Agricultural machine

Abstract

To solve the problem of a fertilizer application machine causing fertility sensors to detect fertility of a field and adjusting a fertilizer application amount according to fertility of each field plot; however, the fertility sensors are installed on left / right front wheels rotationally driven, and immediately after detecting the fertility, the fertilizer application amount of the fertilizer application device must be automatically adjusted, in some cases, the adjustment cannot be made in time, and it becomes difficult to automatically adjust an appropriate fertilizer application amount, and accordingly, to provide an agricultural machine capable of automatically adjusting to the appropriate fertilizer application amount and executing favorable fertilization work.SOLUTION: An agricultural machine includes electrodes 75a for measuring fertility on left and right wheels 10 of a traveling body 2, and electrodes 72 for measuring fertility on markers 16a of left and right line drawing markers 16; detects the fertility between the electrode 72 of the line drawing marker 16 in a working state and the electrode 75a of the wheel 10 on the side of the line drawing marker 16 in the working state; and operates a fertilizer amount adjusting device in a next process according to the detected fertility in the next process to automatically adjust the fertilizer application amount of the fertilizer applicator 60.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an agricultural machine having a fertilizer application device mounted on a traveling vehicle body. [Background technology]

[0002] There is a fertilizer applicator that can detect the fertility of a field using a fertility sensor and adjust the amount of fertilizer to suit the fertility of each field section (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-146219 Summary of the Invention [Problem to be solved by the invention]

[0004] The fertility sensor is installed on the left and right front wheels that are driven to rotate, and the amount of fertilizer applied by the fertilizer applicator must be automatically adjusted immediately after detecting the fertility level. However, there are cases where the adjustment cannot be made in time, making it difficult to automatically adjust the appropriate amount of fertilizer applied.

[0005] The present invention has been made in view of the above, and has an object to provide an agricultural work machine that can automatically adjust the amount of fertilizer to an appropriate level and perform good fertilization work. [Means for solving the problem]

[0006] The invention according to claim 1 is an agricultural working machine in which a fertilizer applicator 60 whose fertilizer application rate is adjusted by a fertilizer application rate adjusting device is mounted on a traveling vehicle body 2, and left and right line-drawing markers 16 that form guide lines serving as a straight-ahead reference for the next process are provided in the field F so as to be switchable between a working state and a state of retracting upward from the field F. The left and right wheels 10 of the traveling vehicle body 2 are provided with electrodes 75a for measuring fertility, and the markers 16a of the left and right line-drawing markers 16 are provided with electrodes 72 for measuring fertility. Fertility is detected between the electrode 72 of the line-drawing marker 16 in the working state and the electrode 75a of the wheel 10 on the line-drawing marker 16 side in the working state, and the fertilizer application rate adjusting device is operated in the next process according to the detected fertility of the next process to automatically adjust the fertilizer application rate of the fertilizer applicator 60.

[0007] According to the invention of claim 1, since fertility is detected between the electrode 72 of the line-drawing marker 16 in the working state and the electrode 75a of the wheel 10 on the line-drawing marker 16 side in the working state, and the fertilizer application rate adjusting device is operated in the next process according to the detected fertility of the next process to automatically adjust the fertilizer application rate of the fertilizer applicator 60, the fertility of the field F in the next process can be measured in advance, the fertilizer application rate adjusting device is operated in the next process according to the measured fertility to automatically adjust the fertilizer application rate, and highly accurate fertilizer application control according to the fertility can be performed at the correct timing.

[0008] The invention according to claim 2 is the agricultural working machine according to claim 1, which simultaneously detects fertility between the electrodes 75a of the left and right wheels 10.

[0009] The invention according to claim 3 is a variable fertilizer rice transplanter in which the agricultural working machine is provided with a GNSS control device. The fertility detected between the electrode 72 of the line-drawing marker 16 in the working state and the electrode 75a of the wheel 10 on the line-drawing marker 16 side in the working state is incorporated into map information, and the fertilizer application rate adjusting device is operated in combination with the fertility detected between the electrodes 75a of the left and right wheels 10 in the next rice transplanting operation process to automatically adjust the fertilizer application rate of the fertilizer applicator 60.

[0010] The invention according to claim 4 pivotally supports a vertically long electrode 72b rotatably on a pivot shaft 77a provided on the line-drawing marker 16, the length from the pivot shaft 77a of the electrode 72b to the lower end is larger than the outer diameter of the marker 16a, when the marker 16a is grounded, the lower part of the electrode 72b is buried in the ground, and the lower part of the electrode 72b is rotatable from the 4 o'clock position to about the 8 o'clock position at the pivot shaft 77a, and it is an agricultural working machine according to claim 1 in which the biasing force of the spring 79 acts to resist the mud when the machine body moves forward.

