Fertilization system

Abstract

To solve the problem with a conventional work vehicle that usability when using a convenient function is not always good, more specifically, the problem with a fertilization system such as a fertilization system of a conventional rice transplanter that fertilization work with an intended fertilization amount is sometimes not performed under the current situation that the trend to mount convenient functions on a work vehicle such as a rice transplanter one after another is thought to be more and more accelerated in consideration of various needs of work vehicle users.SOLUTION: There is provided a fertilization system to increase the number of revolutions of a fertilizer feeding shaft 10 on the basis of increase in the vehicle speed when controlling the number of revolutions of the fertilizer feeding shaft 10 on the basis of the vehicle speed and a fertilization target set value. A fertilizer feeding shaft rotation speed correction is carried out to correct an excessive amount of increase in the number of revolutions of the fertilizer feeding shaft 10.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a fertilization system, such as a fertilization system for a rice planter. [Background technology]

[0002] A fertilizer application device having a storage hopper for storing fertilizer, a delivery device for delivering a set amount of fertilizer supplied from the storage hopper at a time, a fertilizer amount adjustment device for adjusting the amount of fertilizer delivered from the delivery device, a fertilizer amount setting device for setting the amount of fertilizer to be delivered to the fertilizer amount adjustment device, a swing arm for operating the delivery device by swinging on a swing fulcrum, and a power supply device connected to one end of the swing arm and supplying power to the swing arm; a traveling vehicle body on which the fertilizer application device is mounted, a fertilizer amount adjustment motor that is driven based on an instruction from the fertilizer amount setting device, A rice transplanter is known which is equipped with a tilt detection sensor which detects the fore-and-aft tilt of the vehicle body, the other end of the oscillating arm being connected to the payout device, and the position of the swing fulcrum is automatically changed by a fertilizer amount adjustment device in accordance with the setting of the fertilizer amount setting device, and when the tilt detection sensor detects that the traveling vehicle body is in a front-up tilted state of more than a predetermined angle after work in the field has been completed, the fertilizer amount setting device activates a fertilizer amount adjustment motor to move the position of the swing fulcrum to a standard position (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-99418 A Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, the present inventor believes that the trend of implementing convenient functions one after another in work vehicles such as rice transplanters will continue to accelerate in consideration of the various needs of work vehicle users.

[0005] However, the present inventors have noticed that conventional work vehicles are not necessarily easy to use when using convenient functions.

[0006] More specifically, the present inventors have noticed that with a fertilization system such as a fertilization system of a conventional rice transplanter, fertilization work may not be performed with the intended amount of fertilizer.

[0007] The present invention has been made in consideration of the above-mentioned problems in the conventional art, and has an object to provide a fertilization system that can improve usability. [Means for solving the problem]

[0008] A first aspect of the present invention is a fertilization system that uses wheel driving force to rotate a fertilizer delivery shaft, and when controlling a rotation speed of the fertilizer delivery shaft based on a vehicle speed and a fertilization target setting value, the fertilization system increases the rotation speed of the fertilizer delivery shaft based on an increase in the vehicle speed, The fertilization system is characterized in that a fertilizer delivery shaft rotation speed correction is performed to correct the excessive increase in the rotation speed of the fertilizer delivery shaft.

[0009] The second invention is the fertilization system of the first invention, characterized in that the extra increase in the rotation speed of the fertilizer delivery shaft occurs due to inertia of the fertilizer delivery shaft being rotated and increases in accordance with the increase in the vehicle speed.

[0010] A third aspect of the present invention is the fertilization system according to the second aspect of the present invention, characterized in that the fertilizer delivery shaft rotation speed correction is performed so that the excessive increase in the rotation speed of the fertilizer delivery shaft is cancelled out.

[0011] The fourth invention is the fertilization system according to the third invention, characterized in that the fertilizer delivery shaft rotation speed correction is performed every predetermined traveling distance of the vehicle body travelling by the wheel driving force, and is reset when the vehicle body stops.

[0012] The fifth aspect of the present invention is a vehicle in which a swing arm having a slit is provided so as to be swingable by the wheel driving force, A swing fulcrum pin is provided which is slidably inserted into the slit, When one end of the swing arm is moved in the up-down direction by the wheel driving force, the other end of the swing arm is moved in the up-down direction with the swing fulcrum pin as a fulcrum, The fertilizer delivery shaft is rotated in accordance with the movement of the other end of the swing arm, The pivot pin is attached to a pivot pin nut member, In a fourth aspect of the fertilization system of the present invention, the oscillating fulcrum pin nut member is slidably screwed into a screw member that is rotated by a motor mechanism based on the fertilizer delivery shaft rotation speed correction.

