Work vehicle

Abstract

To enable fertilization according to a state of a field as compared to a conventional technology.SOLUTION: To enable fertilization according to a state of a field as compared to a conventional technology by controlling a delivery amount of a delivery device (15) on the basis of information in which a fertilization application amount and a fertilization application position are associated with each other, and a position of a vehicle body (4) measured by a positioning device (SN1).SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] This invention relates to work vehicles such as rice transplanters and tractors.

Background Art

[0002] In work vehicles such as rice transplanters and tractors, when driving a feeding unit that feeds granular agricultural materials such as fertilizers with a first electric motor, if the first electric motor is overloaded, a technique of driving a drive shaft with a second electric motor is known (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technique described in Patent Document 1 can cope with the case where the load on the feeding unit increases due to fertilizer clogging or the like, and is a technique for feeding a predetermined agricultural material from the feeding unit. The farmland has uneven soil and soil quality, unevenness, and the distribution and unevenness of fertility. When there is unevenness in fertility, unevenness also occurs in the growth of crops. There is a problem that there is a limit in suppressing the unevenness of fertility with a technique of spraying a certain amount of fertilizer as in the technique described in Patent Document 1.

[0005] The technical problem of the present invention is to perform fertilization according to the conditions of the farmland as compared with the prior art.

Means for Solving the Problems

[0006] The above problems of the present invention are solved by the following means. The invention according to claim 1 has a vehicle body (4), a positioning device (SN1) for measuring the position of the vehicle body (4), a storage part (19) for storing fertilizer, and a feeding device (15) for feeding out fertilizer from the storage part (19), and is a working vehicle comprising a fertilizer application device (12) for spraying fertilizer on a field (400), information in which the fertilizer application amount and the application position are associated, and control means (300) for controlling the feeding amount of the feeding device (15) based on the information and the position of the vehicle body (4) measured by the positioning device (SN1).

[0007] The invention according to claim 2 is the working vehicle according to claim 1, characterized in that the control means (300) is provided for setting the feeding amount to a feeding amount less than that at the reference traveling speed when the traveling speed of the vehicle body (4) does not reach a predetermined speed.

[0008] The invention according to claim 3 is the working vehicle according to claim 1, characterized in that the control means (300) is provided for controlling the acceleration of the vehicle body (4) within a range of acceleration for changing the feeding amount of the feeding device (15).

[0009] The invention according to claim 4 has a predetermined first slip ratio and a second slip ratio calculated based on the number of rotations of the wheels (27) of the vehicle body (4) and the measurement result of the positioning device (SN1). For the slip ratio at which the wheels (27) of the vehicle body (4) slip during traveling, there are a first area (411) for controlling the fertilizer application device (12) using the first slip ratio, a second area (412) for calculating the second slip ratio, and a third area (413) for controlling the fertilizer application device (12) using the second slip ratio, which are assigned to the field (400). The working vehicle according to claim 1 is characterized by this.

[0010] In the invention according to claim 5, a predetermined range from the start of work is assigned to the first area (411), the second area (412) is assigned to a predetermined range after completion of work in the first area (411), the third area (413) is assigned to the remaining range of the field (400) after completion of work in the second area (412), the second slip ratio is corrected while traveling in the third area (413), and in the field (400) where work is to be performed next to the field (400) in which the second slip ratio is calculated, the control means (300) controls the fertilizer applicator (12) using the second slip ratio from the start of work. The work vehicle according to claim 4, characterized in that it is provided.

[0011] In the invention according to claim 6, when a positioning failure occurs in the positioning device (SN1) during the calculation of the second slip ratio, the control means (300) uses the first slip ratio during the recalculation of the second slip ratio. The work vehicle according to claim 4, characterized in that it is provided.

[0012] In the invention according to claim 7, when turning by a predetermined angle or more, the control means (300) uses the first slip ratio. The work vehicle according to claim 4, characterized in that it is provided.

[0013] In the invention according to claim 8, a speed change device (HST) that changes the rotation of the engine (30), a theoretical value of the rotation speed of the wheels (27) speed-changed by the speed change device (HST), and a measured value of the rotation speed of the wheels (27), and the control means (300) for correcting the slip ratio based on the above. The work vehicle according to claim 4, characterized in that it is provided.

[0014] The invention according to claim 9 is a work vehicle according to claim 4, characterized in that it comprises an engine speed detection member (SN3) for measuring the rotational speed of an engine (30), a transmission (HST) for changing the rotation of the engine (30), control means (300) for correcting the slip ratio based on a theoretical value of the engine speed calculated from the shift setting of the transmission (HST) and a measured value of the engine speed by the engine speed detection member (SN3).

Effect of the Invention

[0015] According to the invention described in claim 1, by controlling the feeding amount of the feeding device (15) based on the information in which the fertilizer application amount and the application position are associated and the position of the vehicle body (4) measured by the positioning device (SN1), fertilization according to the field conditions can be performed as compared with the prior art.

[0016] According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the traveling speed does not reach a predetermined speed, by setting the feeding amount to a feeding amount smaller than that at the reference traveling speed, over-application of fertilizer can be suppressed.

[0017] According to the invention described in claim 3, in addition to the effect of the invention described in claim 1, by controlling the acceleration of the vehicle body (4) within the range of the acceleration for changing the feeding amount, it is possible to prevent the increase in the feeding amount from not being able to catch up with the acceleration of the vehicle body (4).

[0018] According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, in the first area (411), the fertilizer application device (12) is controlled using the first slip ratio, in the second area (412), the second slip ratio is calculated, and in the third area (413), the fertilizer application device (12) can be controlled using the second slip ratio.

[0019] According to the invention described in claim 5, in addition to the effects of the invention described in claim 4, a predetermined range from the start of work is assigned to the first area (411), a second area (412) is assigned to a predetermined range after the work in the first area (411) is completed, and a third area (413) is assigned to the remaining field (400) range after the work in the second area (412) is completed. By doing so, the second slip rate is not calculated immediately after the start of work when the field may be rough, and the second slip rate is calculated in the second area (412) where the roughness of the field has subsided, thereby improving the accuracy of the second slip rate. Further, by correcting the second slip rate during traveling in the third area (413), the accuracy of the second slip rate can be improved. Furthermore, in the field (400) where work is performed next to the field (400) in which the second slip rate is calculated, by using the second slip rate from the start of work, work can be promptly performed at the second slip rate according to the condition of the individual work vehicle.