[0011] The invention according to claim 5 is such that the controller 25 stores a table of the tilt angle of the electrode 72b and the hardness / softness of the mud, and when it is calculated that the hardness of the mud calculated from the tilt angle of the electrode 72b is harder than the set sensitivity set by the operator, corrects the set sensitivity to the harder side, and when it is calculated that the hardness of the mud calculated from the tilt angle of the electrode 72b is softer than the set sensitivity set by the operator, corrects the set sensitivity to the softer side. It is the agricultural working machine according to claim 4.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0013] Next, a riding type rice transplanter 1 equipped with a fertilizer applicator, which is an example of the agricultural working machine of the present invention, will be described in detail with reference to the drawings. In addition, the constituent elements in the following embodiments include those that can be replaced and are easy for those skilled in the art, or those that are substantially the same, that is, those within the so-called equivalent range. Furthermore, the present invention is not limited to the above embodiments, and can be implemented with various modifications without departing from the gist of the present invention.

[0014] FIG. 1 is a front view showing a riding type rice transplanter 1 as an agricultural working machine according to an embodiment, FIG. 2 is a front view showing a main part of the riding type rice transplanter 1, and FIG. 3 is a side view showing a main part of the riding type rice transplanter 1. In the following, the riding type rice transplanter 1 is assumed to be an 8-row planting type, and the riding type rice transplanter 1 may be referred to as the machine body in some cases. Also, in the embodiment, when defining the front-rear and left-right directions, the traveling direction of the traveling vehicle body 2 as viewed from the driver's seat 31 is used as a reference.

[0015] As shown in FIGS. 1 to 3, the riding type rice transplanter 1 has a seedling planting part 4 as a working part attached to the rear side of the traveling vehicle body 2 via a lifting link mechanism 3 so as to be liftable, and a main body part of a fertilizer applicator 60 is provided on the upper rear part of the traveling vehicle body 2. The seedling planting part 4 is an example of a working device, and it may be any agricultural working machine that has a side fertility sensor 70 and a central fertility sensor 75, which are fertilizer concentration sensors as shown in the figure, and can perform a fertilization operation. For example, as the agricultural working machine, a seeding device that supplies seeds or a tillage rotary that tills the field F may be provided as a working device.

[0016] The traveling vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 as driving wheels as traveling wheels. A transmission case 12 is arranged at the front part of the machine body, and front wheel final cases 13 as traveling transmission cases are provided on the left and right sides of the transmission case 12. The front wheels 10 are respectively attached to the left and right front axles protruding outward from the respective left and right front wheel final cases 13.

[0017] On the left and right sides of the front side of the traveling vehicle body 2, and on the rear side of the body compared to the left and right spare seedling frames 38, left and right line-drawing markers 16 for forming guide lines serving as a straight-ahead reference for the next process in the field F are provided respectively.

[0018] The left and right line-drawing markers 16 are composed of a water-wheel-shaped marker 16a that contacts the field F, a rod-shaped support 16b that rotatably mounts the marker 16a, and a marker rotation motor 16c that rotates the support 16b to the outside and inside of the body.

[0019] During the planting operation, the left and right line-drawing markers 16 are in a working state where one side on the left and right descends, and when the vehicle turns, one side on the left and right retracts upward and the other side on the left and right enters the working state. When turning or not performing the planting operation, both of the left and right line-drawing markers 16 are in a state of retracting upward. By aligning the center mascot 17 provided at the front end of the traveling vehicle body 2 and at the left and right center with the guide line formed by the left and right line-drawing markers 16, the planting operation can be performed along the previous working position, so the working efficiency and planting accuracy are improved.

[0020] In particular, left and right lateral fertility sensors 70 are provided on the left and right line-drawing markers 16 respectively.

[0021] The lateral fertility sensors 70 are composed of left and right lateral electrode disks 72 as electrodes fixed by bolts 71 to the inner side surfaces of the left and right markers 16a pivotally supported rotatably at the tips of the left and right supports 16b of the left and right line-drawing markers 16, and a harness wired along the left and right supports 16b and electrically conductive to the left and right lateral electrode disks 72.

[0022] Note that the diameter of the left and right lateral electrode disks 72 is larger than the diameter of the left and right markers 16a.

[0023] In addition, on the left and right front axle parts of the left and right front wheels 10, a central fertility sensor 75 for measuring the fertility of the soil (mud) at the position below the body during travel is provided with disk-shaped left and right central electrode plates 75a as electrodes that penetrate into the soil.

[0024] Therefore, when electricity is passed through a pair of left and right central electrode plates 75a of the central fertility sensor 75, the electrical resistance changes according to the fertilizer concentration contained in the soil (mud) between the pair of left and right central electrode plates 75a. Thus, the change in electrical resistance is sent to the controller 25 as a signal of the fertilizer concentration at that point, and the fertility of the field F in the current process where rice transplanting and fertilization operations are being performed can be detected. Note that the electrical resistance becomes low when the fertilizer concentration is high, i.e., when there is a large amount of electrolyte, because electricity flows easily, and it becomes high when the fertilizer concentration is low, i.e., when there is little electrolyte, because electricity does not flow easily.