[0013] The sixth invention is the fertilization system of the fifth invention, characterized in that the default position of the oscillating fulcrum pin when the fertilization target setting value is given is a position where the excess increase in the rotation speed of the fertilizer delivery shaft is canceled out when the vehicle speed value is half the maximum vehicle speed.

[0014] The seventh aspect of the present invention is a screw member having a screw extension, a sensor pin nut member slidably threadedly engaged with the threaded extension; a sensor pin attached to the sensor pin nut member; The fertilization system of the sixth invention is characterized in that it is provided with a rotation angle sensor having a rotatable sensor arm to which the sensor pin is engaged.

[0015] The eighth aspect of the present invention is a screw extension portion that extends from the other end of the swing arm toward the motor mechanism, The seventh aspect of the present invention is a fertilization system, wherein the rotation angle sensor is provided adjacent to the screw extension portion.

[0016] The ninth aspect of the present invention is a method for detecting a rotation angle of the sensor arm, the sensor arm being rotated around a sensor arm rotation axis of the rotation angle sensor, An eighth fertilization system of the present invention is characterized in that the distance from the minimum fertilization target setting sensor pin position of the sensor pin corresponding to the minimum fertilization target setting value to the sensor arm pivot axis is greater than the distance from the maximum fertilization target setting sensor pin position of the sensor pin corresponding to the maximum fertilization target setting value to the sensor arm pivot axis.

[0017] A tenth aspect of the present invention is the fertilization system of the ninth aspect of the present invention, characterized in that the minimum fertilization target setting sensor pin position is farther from the motor mechanism than the maximum fertilization target setting sensor pin position.

[0018] The eleventh aspect of the present invention is a fertilizer delivery roll connected to the fertilizer delivery shaft, the fertilizer delivery shaft being rotated to form a plurality of recesses into which the fertilizer is filled, a fertilizer filling rate of the fertilizer in the recess decreases in accordance with an increase in the rotation speed of the fertilizer feed shaft; The fertilization system of the tenth invention is characterized in that the fertilizer delivery shaft rotation speed correction is performed so that the reduction in the fertilizer filling rate is also canceled out. Effect of the Invention

[0019] According to the first aspect of the present invention, it is possible to improve usability.

[0020] According to the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, it is possible to improve convenience.

[0021] According to the third aspect of the present invention, in addition to the effects of the second aspect of the present invention, it is possible to further improve convenience.

[0022] According to the fourth aspect of the present invention, in addition to the effects of the third aspect of the present invention, it is possible to improve practicality.

[0023] According to the fifth aspect of the present invention, in addition to the effect of the fourth aspect of the present invention, it is possible to reduce the burden on the worker.

[0024] According to the sixth aspect of the present invention, in addition to the effects of the fifth aspect of the present invention, it is possible to further improve practicality.

[0025] According to the seventh aspect of the present invention, in addition to the effect of the sixth aspect of the present invention, it is possible to further reduce the burden on the worker.

[0026] According to the eighth aspect of the present invention, in addition to the effect of the seventh aspect of the present invention, it is possible to simplify the configuration.

[0027] According to the ninth aspect of the present invention, in addition to the effect of the eighth aspect of the present invention, it is possible to improve reliability.

[0028] According to the tenth aspect of the present invention, in addition to the effect of the ninth aspect of the present invention, it is possible to further improve reliability.

[0029] According to the eleventh aspect of the present invention, in addition to the effect of the tenth aspect of the present invention, it is possible to further improve usability. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is a perspective view of a fertilization system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a perspective view of a fertilization system according to an embodiment of the present invention; [Diagram 3] FIG. 3 is a perspective view of a fertilization system according to an embodiment of the present invention; [Figure 4] FIG. 4 is a perspective view of a fertilization system according to an embodiment of the present invention. [Diagram 5] FIG. 5 is a perspective view of a fertilization system according to an embodiment of the present invention. [Figure 6] FIG. 2 is a schematic cross-sectional view of the fertilizer delivery shaft of the fertilizer application system according to the embodiment of the present invention; [Figure 7]FIG. 1 is a perspective view of a motor mechanism and its surroundings in a fertilization system according to an embodiment of the present invention; [Figure 8] FIG. 1 is an explanatory diagram of the operation control of a fertilization system according to an embodiment of the present invention. [Figure 9] FIG. 2 is an explanatory diagram of the operation control of the fertilization system according to the embodiment of the present invention. [Figure 10] FIG. 3 is an explanatory diagram of the operation control of the fertilization system according to the embodiment of the present invention. [Figure 11] FIG. 4 is an explanatory diagram of the operation control of the fertilization system according to the embodiment of the present invention. [Figure 12] FIG. 5 is an explanatory diagram of the operation control of the fertilization system according to the embodiment of the present invention. [Figure 13] FIG. 6 is an explanatory diagram of the operation control of the fertilization system according to the embodiment of the present invention. [Figure 14] (A) An explanatory diagram (part 1) of a technique for a fertilizer supply stand according to an embodiment of the present invention, (B) An explanatory diagram (part 2) of a technique for a fertilizer supply stand according to an embodiment of the present invention [Figure 15] An explanatory diagram of the technology for rural biodiversity according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS With reference to the drawings, an embodiment of the present invention will be described in detail.