[0020] According to the invention described in claim 6, in addition to the effects of the invention described in claim 4, when a positioning failure occurs in the positioning device (SN1) during the calculation of the second slip rate, the first slip rate is used during the recalculation of the second slip rate, so that the fertilization work can be continued at the first slip rate even if a positioning failure occurs.

[0021] According to the invention described in claim 7, in addition to the effects of the invention described in claim 4, when turning, the first slip rate is used, so that it is possible to cope with a field roughened by turning.

[0022] According to the invention described in claim 8, in addition to the effects of the invention described in claim 4, based on the theoretical value of the rotational speed of the wheel (27) after shifting in the transmission (HST) and the measured value of the rotational speed of the wheel (27), by correcting the slip rate, it is possible to improve the accuracy of the slip rate in response to the running load.

[0023] According to the invention described in claim 9, in addition to the effects of the invention described in claim 4, based on the theoretical value of the engine speed calculated from the shift setting of the hydrostatic transmission (HST) and the measured value of the engine speed by the engine speed detection member (SN3), by correcting the slip ratio, it is possible to improve the accuracy of the slip ratio corresponding to the running load.

Brief Description of the Drawings

[0024]

Figure 1

Figure 2

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Figure 4

Figure 5

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Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0025] Embodiments of this invention will be described below. FIG. 1 is a side view of the seedling transplanter according to the embodiment. FIG. 2 is a front view of the seedling transplanter. FIG. 3 is a plan view of the seedling transplanter.

[0026] As an example of the work vehicle in the embodiment of the present invention, the seedling transplanter has, on the rear side of the vehicle body 4 in the form of a high-ridge riding and traveling, a lift link mechanism 11 in the form of a parallel link that is lifted, lowered, and rotated by the hydraulic expansion and contraction of a lift cylinder (not shown). A seedling planting part 10 of a multi-row planting body, which is an example of a working machine, is attached via this. This seedling planting part 10 has a plurality of floats 6 such as a center float and a side float that level the soil surface by sliding, arranged on the lower side of the seedling transplanter body 5 that is connected to the lift link mechanism 11. The seedling transplanter body 5 mainly consists of a transmission case, and a seedling tank 8 that spreads out a large number of mat seedlings on the upper part, feeds them out along an inclined surface that slopes downward at the rear end, and feeds them out to a seedling take-out port 7 formed at the lower end of the rear; and a planting device 9 that separates and holds the mat seedlings fed out to this seedling take-out port 7 and inserts them into the flat soil surface below, and operates along an elliptical planting locus line in side view, etc. are arranged to perform the seedling planting operation in a multi-row planting form.

[0027] An engine (internal combustion engine) 30 is mounted under an engine cover 29 below the driver's seat 1 of the vehicle body 4, and a steering board 31, a steering wheel 32, and other operating mechanisms 33 for operating the seedling transplanter are arranged at the front part of this driver's seat 1. A liquid crystal monitor as an example of a display part, various buttons and knobs as an example of an input part, etc. are arranged on the steering board 31. Also, an in-vehicle monitor 31a, which is an example of a display part and an example of a notification means, is installed at the upper front part of the steering board 31. On both left and right sides of the driver's seat 1, the steering board 31, and the center floor 34 between them, etc., a side floor 2 is formed that is long in a series from the front end part to the rear fender 24 on the rear end part of the vehicle body 4 and is wide in width. The driver and the auxiliary worker can easily move back and forth on the upper surface of this side floor 2 to perform operations such as mat seedling replenishment work and fertilizer replenishment work.

[0028] In the seedling transplanter of the above-described illustration example, since the number of seedling planting rows is set to an eight-row planting form with a wide width standard, a sub-floor 35 with an appropriate width is additionally provided along the outside of the side floor 2 to correspond to the width range of the seedling planting section 10. It should be noted that it is also possible to adopt a configuration without providing the sub-floor 35. On the front end portion of this sub-floor 35, a plurality of auxiliary seedling shelves 26 are provided on a support frame 36 erected vertically from the lateral side of the vehicle body 4, and mat seedlings for replenishing the rear seedling tank 8 can be loaded and stored. A step 37 for the driver to get on and off is provided on the outer side portion of this sub-floor 35. Also, a pair of left and right line-drawing markers 41 are arranged on the side of the sub-floor 35. The line-drawing markers 41 are deployed on the side where the seedlings have not been planted inside the left and right, and draw a line serving as a reference for traveling on the surface layer of the field.

[0029] At the rear side portion of the driver's seat 1, a rear floor 3 with a wide width and a stepped height form is configured across the rear end portion of the side floor 2. The front edge of this rear floor 3 is connected to the rear edge of the side floor 2 by an inclined plate 38 with a forward downward inclination to facilitate the movement of the feet. A short operation lever mechanism 39 is arranged at the lower end portion of this inclined plate 38 to facilitate the operation from the driver's seat 1. Above the position of this rear floor 3, a guard rail 52 surrounded in a U-shaped form is configured by a rear side portion 50 along the rear edge and side side portions 51 along the left and right side edges, and the working posture of the driver during the replenishment work on the rear floor 3 can be safely maintained.

[0030] Above the upper part of the rear wheels 27 of the vehicle body 4, a rear fender 24 is configured, and the left and right side end portions of the rear floor 3 are configured on the upper side of this rear fender 24. The front wheels 40 and the rear wheels 27 are arranged within the width range of the side floor 2 and the rear floor 3. However, depending on the form with a wide tread of the rear wheels 27 in particular, it may project outward from the width range of this rear floor 3. For this reason, the rear fender 24 can also be configured to project wider outward than the outer end of the rear floor 3, or it is also possible to adopt a form in which the lower surface of the rear floor 3 itself is shared as the rear fender 24.

[0031] At the rear side of the vehicle body 4, there is a float 6 that slides on the soil surface to support the seedling transplanter body 5, a seedling tank 8 that receives mat seedlings and feeds them out to the seedling outlet 7 at the lower rear side, and a planting device 9 that separates and holds the mat seedlings fed out to the seedling outlet 7 and plants them on the leveled soil surface by the float 6. A seedling planting section 10 composed of these is mounted via a lift link mechanism 11 that can be raised and lowered. A plurality of fertilizer applicators 12 are arranged along the front-rear direction on the outer side of the rear floor 3.