[0025] Also, when electricity is passed through the left (right) central electrode plate 75a of the central fertility sensor 75 on the same side as the left (right) side electrode disc 72 of the side fertility sensor 70 provided on the left (right) line marker 16 that has descended and is in the grounding state in the field F among the left and right line markers 16, the electrical resistance changes according to the fertilizer concentration contained in the soil (mud) between the left (right) side electrode disc 72 and the left (right) central electrode plate 75a. Thus, the change in electrical resistance is sent to the controller 25 as a signal of the fertilizer concentration at that point, and the fertility of the soil (mud) in the next process can be detected.

[0026] Note that when the left and right line markers 16 are in the operating state, the left and right markers 16a are in the same position as the left and right front wheels 10 in a side view, and the left and right side electrode discs 72 of the side fertility sensor 70 and the left and right central electrode plates 75a of the central fertility sensor 75 are in opposing positions.

[0027] Therefore, the side fertility sensor 70 can measure in advance the fertility of the soil (mud) in the next process, and the controller 25 stores the measured fertility of the next process and controls the fertilizer application amount adjustment motor as a fertilizer application amount adjustment device in the next process to automatically adjust the fertilizer application amount according to the fertility. Thus, accurate fertilization control according to the fertility can be appropriately performed at the correct timing, and good fertilization work can be carried out.

[0028] Next, explaining other configurations based on FIG. 1, the front end of the main frame 18 is fixed to the rear surface portion of the mission case 12. Rear wheel gear cases 19 are provided on the left and right sides of the rear portion of the main frame 18, and rear wheels 11 are respectively attached to the left and right rear axles that project outward from the rear wheel gear cases 19.

[0029] Also, an engine 20 is mounted at the front portion of the vehicle body. The rotational power of such an engine 20 is transmitted to the mission case 12 via a belt transmission device and a hydrostatic continuously variable transmission (HST) 21. The rotational power transmitted to the mission case 12 is shifted by a transmission within the mission case 12 and then separated into traveling power and externally extractable power and taken out.

[0030] The externally extractable power separated and taken out from the rotational power transmitted to the mission case 12 is transmitted to a planting clutch case provided at the rear portion of the traveling vehicle body 2. Then, it is transmitted from such a planting clutch case to the seedling planting portion 4 by a planting transmission shaft.

[0031] A driver's seat 31 is installed at the upper center of the traveling vehicle body 2. In front of the driver's seat 31, a bonnet 32 having various operating mechanisms is provided, and a steering handle 34 for steering the front wheels 10 is provided on the upper portion thereof.

[0032] Also, on the bonnet 32, a main shift lever for operating the hydrostatic continuously variable transmission (HST) 21 to increase or decrease the speed in the forward and reverse directions and a sub-shift change lever for switching the traveling transmission of the traveling vehicle body 2 between "working speed" when working in the field F and "traveling speed" when moving on the road are provided.

[0033] On the upper portion of a front mast 33 whose base is fixed at the left and right center position at the front end portion of the machine body, a GNSS receiving antenna (hereinafter, may be simply referred to as a receiving antenna) 81 that constitutes a GNSS control device is mounted. The received signal of the receiving antenna 81 is sent to the controller 25.

[0034] The controller 25 is a control device that controls the operation of the fertilizer applicator 60 and is housed inside the bonnet 32. The controller 25 has, for example, a CPU, a ROM, and a RAM, and controls each part of the riding type rice transplanter 1 by executing the program stored in the ROM.

[0035] On both the left and right sides and the rear at the lower part of the bonnet 32, substantially horizontal floor steps 35 are formed. The floor steps 35 are partially lattice-shaped, and the mud on the shoes of the operator walking on the floor steps 35 falls onto the field F.

[0036] The lift link mechanism 3 for lifting and lowering the seedling planting part 4 connected to the rear part of the traveling vehicle body 2 has a parallel link configuration and includes one upper link 39 and a pair of left and right lower links 40. The upper link 39 and the lower links 40 are rotatably attached to a link base frame 41 in a U-shape when viewed from the rear, which is erected at the rear end of the main frame 18 on their base sides, and a vertical link 42 is connected to their tip sides. And, at the lower end of the vertical link 42, a connecting shaft rotatably supported by the seedling planting part 4 is inserted and connected, and the seedling planting part 4 is connected so as to be rollable around the connecting shaft.

[0037] A lift hydraulic cylinder 46 is provided between the cylinder support member provided on the main frame 18 and the tip of the swing arm integrally formed with the upper link 39. By expanding and contracting the lift hydraulic cylinder 46 hydraulically, the upper link 39 rotates up and down, and the seedling planting part 4 moves up and down while maintaining a substantially constant posture.

[0038] As described above, the seedling planting part 4 has an eight-row planting configuration and includes a planting transmission case 47 that also serves as a frame, a seedling placing table 51, a planting device 52, and the like.

[0039] The seedling placing table 51 places the seedlings with soil in a mat shape, moves left and right reciprocally, supplies the seedlings one by one to the seedling outlets of each row, and when all the seedlings in a horizontal row are supplied to the seedling outlets, the seedlings are transferred downward by the seedling feeding belt.