[0032] The same applies below, but some components may not be shown in the drawings, or may be shown in a perspective or simplified manner.

[0033] While describing the operation of the fertilization system of this embodiment, a fertilization system operation control method according to an invention related to the present invention, which is realized by the controller 100 and the like, will also be described.

[0034] The fertilization system of this embodiment is a specific example of a fertilization system of the present invention in which the fertilizer delivery shaft 10 is rotated by utilizing wheel driving force, and when the rotation speed of the fertilizer delivery shaft 10 is controlled based on the vehicle speed and the target fertilization setting value, the rotation speed of the fertilizer delivery shaft 10 is increased based on an increase in the vehicle speed.

[0035] (1) First, the configuration and operation of a fertilization system according to an embodiment of the present invention will be specifically described with reference mainly to FIGS. 1 to 5, 6 and 7.

[0036] Here, Figures 1 to 5 are oblique views (parts 1 to 5) of a fertilization system according to an embodiment of the present invention, Figure 6 is a schematic cross-sectional view of the vicinity of a fertilizer delivery shaft 10 of a fertilization system according to an embodiment of the present invention, and Figure 7 is an oblique view of the vicinity of a motor mechanism 40 of a fertilization system according to an embodiment of the present invention.

[0037] A swing arm 20 having a slit 21 formed therein is provided so as to be swingable by the driving force of the wheels. A swing fulcrum pin 30 is provided so as to be slidably inserted into the slit 21. When one end of the swing arm 20 is moved in the vertical direction by the driving force of the wheels, the other end of the swing arm 20 is moved in the vertical direction with the swing fulcrum pin 30 as a fulcrum.

[0038] In detail, rotational power from the rear axle output shaft is input to the lower end, and the upper end of the wheel driving force transmission mechanism, which is moved in the vertical direction, is connected to one end of the oscillating arm 20, so that one end of the oscillating arm 20 is moved in the vertical direction.

[0039] The fertilizer delivery shaft 10 is rotated as the other end of the swing arm 20 moves. The swing fulcrum pin 30 is attached to a swing fulcrum pin nut member 31. The swing fulcrum pin nut member 31 is slidably screwed into a screw member 50 which is rotated by a motor mechanism 40 based on the fertilizer delivery shaft rotation speed correction.

[0040] More specifically, a screw member 50 such as a ball screw member is rotated by a motor mechanism 40, and a swing fulcrum pin nut member 31 screwed into the main body of the screw member 50 slides, thereby moving a swing fulcrum pin 30 which is a pivot attached to the swing fulcrum pin nut member 31 as a movable fulcrum. The other end of the swing arm is moved in the up-down direction with the swing fulcrum pin as a fulcrum, and the upper end of the fertilizer delivery shaft rotating mechanism is connected to the other end of the swing arm 20, and the other end of the swing arm 20 is moved in the up-down direction by the swing of the swing arm 20, thereby rotating a fertilizer delivery roll 80 of the fertilizer delivery shaft 10, also called a fertilizer delivery shaft, via a one-way clutch 101 which allows rotation only in a predetermined direction.

[0041] The threaded member 50 has a threaded extension 51. A sensor pin nut member 61 is provided which is slidably threadedly engaged with the threaded extension 51.

[0042] As will be described in detail later, when the swing fulcrum pin nut member 31 is slid in the direction of decreasing the fertilization target setting value as the screw member 50 rotates, the screw thread of the sensor pin nut member 61 is reverse to the screw thread of the swing fulcrum pin nut member 31, that is, reverse screw thread, so that the sensor pin nut member 61 is slid in the opposite direction. For this reason, the minimum fertilization target setting swing fulcrum pin position Q min is the maximum fertilization target setting swing fulcrum pin position Q Max It is closer to the motor mechanism 40 than the minimum fertilization target setting sensor pin position P min is the maximum fertilization target setting sensor pin position P Max is farther from the motor mechanism 40 than

[0043] There is provided a sensor pin 60 attached to a sensor pin nut member 61. There is provided a rotation angle sensor 70 having a rotatable sensor arm 71 to which the sensor pin 60 is engaged.