[0032] During the seedling planting operation by the seedling transplanter, with the seedling planting section 10 in a lowered state, the planting device 9 operates on the soil surface leveled by each float 6 to separate and hold an appropriate number of the mat seedlings fed out to the seedling outlet 7 of the seedling tank 8, and plant them at a certain depth on the leveled soil surface. When fertilizing is performed on the planting part by each planting device 9, the granular fertilizer previously stored in the fertilizer hopper (an example of a storage part) 19 of the fertilizer applicator 12 is fed out by the feeding device 15. The fed-out fertilizer is fertilized at the position near the planting on the planting soil surface leveled by each float 6 through the fertilizer hose 25 for each fertilization strip by the blowing force blown from the blower 13 through the duct under the rear floor 3.

[0033] When raising the seedling planting section 10, the upper end of the seedling tank 8 can be raised so as to approach the upper position of the rear floor 3, making it easier for an operator on the rear floor 3 surface to replenish the mat seedlings, enabling quick and accurate seedling replenishment. In FIGS. 1 and 3, in the seedling transplanter of the embodiment, a planting section lift switch 10a that can be operated by an operator is provided in the seedling planting section 10. The planting section lift switch 10a causes the lift cylinder to operate and the seedling planting section 10 to rise and fall according to the manual operation of the operator. Therefore, even an assistant who transports seedlings and fertilizers can operate the planting section lift switch 10a to raise and lower the seedling planting section 10. When replenishing the seedling tank 8 with seedlings, herbicides, insecticides, etc., it is not necessary to perform the lifting operation on the driver's seat 1 side, and only the assistant can handle it at the rear of the vehicle body 4, making the work smooth.

[0034] Note that it is preferable to install the planting unit lifting switch 10a at the rear and both left and right ends of the seedling tank 8 because it is easier for assistants to operate. As the planting unit lifting switch 10a, a push-button switch type provided with an up button and a down button may be used, or a toggle switch may be adopted. While the planting unit lifting switch 10a is being pushed upward or downward, the seedling planting unit 10 rises or falls. If it is controlled so that when the hand is released from the planting unit lifting switch 10a, the planting unit lifting switch 10a returns to the neutral position and the seedling planting unit 10 stops, the operation is easy for the user to understand. Alternatively, in the case of a push switch, it is also possible to adopt a mode in which the seedling planting unit 10 descends when pressed briefly and the seedling planting unit 10 rises when pressed and held for a long time.

[0035] During the operation of the planting unit lifting switch 10a, it is preferable to notify by means such as a buzzer, a lamp, or voice guidance, so as to inform the operator and other assistants that the seedling planting unit 10 is moving and improve safety. At this time, it is desirable to provide a time lag (for example, 0.5 seconds, etc.) until the seedling planting unit 10 starts to rise and fall after being notified by a buzzer or the like, so as to further improve safety.

[0036] Also, for safety, it is preferable to control the planting unit lifting switch 10a to operate only when the planting device 9 is stopped, that is, when the planting switch is in the "off" state. Similarly, for safety, it is desirable that the seedling planting unit 10 rises and falls only when the HST lever is in the "neutral" state or the clutch pedal is depressed. Then, when the HST lever is other than "neutral" or the clutch pedal is released, it is preferable to control to stop the lifting and lowering of the seedling planting unit 10 and notify by a buzzer or the like.

[0037] Also, configure both left and right end portions of the rear floor 3 as rear fenders 24, or configure them on the upper side of the rear fenders 24, and arrange the plurality of fertilizer applicators 12 above the rear fenders 24.

[0038] Since the left and right end portions of the rear floor 3 formed at the rear end of the side floor 2 on the lateral side of the driver's seat 1 are disposed at positions above the rear fenders 24 that cover the upper portions of the rear wheels 27 of the high-floor vehicle body 4, it is difficult to interfere with the stepping movement during the mat seedling replenishment operation for the seedling tank 8 as described above. The foot area of the lateral end portion of the rear floor 3 at the rear side position of the side floor 2 is formed wide, so that the seedling replenishment operation for the rear seedling tank 8, the fertilizer replenishment operation for the lateral fertilizer hopper 19, etc. can be easily performed.

[0039] (Description of the control unit of the seedling transplanter) FIG. 4 is a functional block diagram of the control unit of the embodiment. The seedling transplanter of the embodiment has a control unit (an example of control means) 300 that controls each function. The control unit 300 has an input / output interface I / O that performs input / output of signals with the outside. Further, the control unit 300 has a ROM: read-only memory in which programs and information for performing necessary processing are stored. Further, the control unit 300 has a RAM: random access memory for temporarily storing necessary data. Further, the control unit 300 has a CPU: central processing unit that performs processing according to the programs stored in the ROM and the like. Therefore, the control unit 300 of the embodiment is configured by a small information processing device, a so-called microcomputer. Therefore, the control unit 300 can realize various functions by executing the programs stored in the ROM and the like.

[0040] Signals from signal input elements such as a high-mount monitor 31a configured by a touch panel, which is an example of an input unit and an example of a display unit, a positioning device SN1, a wheel rotation sensor SN2 as an example of a vehicle speed sensor, an engine speed sensor SN3, a shift setting sensor SN4, a throttle angle sensor SN5, a planting height sensor SN6, a soil cutting depth sensor SN7, a hydraulic sensitivity switch SW1, and various other sensors (not shown) are input to the control unit 300.

[0041] The positioning device SN1 includes a GNSS (Global Navigation Satellite System) receiver SN1a and an IMU (Inertial Measurement Unit) SN1b. The GNSS receiver SN1a can receive positioning signals from artificial satellites and measure the current position of the seedling transplanter. The IMU SN1b can measure acceleration and angular velocity and measure the attitude of the seedling transplanter (left - right inclination and front - back inclination). Therefore, by correcting the measurement results of the GNSS receiver SN1a with the IMU SN1b, it is possible to measure the current position with higher accuracy compared to the case of measuring the current position only by the GNSS method.

