seat 11 Control section 11a Receiving section 11b Arithmetic unit 11c storage section 11d Notification Department 12 Top Links 13 Lower Link 14 Cylinder rod 15, 18, 19, 21 connection shaft 16, 20 Rear frame 17 Arm 22 Buffer 23 Horizontal Cylinder 24 Strain gauge

Claims

1. A running vehicle body, A work machine connected to the traveling vehicle body; A support portion provided on the traveling vehicle body and supporting the working machine; A load sensor that detects a load applied to the support portion; a control unit that determines the state of an amount of agricultural materials loaded into the work machine based on an output value of the load sensor.

2. a part of the support portion is a lower link that connects the work machine to the traveling vehicle body, 2. The work vehicle according to claim 1, wherein the load sensor is a strain gauge that detects strain in a connecting shaft of the lower link to a rear frame of the vehicle body.

3. The control unit has a storage unit that stores the detection value of the load sensor, the control unit stores in the storage unit a non-filling detection value of the load sensor when the agricultural material is not filled in the working machine in a working posture and a filled detection value of the load sensor when the agricultural material is filled in the working machine in a working posture, 2. The work vehicle according to claim 1, wherein, when the detection value of the load sensor falls below a predetermined percentage value of the difference between the stored non-filled detection value and the stored filled detection value during work, the control unit notifies an operator of that fact.

4. The control unit has a storage unit that stores the detection value of the load sensor, The control unit stores in the storage unit a non-filling detection value of the load sensor in a state in which the agricultural material is not loaded into the work machine in a working posture, 2. The work vehicle according to claim 1, wherein the control unit notifies a driver when a difference between the detected value of the load sensor and the stored non-filling detected value becomes equal to or smaller than a predetermined value during work.

5. The control unit has a storage unit that stores the detection value of the load sensor, the control unit stores in the storage unit a fill detection value of the load sensor in a state in which the agricultural materials are filled in the work machine in a working posture; 2. The work vehicle according to claim 1, wherein the control unit notifies a driver when a difference between a detection value of the load sensor and the stored fill detection value becomes equal to or exceeds a predetermined value during work.

6. 6. The work vehicle according to claim 3, wherein the control unit analyzes an output signal of the load sensor, and removes noise based on the fact that output fluctuations due to a reduction in the agricultural material are a monotonous decrease, whereas output fluctuations due to vibrations of the work machine, which become noise, are repetitive.

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