[0044] More specifically, the upper portion of the sensor arm 71 is notched so as to be released toward the top, and the notch edge that comes into contact with the sensor pin 60 from below is bent halfway into an obtuse angle. The plate shape of the sensor arm 71 is not a simple elongated plate shape, and the above-mentioned notch configuration prevents the sensor arm 71 and the sensor pin 60 from getting caught, so that the layout of the rotation angle sensor 70 can be performed with sufficient freedom with little interference between components, making maintenance work easier.

[0045] The screw extension portion 51 extends from the other end side of the swing arm 20 toward the motor mechanism 40. The rotation angle sensor 70 is provided adjacent to the screw extension portion 51.

[0046] In detail, the motor mechanism 40 has a number of gears such as a motor gear 102, two counter gears 103 and a drive gear 104, and the rotational power to the drive gear 104 for moving the swing fulcrum pin 30 is supplied from the motor gear 102 via the counter gear 103.

[0047] (2) Next, the configuration and operation of the fertilization system according to the embodiment of the present invention will be described in more detail with reference mainly to FIGS.

[0048] 8 to 13 are explanatory diagrams (parts 1 to 6) of the operation control of the fertilization system according to the embodiment of the present invention.

[0049] A fertilizer delivery shaft rotation speed correction is performed to correct the excessive increase in the rotation speed of the fertilizer delivery shaft 10.

[0050] A more specific explanation is as follows.

[0051] In the above-described configuration in which one end of the swing arm 20 is moved in the vertical direction by the wheel driving force, the other end of the swing arm 20 is moved in the vertical direction with the swing fulcrum pin 30 as a fulcrum, and the fertilizer delivery shaft 10 is rotated in accordance with the movement of the other end of the swing arm 20, the fertilizer application target set value X [g / m 2 If the position of the swing fulcrum pin 30 selected according to the rotation speed ω[min -1 ] should be directly proportional to the vehicle speed V [m / s]. In other words, the fertilizer delivery shaft rotation speed ω is calculated by the coefficient of the function C(X) of the fertilizer application target setting value X as follows:

[0052] (Number 1) ω=C(X)V This should be expressed by a first-order polynomial for the vehicle speed V, such as: This coincides with ω / V except for a constant multiplication by a fertilization system normalization constant A determined according to the specifications of the fertilizer delivery roll 80 and the travel route of the vehicle body 90, that is,

[0053] (Number 2) Ω=A(ω / V) The amount of fertilizer applied per unit area of ​​the field that satisfies the above is Ω [g / m 2 ] is uniquely maintained according to the fertilization target setting value X regardless of the vehicle speed V, which means that so-called variable fertilization can be achieved by fixing the position of the oscillating fulcrum pin 30 according to the fertilization target setting value X.

[0054] However, the present inventor noticed that in such a simple fertilization system model, an excessive increase in the rotation speed of the fertilizer delivery shaft 10 occurs (see FIG. 8), and conducted various studies.

[0055] The extra increase in the rotation speed of the fertilizer delivery shaft 10 occurs due to the inertia of the fertilizer delivery shaft 10 being rotated, and increases as the vehicle speed increases.

[0056] A more specific explanation is as follows.

[0057] The inventors have determined that the fertilizer delivery shaft rotation speed ω is

[0058] (Number 3) ω=f(V,X)=(N1X 2 +N2X)V 2 +(N3X)V The fertilization system model of this embodiment was constructed by expressing the vehicle speed V and the fertilization target setting value X as a function f(V,X). The numerical parameters N1, N2, and N3 are fertilization system parameters obtained by curve fitting, etc.

[0059] (Number 4) N1=0.001915 N2=0.123595 N3=0.835479 The following data is used (see Figures 10 and 11):

[0060] When the vehicle speed V(>0) and the fertilizer amount Ω(>0) are given, the fertilizer system operation control equation is

[0061] (Number 5) Ω / A=f(V,X) / V=N1VX 2 +(N2V+N3)X By solving the above equation, a fertilization target set value X (>0) is obtained as an optimal solution. The fertilization target set value X is nothing but the position of the oscillation fulcrum pin 30, and the motor drive control of the motor mechanism 40 for realizing the position of the oscillation fulcrum pin 30 selected according to the fertilization target set value X is performed by the controller 100 or the like.