[0042] The wheel rotation sensor SN2 detects the rotation of the wheels 40, 27. The wheel rotation sensor SN2 in the embodiment detects the rotation of the rear wheels 27 which are driving wheels. The engine speed sensor (an example of an engine speed detection member) SN3 detects the rotational speed of the engine 30. The shift setting sensor SN4 detects the set value of the transmission. In the seedling transplanter of the embodiment, a continuously variable transmission (HST: Hydraulic Static Transmission) is used as an example of the transmission, and by detecting the trunion opening degree of the continuously variable transmission HST, the set value of the shift (gear ratio) can be detected. It is also possible to detect the set value of the shift by detecting the position of the HST lever.

[0043] The cut - off angle sensor SN5 detects the cut - off angle (steering angle), which is the angle formed by the traveling direction with respect to the straight - ahead direction of the vehicle body 4. The cut - off angle sensor SN5 in the embodiment detects the cut - off angle by detecting the operation amount (steering amount) of the steering wheel 32. The planting height sensor SN6 detects the height when the seedling planting part 10 performs the planting operation. The planting height sensor SN6 can utilize a potentiometer sensor that measures the inclination angle of the lift link mechanism 11. The soil cutting depth sensor SN7 detects the soil cutting depth, which is the depth of the wheels 40, 27 sinking into the soil. As an example, the soil cutting depth sensor SN7 can use an ultrasonic sensor to measure the distance to the soil surface. Therefore, the distance from the lower end of the wheels 40, 27 to the installation position of the soil cutting depth sensor SN7 is fixed, and the difference from the distance to the soil surface detected by the soil cutting depth sensor SN7 can be detected as the depth of the wheels 40, 27 sinking into the soil.

[0044] The hydraulic sensitivity switch SW1 sets the sensitivity of the float 6 to move up and down. The float 6 moves up and down (rotates around the support shaft) according to the unevenness of the field. When the float 6 moves up and down, the seedling planting part 10 is also lifted and lowered by the lift cylinder so that the planting depth becomes constant. The hydraulic sensitivity switch SW1 sets and adjusts the sensitivity of the float 6 to move up and down. When the hydraulic sensitivity switch SW1 is operated to make the sensitivity of the float 6 (ease of moving up and down) sensitive, the float 6 can easily move up and down even with small unevenness, and the seedling planting part 10 is likely to move up and down erratically. Therefore, in a field with many unevenness or a rough field, the sensitivity is often set to be insensitive by operating the hydraulic sensitivity switch SW1.

[0045] The control unit 300 transmits control signals to the fertilizer applicator 12, lift cylinder, planting clutch, engine 30, etc., which are examples of controlled elements, to control the operation / stop of the fertilizer applicator, the lift of the seedling planting part 10, the operation / stop, and the rotation of the engine 30. In addition, the control unit 300 outputs control signals to a liquid crystal monitor or a high mount monitor 31a, which are examples of a display unit, to display work information and work status.

[0046] FIG. 5 is an explanatory diagram of an example of the field of the embodiment. FIG. 5(A) is an explanatory diagram of the travel route, and FIG. 5(B) is an explanatory diagram of the distribution of the fertilizer application amount. The control unit 300 of the embodiment has the following functional means (program modules). The field information storage means 301 stores information regarding the field 400 (field information). In FIG. 5, in the embodiment, as the field information, information on the position of the field 400 (latitude, longitude, altitude, slope of the field, etc.) and information on the map such as the entrance / exit 400a of the field 400 are associated with information regarding the work in the field 400 (work information) and stored. In the embodiment, as an example, the travel route 401 when traveling while working, the travel speed during work (work speed), the height of the seedling planting unit 10 during the seedling planting work (planting height), the hydraulic sensitivity, the soil cutting depth, the slip ratio, the distribution 402 of the fertilization amount, etc. are stored in the field information storage means 301 as work information.

[0047] In FIG. 5(B), in the embodiment, the distribution 402 of the fertilization amount is calculated based on the distribution of the fertility of the field measured during the tillage before rice transplanting or the weeding work, with the fertilization amount (fertilizer application amount) in the portion 402a with an average level of fertility as the reference amount, the fertilization amount in the portion 402b with low fertility being more than the reference amount, and the fertilization amount in the portion 402c with high fertility being less than the reference amount. It is, so to speak, a plan diagram for the fertilization work. Note that, as shown in the distribution 402 of the fertilization amount, in the embodiment, for each of the sections 402a to 402c obtained by dividing one field 400 into a plurality of parts, the fertilization amount, the height of the planting unit, the hydraulic sensitivity, the soil cutting depth, the slip ratio, etc. are stored as work information and field information.

[0048] Note that the field information in the embodiment can be confirmed by the operator by being displayed on the high-mount monitor 31a. Therefore, the operator can operate and travel the seedling transplanter while receiving guidance (navigation) by checking the display of the travel route and the current position displayed on the high-mount monitor 31a.

[0049] The positioning means 302 measures the current position of the seedling transplanter based on the measurement result of the positioning device SN1. The wheel rotation detection means 303 detects the rotation speed of the rear wheel 27 based on the detection result of the wheel rotation sensor SN2. Note that the travel distance, the travel distance per unit time, that is, the vehicle speed can also be calculated from the rotation speed per unit time detected by the wheel rotation sensor SN2 and the diameter of the rear wheel 27. Therefore, it is also possible to detect the travel distance and the vehicle speed based on the detection result of the wheel rotation sensor SN2.

[0050] The engine rotation speed detection means 304 detects the rotation speed of the engine 30 based on the detection result of the engine rotation speed sensor SN3. The shift setting detection means 305 detects the set value of the transmission (HST) based on the detection result of the shift setting sensor SN4. The turning detection means 306 detects the turning of the seedling transplanter based on the detection result of the cut angle sensor SN5. The turning detection means 306 of the embodiment determines that turning has occurred when the cut angle reaches a predetermined angle during working travel (for example, when the cut angle becomes 60° or more).

[0051] The planting height detection means 307 detects the height of the seedling planting part 10 during work based on the detection result of the planting height sensor SN6. The soil cutting depth detection means 308 detects the soil cutting depth of the field based on the detection result of the soil cutting depth sensor SN7. The hydraulic sensitivity detection means 309 detects the hydraulic sensitivity based on the input of the hydraulic sensitivity switch SW1. The inclination detection means 310 detects the inclination of the vehicle body 4 based on the detection result of the IMU SN1b, that is, detects the inclination of the field during travel.