[0040] The planting device 52 plants the seedlings supplied to the seedling outlet in the field F by the seedling planter 52a. Note that two seedling planters 52a are provided for each row, mounted on the rotary case 52b, and can alternately pick up seedlings and plant them in the field F.

[0041] Also, at the lower part of the seedling planting section 4, a central center float 53 and left and right side floats 54 are provided so as to be rotatable respectively. When the machine body is advanced with these floats 53, 54 in contact with the mud surface of the field F, the floats 53, 54 slide while leveling the mud surface, and seedlings are planted in the leveling trace by the planting device 52.

[0042] The center float 53 is provided with a float sensor for detecting the amount of rotation of the center float 53 due to a change in the field depth. When such a float sensor detects an angular change, the controller 25 determines that the depth of the field F has changed, and expands and contracts the lifting hydraulic cylinder 46 so that the height of the seedling planting section 4 becomes an appropriate height according to the detected angle, automatically adjusting the working height of the seedling planting section 4.

[0043] The detection value of the float sensor is set to 0 degrees when the center float 53 contacts the field surface in a substantially horizontal posture. When the detection value is in the elevation angle direction (upward), the controller 25 determines that the field depth has become shallower and the distance between the seedling planting section 4 and the field surface has become narrower, and contracts the lifting hydraulic cylinder 46 to raise the seedling planting section 4 to prevent the planting depth of the seedlings from becoming too deep. On the other hand, when the detection value is in the depression angle direction (downward), the controller 25 determines that the field depth has become deeper and the distance between the seedling planting section 4 and the field surface has become wider, and extends the lifting hydraulic cylinder 46 to lower the seedling planting section 4 to prevent the planting depth of the seedlings from becoming too shallow.

[0044] In addition, on the operation panel provided on the upper surface of the rear part of the bonnet 32, there is provided a lift hydraulic sensitivity adjuster (dial) for changing the vertical width of the dead zone where the center float 53 does not operate the lift hydraulic cylinder 46 for ascending and descending up and down from 0 degrees when it touches the ground in a substantially horizontal posture on the field surface. The vertical width of the dead zone is changed (sensitivity is set) by this lift hydraulic sensitivity adjuster according to the hardness of the soil in the field F so that appropriate automatic lift control of the seedling planting part 4 can be performed.

[0045] The fertilizer applicator 60 includes a fertilizer hopper separated with a certain gap between a left fertilizer hopper 60L and a right fertilizer hopper 60R, a feeding part 61, a fertilizer hose 62, a fertilizer guide 63, and an air duct 68.

[0046] The left and right fertilizer hoppers 60L and 60R share four rows respectively, and lids that can be opened and closed are attached to the upper part. The lower parts of the left and right fertilizer hoppers 60L and 60R branch into the number of fertilizing rows (four rows) to form funnel-shaped lower flow parts, and the lower parts of these lower flow parts are connected to the upper ends of the respective feeding parts 61.

[0047] The left end of the air duct 68 through which the conveying air for moving the fertilizer to the fertilizer hose 62 passes is connected to a blower driven by a blower electric motor via an air switching pipe. And when the air from the blower passes through the air duct 68 and through the discharge port of the feeding part 61 from the connecting pipe, it is configured to be blown into the fertilizer hose 62 side while entraining the fertilizer.

[0048] And the granular fertilizer stored in the fertilizer hoppers 60L and 60R is fed out little by little by the feeding parts 61 provided for each seedling planting row. The fed-out fertilizer is guided to the fertilizer guide 63 attached to the center float 53 and the side float 54 by the fertilizer hose 62. And it can be dropped into the fertilizing groove formed near the side part of the seedling planting row by the furrowing body 64 provided on the front side of the fertilizer guide 63.

[0049] The feeding section 61 incorporates two first feeding rolls and a second feeding roll for feeding downward the fertilizer stored in the right fertilizer hopper 60R (or the left fertilizer hopper 60L). The first and second feeding rolls 7 are rotating bodies with groove-shaped recesses formed on their outer peripheral surfaces, and are fitted in a configuration where they rotate integrally on a common feeding shaft provided in the left-right direction.

[0050] When the first feeding roll and the second feeding roll rotate, the fertilizer that has fallen and been supplied from the left fertilizer hopper 60L (or the right fertilizer hopper 60R) is received in the recesses and fed downward. The fertilizer fed by the first feeding roll and the second feeding roll is discharged from the discharge port at the lower end. A connecting pipe (not shown in the figure) is connected to the discharge port of the feeding section 61, with the front end inserted and connected in the front-rear direction to the back surface of the air duct 68 and the rear end communicating with the discharge port of the feeding section 61.

[0051] Also, below the vicinity of the center in the left-right direction of the left fertilizer hopper 60L, a fertilizer application rate adjustment motor that rotates at high speed in both forward and reverse directions is arranged as a fertilizer application rate adjustment device. Such a fertilizer application rate adjustment motor is arranged at a distance behind the right side of the driver's seat 31.