[0062] of course,

[0063] (Number 6) AN3=1 By constructing a fertilization system model in which the fertilization target set value X is associated with the position of the swing fulcrum pin 30 so that the above is satisfied, a fertilization system model can be obtained in which the meaning of the extra increase in the rotation speed of the fertilizer delivery shaft 10 is easy to understand, but it is not necessarily required to associate the fertilization target set value X with the position of the swing fulcrum pin 30 in this manner. For example, when the fertilization target set value X is fixed at X0=40 [kg / 10a], it goes without saying that the fertilization target set value X may be associated with the position of the swing fulcrum pin 30 so that a fertilization amount Ω of 40 [kg / 10a] is obtained (see FIG. 10) when V is not 0 [m / s] but approximately V=0.7 [m / s] and the extra increase in the rotation speed of the fertilizer delivery shaft 10 caused by inertia is well taken into account.

[0064] In order to make the motor drive control of the motor mechanism 40 easily visible, a fertilization target setting value scale label providing a scale of the fertilization target setting value X that corresponds to the position of the oscillating fulcrum pin 30 may be affixed near the screw member 50.

[0065] In order to reduce the burden of solving the fertilization system operation control equation, it is also possible to prepare in advance a VX matrix table (see FIG. 11) of the fertilization amount Ω based on the output value of the function f(V,X) obtained by changing the vehicle speed V and the fertilization target setting value X as input values.

[0066] Even if the excess increase in the rotational speed of the fertilizer delivery shaft 10 increases due to the inertia of the fertilizer delivery shaft 10 being rotated when the vehicle speed increases, the fertilizer delivery system operation control mode for correcting the fertilizer delivery shaft rotational speed by reducing the fertilization target set value X is implemented as a vehicle speed correction mode, so that the excess increase in the rotational speed of the fertilizer delivery shaft 10 in the simple fertilizer delivery system model described above can be covered and fertilization work can be performed at the intended fertilizer amount Ω.

[0067] The fertilizer delivery shaft rotation speed correction is performed so that an excessive increase in the rotation speed of the fertilizer delivery shaft 10 is cancelled out.

[0068] It goes without saying that such an excess increase in the rotational speed of the fertilizer delivery shaft 10 may be covered so that substantially all of the excess increase is eliminated, for example, approximately half of the excess increase is eliminated, by utilizing the above-mentioned optimal fertilization target setting value X.

[0069] The correction of the fertilizer delivery shaft revolution speed is performed every time a predetermined distance is traveled by the vehicle body 90 that is driven by the wheel driving force, and is reset when the vehicle body 90 stops.

[0070] The fertilizer delivery shaft rotation speed correction is not performed continuously in real time, but is performed discretely when the travel distance exceeds a predetermined travel distance while the vehicle is traveling (see FIG. 9). This is because when the fertilization target set value X is fixed, the fluctuation in the fertilizer amount Ω accompanying the fluctuation in the vehicle speed V is not necessarily large (see FIGS. 10 and 11), and frequent correction of the fertilizer delivery shaft rotation speed by adjusting the position of the swing fulcrum pin 30 is often unnecessary. For example, after planting travel is started, the fertilizer delivery shaft rotation speed correction is not performed until the forward travel distance exceeds a predetermined travel distance, and the fertilizer delivery shaft rotation speed correction using the VX matrix table of the fertilizer amount Ω described above is performed at the timing when the travel distance exceeds the predetermined travel distance, so that the number of times the motor is driven by the motor mechanism 40 is reduced, and the durability of the relay for protecting the motor, also called a relay, is improved.

[0071] When the lever position of the transmission such as the HST device is set to the neutral position, the fertilizer delivery shaft revolution speed compensation is reset and the position of the swing fulcrum pin 30 is made to coincide with the default position. The position of the swing fulcrum pin 30, which has been returned to the default position when the vehicle body 90 is stopped, remains in that position until traveling is resumed and the forward traveling distance exceeds the predetermined traveling distance again.

[0072] When the vehicle body 90 is not stopped and traveling operation continues while the fertilizer delivery shaft rotation speed correction is performed, the fertilizer delivery shaft rotation speed correction is performed for each predetermined traveling distance of the vehicle body 90, so that excessive motor driving of the motor mechanism 40 due to fluctuations in the vehicle speed V is suppressed and wear on the relay is reduced.

[0073] The default position of the oscillating fulcrum pin 30 when a fertilization target setting value is given is a position where any excess increase in the rotation speed of the fertilizer delivery shaft 10 is cancelled out when the vehicle speed value is half the maximum vehicle speed value.

[0074] Since normal driving operations are performed at a so-called medium speed, which is half the maximum vehicle speed, even if the vehicle body 90 is stopped frequently, the position of the fulcrum pin 30 falls within a relatively narrow range near the default position, further suppressing excessive motor driving of the motor mechanism 40.