[0052] The travel control means 311 controls the engine 30 and the HST to control the travel of the seedling transplanter. The travel control means 311 of the embodiment controls the engine 30 etc. according to the operator's operations of the steering handle 32 and the operating mechanism 33 such as the accelerator pedal, brake pedal, and HST lever, and causes the seedling transplanter to travel. Note that when accelerating or decelerating the vehicle body 4 while performing fertilization at the start of the planting operation, before and after turning, during acceleration and deceleration during work, or when restarting work after interruption, etc., the travel control means 311 of the embodiment controls the engine speed of the engine 30 and the HST so that the acceleration of the vehicle body 4 is within the range of acceleration for changing the feeding amount of the feeding device 15 of the fertilizer applicator 12. That is, in order to avoid a situation where the acceleration of the vehicle body 4 is too large and the feeding amount of the fertilizer applicator 12 cannot catch up, the acceleration of the vehicle body 4 is limited.

[0053] The work implement control means 312 controls the seedling planting unit 10. The work implement control means 312 of the embodiment controls the lift cylinder and the planting clutch to control the raising and lowering and operation / stop of the seedling planting unit 10.

[0054] FIG. 6 is an explanatory diagram of the area allocation of the embodiment. The area allocation means 313 allocates a plurality of areas to the field 400. The area allocation means 313 of the embodiment allocates to the field 400 a first area 411 for controlling the fertilizer applicator 12 using a first slip ratio, a second area 412 for calculating a second slip ratio, and a third area 413 for controlling the fertilizer applicator 12 using the second slip ratio.

[0055] In FIG. 6, along the travel route 401, a predetermined range from the work start position 401a is allocated to the first area 411. The work start position 401a is often close to the edge of the field 400, and the edge of the field 400 is often turned etc. and is likely to be rough. Since the error is likely to increase when measuring the slip ratio in a rough field, in the embodiment, the area where the field 400 is likely to be rough is allocated to the first area 411. Therefore, it is suppressed that the slip ratio is measured in the rough part of the field, and it is suppressed that the accuracy of the slip ratio decreases. Also, along the travel route 401, a second area 412 is assigned to a predetermined range after the work in the first area 411 is completed. An area with less field roughness in the field 400 and an area necessary for measuring the slip ratio (measurement and calculation processing by the positioning device SN1) are assigned to the second area 412. Further, along the travel route 401, the remaining range of the field 400 after the work in the second area 412 is completed is assigned to a third area 413. Therefore, the slip ratio can be accurately calculated in the second area 412 with less field roughness, and the work in the third area 413 can be performed with the calculated slip ratio.

[0056] When the seedling transplanter performs work across a plurality of fields, the slip ratio is calculated and information such as the planter unit height, soil cutting depth, and hydraulic sensitivity is acquired in the field where the work is first performed, and is stored in the field information storage means 301. Therefore, when it is not necessary to calculate the slip ratio etc. when performing work in the second and subsequent fields, the area allocation means 313 of the embodiment may be configured not to allocate the first area 411 or the second area 412, but to allocate the entire area of the field to the third area 413.

[0057] The slip ratio calculation means 314 includes a first slip ratio storage means 314a, a second slip ratio calculation means 314b, and a second slip ratio correction means 314c, and calculates the slip ratio. The first slip ratio storage means 314a stores a first slip ratio which is a preset slip ratio. The first slip ratio is set as a reference value of the slip ratio, and a value measured by experiments etc. for each model of the seedling transplanter is set at the time of factory shipment, but it is also possible for the operator to set and change it with an input button etc. on the steering board 31.

[0058] The second slip ratio calculation means 314b calculates the second slip ratio. The second slip ratio calculation means 314b of the embodiment calculates the second slip ratio while the vehicle body 4 is traveling in the second area 412. In the embodiment, the second slip ratio is calculated based on the rotation speed of the wheels (rear wheels 27) of the vehicle body 4 and the measurement result of the positioning device SN1. Specifically, the travel distance of the vehicle body 4 per unit time (the first travel distance) is calculated from the rotation speed of the rear wheels 27 of the vehicle body 4 and the diameter of the rear wheels 27. Also, the travel distance is calculated from the movement history of the current position measured by the positioning device SN1, and the travel distance per unit time (the second travel distance) is calculated from the time when the travel distance was measured.

[0059] Therefore, the first travel distance is the ideal travel distance, the theoretical travel distance when there is no slip (skid) of the rear wheels 27 which are the drive wheels, and the second travel distance is the travel distance based on the actual movement distance, the actual travel distance including the influence of slip, the real travel distance. Thus, the deviation between the first travel distance and the second travel distance is the influence due to slip. In the second slip ratio calculation means 314b of the embodiment, as an example, the value obtained by dividing the second travel distance by the first travel distance (= second travel distance / first travel distance) is calculated as the second slip ratio, but it is not limited to this. Depending on the purpose of use of the slip ratio, etc., any numerical value can be used, such as using the difference between the first travel distance and the second travel distance (= first travel distance - second travel distance), or using the ratio of the skidded distance (=(first travel distance - second travel distance) / first travel distance).

[0060] Note that for the calculation of the second slip ratio, it is necessary for the GNSS receiver SN1a of the positioning device SN1 to be able to communicate with the artificial satellite. However, if the communication is interrupted during the calculation of the second slip ratio (when positioning failure occurs in the positioning device SN1), the second slip ratio is recalculated after the communication is restored. Note that even if the vehicle body 4 reaches the end of the second area 412, when the second slip ratio is being recalculated, the second slip ratio calculation means 314b sends a signal requesting reallocation of the area to the area allocation means 313 to extend the second area 412. In addition, when the communication between the GNSS receiver SN1a and the artificial satellite is interrupted, it is also possible to estimate the current position by using the first travel distance, the travel speed (the first vehicle speed) calculated from the first travel distance, the steering angle, and the attitude information from the IMU SN1b. Therefore, in the third area 413 where the vehicle speed is low and the area tends to be large, it is also possible to perform operations by estimating the current position from the first travel distance or the like without using an artificial satellite.