[0052] Furthermore, by transmitting the driving force to the rear wheels 11 to drive the feeding shaft through a fertilization transmission mechanism that rotates the feeding shaft from the fertilization transmission output shaft provided in the rear wheel gear case 19, the fertilization device 60 can be operated.

[0053] By the way, the fertilizer application rate adjustment motor is provided with a ball screw rotatably, and a ball nut that is screwed into the spiral groove formed on the surface of this ball screw and moves at high speed in the front-rear direction of the machine body is provided. By the forward and backward movement of the ball nut, the rotation speed of the feeding shaft can be changed to adjust the amount of fertilizer fed.

[0054] A rotation sensor is provided on the motor stand to which the fertilizer application rate adjustment motor is attached.

[0055] The rotation sensor detects the rotation speed and rotation angle of the fertilizer application rate adjustment motor.

[0056] The rotation sensor sends the detected values of the rotation speed and rotation angle to the controller 25. The controller 25 calculates the rotation speed and rotation angle of the ball screw from the detected values of the rotation speed and rotation angle, and calculates the fertilizer application amount.

[0057] At the lower rear sides of the left and right side fertilizer hoppers 60L and 60R, discharge ducts for moving the fertilizer discharged from the discharge passage to the discharge ports on the side of the machine body are arranged in the left-right direction. One end of the discharge duct is connected to a blower. When the aforementioned operation switching lever is operated to the fertilizer application side, the conveying air is blown into the air duct 68, and when it is operated to the discharge side, the conveying air is blown into the discharge duct.

[0058] With such a configuration, when the operation switching lever is operated to the discharge side to open the switching shutter for each row, the fertilizer moves from each discharge passage to the discharge duct, and the fertilizer is carried to the discharge port by the conveying air blown into the discharge duct and discharged. Note that a bag or a bucket for collection is placed at the discharge port. In order to suppress the diffusion of the blown fertilizer, if a discharge hose with a fine mesh or the like is provided, the scattering of the fertilizer is prevented and the amount of fertilizer collected increases.

[0059] Next, the control system of the riding type rice transplanter 1 will be described. The controller 25 is provided with a processing unit having a CPU etc., a storage unit such as a ROM and a RAM, and further an input / output unit, and these are connected to each other and can transfer signals to each other. A computer program for controlling the riding type rice transplanter 1 is stored in the storage unit. For example, the controller 25 automatically adjusts the fertilizer application amount by operating the fertilizer application amount adjustment motor based on the fertilizer concentration of the soil (mud) acquired by the side fertility sensor 70 and the central fertility sensor 75.

[0060] Then, various actuators such as motors and sensors for acquiring information of each part are connected to the controller 25. For example, to the controller 25, as actuators, there are connected a fertilizer amount adjustment motor for adjusting the fertilizer amount, a throttle motor for increasing or decreasing the rotational speed of the engine 20 by operating a throttle for adjusting the intake air amount of the engine 20, a marker rotation motor 16c for operating the line drawing marker 16, and further an electromagnetic lifting valve for switching the supply and discharge of oil to the lifting hydraulic cylinder 46 for raising and lowering the seedling planting part 4, etc.

[0061] In addition, as sensors connected to the controller 25, there are connected a lateral fertility sensor 70, a central fertility sensor 75, a rotation sensor, a float sensor, a link sensor, a planting depth adjustment position sensor, an inclination sensor, a marker position sensor, etc.

[0062] As described above, the lateral fertility sensor 70 is constituted by left and right lateral electrode disks 72 provided on the left and right line drawing markers 16, and the central fertility sensor 75 is constituted by left and right central electrode plates 75a provided on the left and right front axle parts of the left and right front wheels 10, and detects the fertilizer concentration of the soil (mud) between the left lateral electrode disk 72 and the left central electrode plate 75a, between the left and right central electrode plates 75a, and between the right lateral electrode disk 72 and the right central electrode plate 75a.

[0063] The rotation sensor detects the rotational speed and rotation angle of the fertilizer amount adjustment motor.

[0064] The float sensor detects the amount of rotation of the front part of the center float 53.

[0065] The link sensor detects the vertical operating position of the lifting link mechanism 3.

[0066] The planting depth adjustment position sensor detects the vertical setting positions of the center float 53 and the left and right side floats 54.

[0067] The inclination sensor detects the front - rear inclination and left - right inclination of the traveling vehicle body 2.

[0068] The marker position sensor detects the positions of the left and right line-drawing markers 16 actuated by the left and right marker rotation motors 16c.

[0069] When the float sensor detects that the center float 53 has grounded after lowering the seedling planting unit 4 during the rice transplanting operation, the link sensor detects the vertical operating position of the lifting link mechanism 3, and the controller 25 calculates the height of the seedling planting unit 4 from the plow pan, that is, the plow pan depth. At that time, the plow pan depth is corrected and calculated from the vertical setting positions of the center float 53 and the left and right side floats 54 of the planting depth adjustment position sensor.