[0075] The sensor arm 71 is rotated around a sensor arm rotation shaft 72 of the rotation angle sensor 70. The minimum fertilization target setting sensor pin position P min The distance from the sensor arm pivot shaft 72 to the maximum fertilization target setting sensor pin position P Max to the sensor arm pivot shaft 72.

[0076] The sensor pin 60 is moved in the longitudinal direction of the linear screw member 50 in conjunction with the swing fulcrum pin 30 for controlling the rotation speed of the fertilizer delivery shaft 10, and the sensor mounting center is set to the maximum fertilization target setting sensor pin position P within the movement range of the sensor pin 60. Max The rotation angle sensor 70 of the sensor pin 60 is disposed so as to be located in the vicinity of the swing arm 20. The amount of movement of one end of the swing arm 20 moved by the wheel driving force is constant, but the amount of movement of the other end of the swing arm 20 is changed depending on the position of the swing fulcrum pin 30. The rate of change in position of the sensor pin 60, which is moved in conjunction with the swing fulcrum pin 30, is equal to or greater than the maximum fertilization target setting sensor pin position P MaxSince the fertilization target setting sensor pin position P is the minimum, the scale interval of the fertilization target setting value X described above becomes smaller. Max This is because deterioration of the sensor accuracy can be compensated for by ensuring the rotation angle of the sensor arm rotation shaft 72 in the vicinity.

[0077] Minimum fertilizer target setting sensor pin position P min is the maximum fertilization target setting sensor pin position P Max is farther from the motor mechanism 40 than

[0078] The amount of movement of one end of the swing arm 20 that is moved in the vertical direction by the wheel driving force is often larger than the amount of movement of the other end of the swing arm 20. In order to avoid not only interference with the fertilizer hopper 105, etc., but also interference with other members caused by such a large amount of movement of one end of the swing arm 20, the screw extension portion 51 is extended from the other end of the swing arm 20 toward the front of the vehicle body, and not only the motor mechanism 40, which is relatively bulky, but also the maximum fertilization target setting sensor pin position P Max A rotation angle sensor 70 and the like located nearby are also arranged away from one end of the swing arm 20 .

[0079] A plurality of recesses 81 into which fertilizer is filled as the fertilizer feed-out shaft 10 is rotated are formed on the surface of a fertilizer feed-out roll 80 connected to the fertilizer feed-out shaft 10. The fertilizer filling rate of the fertilizer in the recesses 81 decreases as the rotation speed of the fertilizer feed-out shaft 10 increases. The fertilizer feed-out shaft rotation speed correction is performed so as to cancel the amount of reduction in the fertilizer filling rate.

[0080] A more specific explanation is as follows.

[0081] The inventors have determined that the fertilizer loading rate ρ

[0082] (Number 7) ρ=g(ω)=N4ω+N5 The improved fertilization system model of this embodiment is expressed as a function g(ω) of the fertilizer delivery shaft rotation speed ω. The numerical parameters N4 and N5 are fertilization system parameters obtained by curve fitting or the like,

[0083] (Number 8) N4=-0.00172 N5=0.956159 The following data is used (see Figures 12 and 13):

[0084] In this improved fertilization system model,

[0085] (Number 9) Ω=ρA(ω / V) Instead of solving (Equation 2), when the vehicle speed V and the amount of fertilization Ω are given, the fertilization system operation control equation

[0086] (Number 10) Ω / A=g(f(V,X))f(V,X) / V By solving the above equation, the fertilization target set value X can be obtained as the optimal solution.

[0087] In order to reduce the burden of solving the fertilization system operation control equation, a VX matrix table (see FIG. 13) of the fertilizer amount Ω may be prepared in advance.

[0088] A fertilization system operation control mode for correcting the fertilizer delivery shaft rotation speed so that the fertilizer application target set value X is increased even if the fertilizer filling rate ρ is reduced when the fertilizer delivery shaft rotation speed ω increases is implemented as a fertilizer filling rate correction mode.By doing so, even when the vehicle speed V and the fertilizer application target set value X are relatively large, the amount of reduction in the fertilizer amount Ω that may occur due to a reduction in the fertilizer filling rate ρ can be covered and fertilization work can be performed at the intended fertilizer amount Ω.

[0089] It is also possible to consider an embodiment in which a fertilization system operation control mode obtained by combining the above-mentioned vehicle speed correction mode and fertilizer filling rate correction mode is implemented as a high-quality fertilization system operation control mode that can realize operation control that goes beyond simple increase or decrease control.

[0090] (3) Next, the configuration and operation of the fertilization system according to the embodiment of the present invention will be described in more detail.