[0061] The second slip ratio correction means 314c corrects the second slip ratio during traveling. The second slip ratio correction means 314c in the embodiment corrects the second slip ratio while the vehicle body 4 is traveling in the third area 413. The second slip ratio correction means 314c corrects the second slip ratio based on the theoretical value of the rotational speed of the rear wheels 27 and the measured value (actual measured value) of the rotational speed of the rear wheels 27. The deviation between the theoretical value and the measured value of the rotational speed of the rear wheels 27 is due to the influence of the load (travel load) during traveling in the field 400. By correcting the second slip ratio in consideration of the influence of the travel load, it is possible to improve the accuracy of the second slip ratio. In the embodiment, the first travel distance is corrected by multiplying the ratio of the theoretical value to the measured value of the rotational speed of the rear wheels 27, and the second slip ratio is indirectly corrected.

[0062] Note that the theoretical value of the rotational speed of the rear wheels 27 is derived from the engine rotational speed detected by the engine rotational speed detection means 304 and the set value of the HST detected by the shift setting detection means 305. The measured value (actual measured value) of the rotational speed of the rear wheels 27 is detected by the wheel rotation detection means 303. In addition, in the embodiment, the case where the influence of the running load is derived from the deviation of the rotational speed of the drive wheels (rear wheels 27) was exemplified, but it is not limited thereto. For example, it is also possible to correct the second slip ratio based on the theoretical value of the engine rotational speed calculated from the shift setting of the transmission (HST) and the measured value (actual measured value) of the engine rotational speed by the engine rotational speed sensor SN3. That is, the theoretical value of the rotational speed of the engine 30 can be calculated from the rotational speed of the rear wheels 27 measured by the wheel rotation sensor SN2 and the set value of the HST, and the deviation between the theoretical value and the actual measured value can also be regarded as the influence of the running load. Therefore, it is also possible to correct the second slip ratio from the deviation between the theoretical value and the actual measured value of the engine rotational speed.

[0063] Furthermore, it is also possible to correct the slip ratio based on factors other than the running load exemplified in the embodiment. For example, it is also possible to correct the slip ratio based on the height of the planting part, the hydraulic sensitivity, the depth of soil cutting, the slope of the field 400, etc. When the height of the planting part is high, the field may be deep, there may be a lot of water, and the soil may be soft, making it easy to slip. Therefore, in the field 400, it is preferable to correct so that the slip ratio becomes high at a place where the height of the planting part is higher than a predetermined value. Note that the height of the planting part is preferably corrected according to the vehicle speed. When the vehicle speed increases, the float 6 easily jumps over the unevenness, and as a result, the height of the planting part tends to be high. Therefore, when the vehicle speed is high, it is desirable to correct the height of the planting part to the deeper side.

[0064] Also, when the hydraulic sensitivity is dull, the field may be rough and it is easy to slip. Therefore, when the hydraulic sensitivity is set to be dull, it is preferable to correct so that the slip ratio becomes higher than when it is set to be sensitive. Note that the sensitivity is preferably corrected according to the vehicle speed. When the vehicle speed increases, the float 6 easily jumps over the unevenness, and as a result, it is difficult to detect the unevenness and it tends to be in a dull state. Therefore, when the vehicle speed is high, it is desirable to correct the hydraulic sensitivity to the sensitive side.

[0065] Furthermore, when the depth of soil excavation is large, the subsidence into the soil is deep, and the soil may be soft and prone to slipping. Therefore, in the field 400, it is preferable to correct so that the slip rate increases at locations where the depth of soil excavation is greater than a predetermined value. Also, when many irregularities are detected from the detection result of the slope of the field 400 (when there are many changes in the slope), the field may be rough and prone to slipping. Therefore, in the field 400, it is preferable to correct so that the slip rate increases at locations where there are many changes in the slope.

[0066] The fertilization control means 315 controls the fertilizer applicator 12 to spray fertilizer (perform fertilization) on the field 400. When the fertilization operation is performed, the fertilization control means 315 operates the blower 13 and operates the feeding device 15 to feed the fertilizer from the fertilizer hopper 19 and spray it on the field 400. The fertilization control means 315 of the embodiment controls the feeding device 15 based on the information on the distribution 402 of the fertilization amount stored in the field information storage means 301 and the current position of the vehicle body 4 measured by the positioning means 302, so that the fertilizer of the spraying amount corresponding to the distribution 402 of the fertilization amount is fed at the spraying position corresponding to the distribution 402 of the fertilization amount. That is, when the fertilization amount is the reference amount, the feeding device 15 is operated at the reference feeding amount, when the fertilization amount is large, the feeding device 15 is operated so that the feeding amount increases, and when the fertilization amount is small, the feeding device 15 is operated so that the feeding amount decreases.

[0067] In addition, when the traveling speed of the vehicle body 4 does not reach a predetermined speed, the fertilizer application control means 315 of the embodiment sets the delivery amount to an amount less than that at the reference traveling speed. In the embodiment, as an example, it is set to a predetermined lower limit value. The total amount of fertilizer applied per unit area in the farm field 400 is determined by (delivery amount) × (vehicle speed). However, if the vehicle speed is too slow, there is a risk of over-application. Therefore, when the vehicle is traveling in a state where the vehicle speed does not reach the predetermined minimum speed due to traveling loads such as local unevenness and muddiness, the delivery device 15 is controlled so that the delivery amount becomes the lower limit value. Note that since the measurement error at the GNSS receiver SN1a tends to increase at low speeds, it is also possible not to use the measurement result of the GNSS receiver SN1a in the case of low speeds.

[0068] Furthermore, the fertilizer application control means 315 of the embodiment controls the fertilizer application amount according to the slip ratio. When slip occurs, the traveling distance per unit time becomes shorter, and the area where the fertilizer is applied becomes narrower. Therefore, when the same amount of fertilizer is applied to a narrow area, the fertilizer application amount per unit area increases, and more fertilizer is applied than the plan of the fertilizer application amount distribution 402 (the density of the fertilizer becomes higher). Therefore, as the slip ratio increases, the delivery amount is corrected so that the delivery amount decreases, and the delivery device 15 is controlled according to the corrected delivery amount.

[0069] In addition, when the vehicle body 4 travels in the first area 411, the fertilizer application control means 315 of the embodiment controls the delivery amount using the first slip ratio. Also, when traveling in the second area 412, while controlling the delivery amount using the first slip ratio, the second slip ratio is calculated. Then, when traveling in the third area 413, the delivery amount is controlled using the second slip ratio calculated in the second area 412. Note that the correction of the second slip ratio is performed at any time during the travel in the third area 413.