[0070] Then, when the calculated plow pan depth is within the predetermined value or deeper than the predetermined value, the controller 25 operates the fertilizer application amount adjustment motor based on the fertilizer concentration of the soil (mud) acquired by the lateral fertility sensor 70 and the central fertility sensor 75 to automatically adjust the fertilizer application amount.

[0071] Also, when the calculated plow pan depth is shallower than the predetermined value, the fertilizer application amount adjustment motor is operated so that the fertilizer application amount is a predetermined amount less than the fertilizer application amount based on the fertilizer concentration of the soil (mud) acquired by the lateral fertility sensor 70 and the central fertility sensor 75, and the fertilizer application amount is automatically adjusted.

[0072] The controller 25 performs rolling control to make the seedling planting unit 4 horizontally level left and right by operating the rolling electric motor according to the left and right inclination of the traveling vehicle body 2 detected by the inclination sensor, and detects that the machine body has crossed the ridge as described later by detecting the front and rear inclination.

[0073] Also, the ride-on rice transplanter 1 is provided with a GNSS control device connected to the controller 25.

[0074] The GNSS control device can obtain the position information or coordinate information of the riding type rice transplanter 1 by using GNSS, and the position information obtained by the GNSS control device is transmitted to the controller 25. Since the GNSS control device obtains the position information of the riding type rice transplanter 1 by using GNSS in this way, it has a receiving antenna 81 for receiving signals from artificial satellites used in GNSS.

[0075] Next, based on FIG. 6, a method for automatically adjusting the fertilizer application amount by operating the fertilizer application amount adjustment motor according to the fertilizer concentration of the soil (mud) acquired by the side fertility sensor 70 and the central fertility sensor 75 will be described.

[0076] When starting the rice transplanting work and the fertilizer application work from one side of the field F, in the first step, the machine body is advanced along the ridge, and the left line drawing marker 16 is lowered to the left side of the machine body to form a guiding line indicating the center of the machine body in the second step while performing the rice transplanting work and the fertilizer application work in the field F.

[0077] At this time, the central fertility sensor 75 located at the center of the left and right of the machine body measures the fertility of the soil (mud) in the first step, and based on the fertility of the soil (mud) acquired by the controller 25, the fertilizer application amount adjustment motor is operated to automatically adjust the fertilizer application amount.

[0078] In addition, the side fertility sensor 70 attached to the left line drawing marker 16 is in a working state of entering the field F, enters the soil (mud) of the field F in the second step (next step), and measures the fertility of the soil (mud) with the left side electrode disk 72 and the left center electrode plate 75a, and the controller 25 stores it.

[0079] Next, after the first step is completed, the machine body is turned at the edge of the ridge. In the second step, the machine body is advanced with the center mascot 17 aligned with the guiding line indicating the center of the machine body formed in the first step, and the right line drawing marker 16 is lowered to the right side of the machine body to form a guiding line indicating the center of the machine body in the third step (next step) while performing the rice transplanting work and the fertilizer application work in the field F.

[0080] At this time, the left lateral electrode disc 72 and the left central electrode plate 75a of the lateral fertility sensor 70 attached to the left line-drawing marker 16 in the first step measure the fertility of the soil (mud) in the second step, and the controller 25 activates the fertilizer application amount adjustment motor to automatically adjust the fertilizer application amount based on the stored fertility.

[0081] Also, in the second step, the fertilizer concentration of the soil (mud) is detected by the left and right central electrode plates 75a of the central fertility sensor 75, and the average value of the stored fertility and the fertility detected by the current central fertility sensor 75 is calculated, and the fertilizer application amount adjustment motor is activated with this average value to automatically adjust the fertilizer application amount.

[0082] Next, after completing the second step, the machine body is turned at the edge of the ridge. In the third step, the machine body is advanced with the center mascot 17 aligned with the guide line indicating the center of the machine body formed in the second step, and the left line-drawing marker 16 is lowered to the right side of the machine body to form a guide line indicating the center of the machine body in the fourth step while performing the rice transplanting operation and the fertilizer application operation in the field F.

[0083] At this time, similar to the second step, the right lateral electrode disc 72 and the right central electrode plate 75a of the lateral fertility sensor 70 attached to the right line-drawing marker 16 in the second step measure the fertility of the soil (mud) in the third step, and the controller 25 activates the fertilizer application amount adjustment motor to automatically adjust the fertilizer application amount based on the stored fertility.

[0084] Also, in the third step, the fertilizer concentration of the soil (mud) is detected by the left and right central electrode plates 75a of the central fertility sensor 75, and the average value of the stored fertility and the fertility detected by the current central fertility sensor 75 is calculated, and the fertilizer application amount adjustment motor is activated with this average value to automatically adjust the fertilizer application amount.

[0085] Also, the lateral fertility sensor 70 attached to the left line-drawing marker 16 is in the working state (i) of entering the field F, enters the soil (mud) in the field F in the fourth step, measures the fertility of the soil (mud), and the controller 25 stores it.