[0091] (3a) Mainly with reference to Figs. 14(A) and 14(B), aspects relating to the technology regarding the fertilizer supply stand will be specifically described.

[0092] Here, FIGS. 14(A) and 14(B) are explanatory diagrams (parts 1 and 2) of a technique regarding a fertilizer supplying table according to an embodiment of the present invention.

[0093] Figures 14(A) and 14(B) show examples in which rotatable fertilizer trays are provided on both sides of the machine body.

[0094] Here, 201 is the left hopper of the left and right hoppers, and 202 is a fertilizer bag that supplies fertilizer to the hopper 201. Furthermore, 203 is a frame that holds the fertilizer bag 202, the base of which is a pipe 207 and is freely rotatable horizontally around a rotating shaft 204. The lower part of the frame 203 is dish-shaped, and the upper part is surrounded by wire.

[0095] A cutter 205 is attached to the bottom of the frame 203 so as to be able to slide left and right. By moving this cutter 205 left and right, the bottom of the fertilizer bag 2 is cut open, making it possible to dump the fertilizer inside into the hopper 201.

[0096] The pipe 207 of the frame 203 , which is rotatable about the rotation shaft 420 , can also move up and down, and this movement up and down is achieved by stepping on the pedal 206 .

[0097] That is, the fertilizer bag 202 filled with fertilizer on the ground is raised by stepping on the pedal 206, and when it reaches a position slightly above the hopper 201, it is rotated horizontally to position the fertilizer bag 202 directly above the hopper 201, and then the bottom of the fertilizer bag 202 is cut open with the cutter 205, and the fertilizer is poured into the hopper 201.

[0098] It is advisable to equip this fertilizer stand with a damper to prevent it from suddenly dropping when lowered.

[0099] When storing the frame 203 in a shed or the like, it can be made compact by tilting the frame 203 downward as shown in Fig. 14(B). At that time, the cutter is protected by a guard when stored for safety reasons.

[0100] By doing this, the labor required for fertilizer supply during rice planting work, which was previously difficult and hard work, can be reduced by simply setting the fertilizer bag on the supply stand.

[0101] (3b) With primary reference to Figure 15, we will specifically explain technical aspects of rural biodiversity.

[0102] FIG. 15 is an explanatory diagram of a technique for rural biodiversity according to an embodiment of the present invention.

[0103] FIG. 15 shows a map 301 on the screen and a diagram that is displayed by tapping the map 301.

[0104] (1) Information about the creatures that live in and around rural areas (photos, names, other information, etc.) will be registered on a server that stores a specified app, and made available for viewing by anyone who has access to the app.

[0105] (2) Information on living organisms can be classified by habitat (inside waterways, in farm fields, in forests, etc.) and type (insects, birds, mammals, etc.), and can be viewed for each classification.

[0106] (3) Farmers upload photos of the creatures living around their fields that they have taken into the app on the server.

[0107] (4) The organisms in the uploaded photographs are searched for based on the items in (2) and, if the identity of the organism is identified, the information registered in the photograph is linked to the location where it was found (waterway, field, forest) and the location information of the photograph (if the location information of the photograph has been automatically registered by a smartphone or other device, that information is used; if not, the uploader must register the location information themselves using a commercially available designated map software or the like).

[0108] (5) The system automatically determines what type of creature is depicted in the uploaded photo and links the photo to information about the creature registered in the app on the server.

[0109] (6) A QR code (registered trademark) is created based on the information registered in the app in (4) and (5). By reading the QR code, map information about the rice-producing area and a pin (similar to a pin on a commercially available map) showing the location where the photo of the organism was taken on the map are displayed. Clicking on the pin displays the organism's photo, information, and a comment from the producer.

[0110] (7) Packages of rice sold to the general public will include a QR code (6) showing the location where the rice was produced and its surrounding area, allowing customers to view the above-mentioned information by scanning the QR code.

[0111] In addition, the program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

[0112] In addition, the recording medium of the invention related to the present invention is a recording medium having recorded thereon a program for causing a computer to execute all or part of the operations of all or part of the steps (or processes, operations and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

[0113] In addition, the above-mentioned "some steps (or processes, operations, actions, etc.)" means one or some steps among the multiple steps.

[0114] In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or a part of the above-mentioned steps.

[0115] Furthermore, one mode of use of the inventive program related to the present invention may be in the form of being transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, being read by a computer, and operating in cooperation with the computer.

[0116] Furthermore, the recording medium includes a ROM (Read Only Memory) and the like.

[0117] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may also include firmware, an OS (Operating System), and even peripheral devices.