[0070] Therefore, in the first area 411 and the second area 412, in situations until the second slip ratio is calculated or in situations where communication with satellites cannot be established by the GNSS receiver SN1a (during recalculation of the second slip ratio in a poor positioning situation), it is possible to perform fertilization work using a preset first slip ratio. In addition, when the turning detection means 306 detects turning during travel in the third area 413, the fertilization control means 315 of the embodiment switches the slip ratio to be used to the first slip ratio at the location where the turning is detected. The location where the turning is performed is likely to have rough fields, and errors are likely to occur if the second slip ratio continues to be used, so the first slip ratio is used. It is desirable to correct the slip ratio (the first slip ratio or the second slip ratio) to be high at the turned location.

[0071] In the transplanter of the embodiment having the above configuration, when the operator travels while working along the travel route 401 within the field 400, the feeding amount of the fertilizer applicator 12 is automatically adjusted and controlled according to the distribution 402 of the fertilization amount. Therefore, the fertilization amount is automatically adjusted according to the distribution and unevenness of the fertility of the field. Thus, compared with the prior art, fertilization can be performed according to the situation of the field. In addition, in the embodiment, the slip ratio is taken into account when the fertilization amount is adjusted, and the accuracy of the fertilization amount is improved compared with the case where the slip ratio is not taken into account.

[0072] FIG. 7 is an explanatory diagram of the attachment member of the positioning device of the embodiment. FIG. 7(A) is a side view, FIG. 7(B) is a front view, FIG. 7(C) is an enlarged view of the joint portion, FIG. 7(D) is an explanatory diagram of the state where the joint portion is removed, and FIG. 7(E) is an explanatory diagram of the lock. In FIG. 7, in the seedling transplanter of the embodiment, a steering shaft 501 extending obliquely forward is supported by a steering board 31. Further, a floor shaft 503 extending upward so as to wrap around the front of the center floor 34 is supported by a frame 502 at the lower part of the front end of the center floor 34. The floor shaft 503 is formed in a hollow cylindrical shape. Note that a pair of left and right steering shafts 501 and floor shafts 503 are provided as shown in FIG. 7(B). The tip of the steering shaft 501 is connected (welded) to the tip of the floor shaft 503, reinforcing the floor shaft 503.

[0073] A support shaft 504 is detachably connected above the floor shaft 503. The lower end 504a of the support shaft 504 is formed to have a smaller diameter than the inner diameter of the hollow floor shaft 503, and the lower end 504a can be inserted into the floor shaft 503 for connection. The main body 506a of a locking device 506 is supported at the tip of the floor shaft 503. Further, a hook portion 506b of the locking device 506 is supported at a boundary portion of a part that is not inserted into the floor shaft 503, above the lower end 504a of the support shaft 504. Therefore, by fixing (locking) the hook ring 506c of the locking device 506 to the hook portion 506b, the floor shaft 503 and the support shaft 504 are fixed in a connected state. Then, by operating the locking device 506 to remove the hook ring 506c from the hook portion 506b, the support shaft 504 can be removed from the floor shaft 503.

[0074] The upper end of the support shaft 504 is connected by a connecting bar 507. A positioning device SN1 is supported by the connecting bar 507. Therefore, when using the positioning device SN1, it is possible to attach the part above the support shaft 504 to the floor shaft 503. When not using the positioning device SN1, it is possible to remove the part above the support shaft 504 from the floor shaft 503. Therefore, when the height of the storage shed for storing the seedling transplanter is low, etc., damage to the positioning device SN1 can be prevented by removing the positioning device SN1. Also, since the joint between the floor shaft 503 and the support shaft 504 is above the connecting part (welding part) between the floor shaft 503 and the steering shaft 501, a reduction in the strength of the floor shaft 503 side after removing the positioning device SN1 is also prevented.

[0075] FIG. 8 is an explanatory diagram of a modified example of the form shown in FIG. 7. FIG. 8(A) is an explanatory diagram of the connected state, and FIG. 8(B) is an explanatory diagram of the removed state. In FIG. 8, instead of the locking lock 506, it is also possible to adopt a mode in which the floor shaft 503 and the support shaft 504 are connected by a connecting connector 511. The connecting connector 511 is formed in a cylindrical shape, and has a lower hole portion 511a into which the floor shaft 503 is inserted and an upper hole portion 511b into which the support shaft 504 is inserted. Further, a screw portion 503a is formed at the upper end portion of the floor shaft 503, and a screw that meshes with the screw portion 503a is formed in the lower hole portion 511a. Therefore, with the support shaft 504 inserted into the connecting connector 511, the connecting connector 511 can be rotated to screw the lower hole portion 511a and the screw portion 503a together, thereby connecting the floor shaft 503 and the support shaft 504.

[0076] FIG. 9 is an explanatory diagram of an adjacent marker and a line-drawing marker. In Fig. 9, the seedling transplanter is provided with an adjacent marker 551 serving as a mark for adjacent rows and a line-drawing marker 552 for drawing a line on the field as a mark during travel in the next process. An L-shaped first rotating arm 554 is rotatably connected to the outside of a marker support arm 553 extending from the vehicle body 4. The base end portion of a line-drawing arm 556 that supports the line-drawing marker 552 is rotatably supported at the tip of the first rotating arm 554. The line-drawing marker 552 is supported at the tip of the line-drawing arm 556 so as to be rotatable in the vertical direction (retractable / extendable). A second rotating arm 557 is rotatably supported in the middle of the line-drawing arm 556. The base end portion of the adjacent marker 551 is rotatably supported at the tip of the second rotating arm 557.

[0077] In the configuration shown in Fig. 9, the line-drawing marker 552 and the adjacent marker 551 can rotate individually, and it is possible to set both the adjacent marker 551 and the line-drawing marker 552 in a protruding state (see 551-1, 552-1). It is also possible to set the adjacent marker 551 in a protruding state and the line-drawing marker 552 in a retracted state to the rear (see 551-2, 552-2). It is also possible to set both the adjacent marker 551 and the line-drawing marker 552 in a retracted state to the front (see 551-3, 552-3).