[0086] Subsequently, the rice transplanting work and fertilization work for the entire field F are carried out in the same manner.

[0087] In short, the fertility of the soil (mud) in the next process can be measured in advance using the lateral fertility sensor 70, and the controller 25 stores the measured fertility of the next process and controls the fertilization amount adjustment motor in the next process to automatically adjust the fertilization amount according to the fertility. Therefore, highly accurate fertilization control according to the fertility can be appropriately performed at the correct timing, and good fertilization work can be carried out.

[0088] Also, by calculating the average value of the fertility of the current process stored in the previous process and the fertility of the current process detected by the central fertility sensor 75, and operating the fertilization amount adjustment motor with the average value to automatically adjust the fertilization amount, a large error in fertility due to misdetection can be eliminated, excessive fertilization can be prevented, and good fertilization work can be carried out.

[0089] <Other Embodiments>

[0090] (1) FIGS. 7 and 8 show a second embodiment of the lateral fertility sensor 70.

[0091] That is, the lateral fertility sensor 70 is composed of semi-circular left and right lateral electrode plates 72a as electrode bodies fixed to a support provided at the tip of the left and right supports 16b of the left and right line-drawing markers 16 with bolts 71.

[0092] Note that the diameter of the left and right lateral electrode plates 72a is larger than the diameter of the left and right markers 16a.

[0093] (2) FIG. 9 shows a third embodiment of the lateral fertility sensor 70.

[0094] That is, the lateral fertility sensor 70 is configured by pivotally supporting long plate-shaped left and right lateral electrode plates 72b as electrodes up and down rotatably on a pivot shaft 77a provided on a support 77 fixed to the tips of the left and right supports 16b of the left and right line-drawing markers 16.

[0095] Then, the pin bodies 72c provided at the upper ends of the left and right side electrode plates 72b are inserted into the long holes 78b of the detection pieces 78a of the potentiometer 78 provided on the support 77, and both ends of the coil spring 79 fitted and supported on the pivot shaft 77a are locked to the left and right locking pins 72d provided at the left and right ends of the left and right side electrode plates 72b and the left and right fixing pins 77b provided on the support 77.

[0096] The length of the left and right side electrode plates 72b from the pivot shaft 77a to the lower end is larger than the outer diameter of the marker 16a, and when the marker 16a is grounded, the lower part of the left and right side electrode plates 72b is buried in the ground.

[0097] The lower part of the left and right side electrode plates 72b is rotatable about the pivot shaft 77a from the 4 o'clock position to about the 8 o'clock position, and the urging force of the coil spring 79 acts so as to resist the mud when the machine body moves forward.

[0098] Therefore, the left and right side electrode plates 72b of the side fertility sensor 70 are elastically held in a posture facing vertically downward by the urging force of the coil spring 79, and when the left and right side electrode plates 72b penetrate into the soil and the machine body moves forward, they are inclined backward in the traveling direction due to the resistance of the mud to detect the fertility.

[0099] At that time, the potentiometer 78 detects the inclination angle of the left and right side electrode plates 72b and sends it to the controller 25.

[0100] The inclination angle of the left and right side electrode plates 72b changes according to the hardness of the mud in the field F. Specifically, when the mud is hard, the resistance of the mud increases and the inclination angle increases, and when the mud is soft, the resistance of the mud decreases and the inclination angle decreases.

[0101] The controller 25 stores a table of the inclination angle of the left and right side electrode plates 72b and the hardness / softness of the mud, and calculates the hardness of the mud based on the inclination angle of the left and right side electrode plates 72b sent from the potentiometer 78.

[0102] Since the resistance of the soil changes according to the traveling speed of the machine body, an appropriate soil hardness can be calculated by creating a table of the inclination angle of the left and right side electrode plates 72b corresponding to the operation amount of the main transmission lever or the vehicle speed calculated by the GNSS control device and the softness or hardness of the soil.

[0103] When the controller 25 calculates that the soil hardness calculated from the inclination angle of the left and right side electrode plates 72b is harder than the set sensitivity set by the operator using the lift hydraulic sensitivity adjuster (dial), the set sensitivity is corrected to the harder side. When it is calculated that the soil hardness calculated from the inclination angle of the left and right side electrode plates 72b is softer, the set sensitivity is corrected to the softer side.

[0104] Also, in the first step of the field F, the set sensitivity is corrected according to the soil hardness calculated from the inclination angle of the left and right side electrode plates 72b as described above. In the second step and subsequent steps, the average value of the inclination angles of the left and right side electrode plates 72b in the first step is calculated. When the inclination angle of the left and right side electrode plates 72b is larger than the average value, the sensitivity is corrected to the harder side, and when the inclination angle of the left and right side electrode plates 72b is smaller than the average value, the sensitivity may be corrected to the softer side.

[0105] (3) As shown in Fig. 10, there are cases where rice transplanting operations are continuously performed on multiple fields F1, F2, F3 across ridges. However, when crossing a ridge, the fertility detected by the side fertility sensor 70 and the central fertility sensor 75 changes significantly, resulting in rapid adjustment of the fertilization amount, which may damage the fertilization amount adjustment mechanism, or the fertilization amount adjustment may not be in time when entering the field across the ridge, leading to abnormal fertilization.