[0118] As described above, the configuration of the present invention may be realized in software or in hardware. [Industrial Applicability]

[0119] The fertilization system of the present invention can improve usability and is useful for use in fertilization systems such as a fertilization system for a rice transplanter. [Explanation of symbols]

[0120] 10 Fertilizer delivery shaft 20 Swing Arm 21 Slit 30 Swing fulcrum pin 31 Swing fulcrum pin nut member 40 Motor Mechanism 50 Screw member 51 Thread extension 60 Sensor Pins 61 Sensor pin nut material 70 Rotation angle sensor 71 Sensor arm 72 Sensor arm rotation shaft 80 Fertilizer delivery roll 81 Recess 90 Body 100 Controller 101 One-way clutch 102 Motor Gear 103 Counter Gear 104 Drive gear 105 Fertilizer Hopper P min Minimum fertilizer target setting sensor pin position P Max Maximum fertilization target setting sensor pin position Q min Minimum fertilizer application target setting swing fulcrum pin position Q Max Maximum fertilization target setting swing fulcrum pin position

Claims

1. A fertilization system that uses wheel driving force to rotate a fertilizer delivery shaft, and when controlling a rotation speed of the fertilizer delivery shaft based on a vehicle speed and a fertilization target setting value, the fertilization system increases the rotation speed of the fertilizer delivery shaft based on an increase in the vehicle speed, A fertilizer application system, characterized in that a fertilizer delivery shaft rotation speed correction is performed to correct an excessive increase in the rotation speed of the fertilizer delivery shaft.

2. 2. The fertilization system of claim 1, wherein the extra increase in the rotational speed of the fertilizer delivery shaft occurs due to inertia of the fertilizer delivery shaft being rotated and increases with the increase in vehicle speed.

3. 3. The fertilizer application system according to claim 2, wherein the fertilizer delivery shaft rotation speed correction is performed so that the excessive increase in the rotation speed of the fertilizer delivery shaft is cancelled out.

4. 4. The fertilization system according to claim 3, wherein the fertilizer delivery shaft rotation speed correction is performed every time a predetermined distance is traveled by the vehicle body that is driven by the wheel driving force, and is reset when the vehicle body stops.

5. a swing arm having a slit formed therein is provided so as to be swingable by the wheel driving force, A swing fulcrum pin is provided which is slidably inserted into the slit, When one end of the swing arm is moved in the up-down direction by the wheel driving force, the other end of the swing arm is moved in the up-down direction with the swing fulcrum pin as a fulcrum, The fertilizer delivery shaft is rotated in accordance with the movement of the other end of the swing arm, The pivot pin is attached to a pivot pin nut member, The fertilization system according to claim 4, wherein the oscillating fulcrum pin nut member is slidably screwed into a screw member that is rotated by a motor mechanism based on the fertilizer delivery shaft rotation speed correction.

6. The fertilization system described in claim 5, characterized in that the default position of the oscillating fulcrum pin when the fertilization target setting value is given is a position where the excess increase in the rotation speed of the fertilizer delivery shaft is canceled out when the vehicle speed value is half the maximum vehicle speed value.

7. The threaded member has a threaded extension, a sensor pin nut member slidably threadedly engaged with the threaded extension; a sensor pin attached to the sensor pin nut member; The fertilization system according to claim 6, further comprising a rotation angle sensor having a rotatable sensor arm to which the sensor pin is engaged.

8. the screw extension portion extends from the other end of the swing arm toward the motor mechanism, The fertilization system of claim 7, wherein the rotation angle sensor is disposed adjacent to the screw extension portion.

9. the sensor arm is rotated around a sensor arm rotation axis of the rotation angle sensor, The fertilization system of claim 8, characterized in that the distance from the minimum fertilization target setting sensor pin position of the sensor pin corresponding to the minimum fertilization target setting value to the sensor arm pivot axis is greater than the distance from the maximum fertilization target setting sensor pin position of the sensor pin corresponding to the maximum fertilization target setting value to the sensor arm pivot axis.

10. The fertilization system of claim 9, wherein the minimum fertilization target setting sensor pin position is farther from the motor mechanism than the maximum fertilization target setting sensor pin position.

11. A plurality of recesses into which fertilizer is filled as the fertilizer delivery shaft is rotated are formed on a surface of a fertilizer delivery roll connected to the fertilizer delivery shaft; a fertilizer filling rate of the fertilizer in the recess decreases in accordance with an increase in the rotation speed of the fertilizer feed shaft; The fertilization system according to claim 10, wherein the fertilizer delivery shaft rotation speed correction is performed so as to cancel the reduction in the fertilizer filling rate.

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