[0078] Fig. 10 is an explanatory diagram of an example of the travel route of the embodiment. The travel route 401 can be automatically generated from a map of the field 400, but it is easier to generate a travel route 401 that conforms to the actual conditions of the field 400 (such as being difficult to turn at the edge of the ridge) by actually traveling the field 400 with the seedling transplanter and determining the travel route 401 based on the raising and lowering operations of the seedling planting unit 10 during travel. Here, in a rectangular or square field 400, it is possible to easily determine the surrounding route from the start end (work start position) and the end end (turn start position) of the first straight route. However, in a trapezoidal field, it is not possible to determine the surrounding route only from the start end and the end end of the first straight route. Therefore, in FIG. 10, on the travel path 401' of the trapezoidal field 400', for the straight-line paths 431-1 to 431-4, the points at the lowered positions 432-1 to 432-4 and the raised positions 433-1 to 433-4 of the seedling planting unit 10 are memorized. The regression line 444 of the line connecting the points 432-1, 433-2, 432-3, 433-4 on the side of the work start position 431-1, and the regression line 445 of the line connecting the points 433-1, 432-2, 433-3, 432-4 on the side opposite to the work start position 431-1 are used as the reference lines for the surrounding path 432, and it is also possible to generate the surrounding path 432 parallel to the regression lines 444 and 445.

[0079] (Modified Example) The work vehicle of the present invention is not limited to a seedling transplanter, and can also be applied to various work vehicles capable of fertilizing and spraying chemicals, such as tractors and chemical liquid spraying vehicles. Also, as the work vehicle, a configuration in which an operator rides and operates has been exemplified, but it is not limited to this. It can also be applied to an autonomously drivable work vehicle on which an operator does not ride, so-called a work robot. Furthermore, in the embodiment, an aspect in which the field information storage means 301 is provided in the seedling transplanter has been exemplified, but it is not limited to this. For example, it is also possible to store field information in a server (an example of an information processing device, an example of a computer device) capable of communicating with the seedling transplanter through a communication line, and distribute the field information to the seedling transplanter. Also, each of the means 301 to 315 is not limited to a mode of centralized processing in the seedling transplanter, and can also be a mode of distributed processing by a plurality of information processing devices connected by a communication line.

[0080] In addition, in the embodiment, the calculation of the second slip ratio was exemplified in the mode of performing the planting work and the fertilizing work, but it is not limited thereto. For example, in order to calculate the second slip ratio, it is also possible to adopt a mode of mounting a mode (slip ratio measurement mode) in which the field 400 is traveled without performing the planting work or the like. The slip ratio measurement mode can be started / ended in response to the input of start / end by a button or the like. For example, when the planting is operated to "on" without pressing the end button, the point where the traveling distance reaches a predetermined distance or more and the cut-off angle reaches a specified value or more can be set as the end point of the slip ratio measurement mode. Furthermore, in the embodiment, the mode of controlling the fertilization amount using the slip ratio was exemplified, but it is not limited thereto. It is also possible to adjust the seedling take-up amount.

Explanation of Signs

[0081] 4... vehicle body, 12... fertilizer applicator, 15... feeding device, 19... storage part, 27... wheel, 30... engine, 300... control means, 400... field, 411... first area, 412... second area, 413... third area, HST... transmission, SN1... positioning device, SN3... engine speed detection member.

Claims

1. A vehicle body (4), A positioning device (SN1) for measuring the position of the vehicle body (4), A storage part (19) for storing fertilizer, and a feeding device (15) for feeding out fertilizer from the storage part (19), and a fertilizer application device (12) for spraying fertilizer on a farm field (400), Control means (300) for controlling the feeding amount of the feeding device (15) based on information in which the fertilizer application amount and the application position are associated and the position of the vehicle body (4) measured by the positioning device (SN1), A work vehicle, characterized by comprising the above.

2. The control means (300) for setting the feeding amount to be less than the feeding amount at the reference traveling speed when the traveling speed of the vehicle body (4) does not reach a predetermined speed, The work vehicle according to claim 1, characterized by comprising the above.

3. The control means (300) for controlling the acceleration of the vehicle body (4) within a range of acceleration for changing the feeding amount of the feeding device (15), The work vehicle according to claim 1, characterized by comprising the above.

4. Having a predetermined first slip ratio and a second slip ratio calculated based on the rotation speed of the wheels (27) of the vehicle body (4) and the measurement result of the positioning device (SN1), regarding the slip ratio at which the wheels (27) of the vehicle body (4) slip during traveling, A first area (411) for controlling the fertilizer application device (12) using the first slip ratio, a second area (412) for calculating the second slip ratio, and a third area (413) for controlling the fertilizer application device (12) using the second slip ratio, are assigned to the farm field (400), The work vehicle according to claim 1, characterized by the above.

5. Assigning a predetermined range from the start of work to the first area (411), assigning the second area (412) to a predetermined range after the work in the first area (411) is completed, assigning the third area (413) to the remaining range of the farm field (400) after the work in the second area (412) is completed, correcting the second slip ratio during traveling in the third area (413), and in the farm field (400) where work is to be performed next to the farm field (400) in which the second slip ratio is calculated, the control means (300) for controlling the fertilizer application device (12) using the second slip ratio from the start of work, The work vehicle according to claim 4, characterized by comprising the above.

6. When a positioning failure occurs in the positioning device (SN1) during the calculation of the second slip ratio, the control means (300) uses the first slip ratio during the recalculation of the second slip ratio. The work vehicle according to claim 4, characterized by comprising the above.

7. The control means (300) that uses the first slip ratio when turning by a predetermined angle or more. The work vehicle according to claim 4, characterized by comprising the above.

8. A speed change device (HST) that changes the rotation of the engine (30), The control means (300) that corrects the slip ratio based on the theoretical value of the rotational speed of the wheel (27) shifted by the speed change device (HST) and the measured value of the rotational speed of the wheel (27). The work vehicle according to claim 4, characterized by comprising the above.

9. An engine speed detection member (SN3) that measures the rotational speed of the engine (30), A speed change device (HST) that changes the rotation of the engine (30), The control means (300) that corrects the slip ratio based on the theoretical value of the engine speed calculated from the speed change setting of the speed change device (HST) and the measured value of the engine speed by the engine speed detection member (SN3). The work vehicle according to claim 4, characterized by comprising the above.

Images