[0106] Therefore, when the detected value of fertility changes by more than a predetermined value in a short time, the controller 25 does not perform fertilization amount adjustment based on the changed fertility but maintains the previous fertilization amount (or sets it to the initial set fertilization amount).

[0107] Note that when the inclination sensor detects a longitudinal inclination of the aircraft equal to or greater than a predetermined value and the detected value of the fertility changes by a predetermined value or more in a short period of time, the controller 25 may maintain the fertilization amount before the change (or set it to the initial set fertilization amount) without adjusting the fertilization amount based on the fertility after the change (it is clear that this is an abnormal value when crossing a ridge).

[0108] Then, when the detected value of the fertility stabilizes for a predetermined time or the inclination sensor detects a horizontal state (a state close to horizontal) of the aircraft for a predetermined time, the controller 25 resumes adjusting the fertilization amount based on the detected value of the fertility.

[0109] When continuously performing rice transplanting operations in the above-mentioned plurality of fields F1, F2, F3, when the side fertility sensor 70 and the central fertility sensor 75 detect a large change in fertility when crossing a ridge, the controller 25 recognizes that it has moved to another field across the ridge, and registers and manages the number of fields, the fertility data, the fertilization amount data, and the field shape for each field.

[0110] At that time, the GNSS control device captures the position where the ridge is crossed into the map, and when the rotation speed sensors of the left and right rear wheels 11 detect a rotation speed difference equal to or greater than a predetermined value when the driving of the seedling planting unit 4 is cut off and it rises to the non-operating position, it is determined that the aircraft has turned, and the above registration management is performed while calculating the position information with the GNSS control device.

Explanation of Signs

[0111] 2 Traveling vehicle body 10 Left and right wheels (left and right front wheels) 16 Left and right line-drawing markers ~16a Marker 25 Controller 60 Fertilizer applicator 72 Electrodes (side electrode disks) 72b Electrodes (side electrode plates) 75a Electrodes (central electrode plates) 77a Pivot shaft 79 Springs (coil springs) F Field

Claims

1. An agricultural working machine equipped with a fertilizer application device (60) whose fertilizer application amount is adjusted by a fertilizer application amount adjusting device on a traveling vehicle body (2), and provided with left and right line-drawing markers (16) that form guide lines serving as a straight-ahead reference for the next process in a field (F) and can be switched between a working state and a state of retracting upward from the field (F). In the agricultural working machine, electrodes (75a) for measuring soil fertility are provided on the left and right wheels (10) of the traveling vehicle body (2), and electrodes (72) for measuring soil fertility are provided on the markers (16a) of the left and right line-drawing markers (16). Soil fertility is detected between the electrodes (72) of the line-drawing marker (16) in the working state and the electrodes (75a) of the wheels (10) on the line-drawing marker (16) side in the working state, and the fertilizer application amount adjusting device is operated according to the detected soil fertility of the next process to automatically adjust the fertilizer application amount of the fertilizer application device (60). The agricultural working machine is characterized by this.

2. The agricultural working machine according to claim 1, characterized in that soil fertility is simultaneously detected between the electrodes (75a) of the left and right wheels (10).

3. The agricultural working machine is a variable fertilizer application rice transplanter equipped with a GNSS control device. The soil fertility detected between the electrodes (72) of the line-drawing marker (16) in the working state and the electrodes (75a) of the wheels (10) on the line-drawing marker (16) side in the working state is incorporated into map information, and in the next rice transplanting operation process, the fertilizer application amount adjusting device is operated in combination with the soil fertility detected between the electrodes (75a) of the left and right wheels (10) to automatically adjust the fertilizer application amount of the fertilizer application device (60). The agricultural working machine according to claim 2 is characterized by this.

4. An electrode (72b) that is long vertically and rotatable is pivotally supported on a pivot shaft (77a) provided on the line-drawing marker (16). The length from the pivot shaft (77a) of the electrode (72b) to the lower end is larger than the outer diameter of the marker (16a). When the marker (16a) touches the ground, the lower part of the electrode (72b) is buried in the ground, and the lower part of the electrode (72b) is rotatable from the 4 o'clock position to about the 8 o'clock position by the pivot shaft (77a). When the machine body moves forward, the biasing force of a spring (79) acts to resist the mud. The agricultural working machine according to claim 1 is characterized by this.

5. The controller (25) stores a table of the tilt angle of the electrode (72b) and the hardness / softness of the soil. When it is calculated that the hardness of the soil calculated based on the tilt angle of the electrode (72b) is harder than the set sensitivity set by the operator, the set sensitivity is corrected to the harder side. When it is calculated that the hardness of the soil calculated based on the tilt angle of the electrode (72b) is softer than the set sensitivity set by the operator, the set sensitivity is corrected to the softer side. The agricultural working machine according to claim 4, characterized in that.

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