Transplantation work vehicle

Abstract

Since the planting depth and the planting posture are also affected by the state of the soil forming the ridge, it is possible to automate the planting control if the situation of the entire field can be easily detected, but since the moisture situation of the soil also changes at present, it is difficult to obtain instantaneous data.SOLUTION: To detect the torque of a transplanter at the time of planting and utilize the torque as the state of soil in the vicinity.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work vehicle for transplanting vegetable seedlings, which detects the hardness of the soil in a field from the planting resistance during planting and controls planting according to the hardness of the soil. [Background technology]

[0002] In the prior art, a configuration is known in which the hardness of a field is detected by a contact-type hardness detection sensor that detects the hardness by detecting the rotational resistance or up and down movement of a rotating axle. (Patent Document 1) [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-153382 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technology, resistance changes depending on the traveling speed, and the contact resistance is only on the surface of the soil, so it is not designed to measure the hardness of the soil, which is affected when crops grow.

[0005] The present invention makes it possible to detect the hardness of the soil by measuring the amount of load on the transplanting claws that are planted deep into the soil, and by reflecting this information on a field map, it is possible to display the field condition. [Means for solving the problem]

[0006] The first aspect of the present invention is achieved by the following technical means.

[0007] The rear of the vehicle is equipped with a planting section for planting seedlings, and the transmission mechanism that moves the planting section up and down detects the rotational torque to detect how hard the seedlings are being driven into the soil and determine the condition of the field.

[0008] The second invention is solved by the following technical means.

[0009] When detecting the rotational torque, fluctuations in the torque value are detected, and when a load greater than a predetermined value is applied, the planting interval is counted as 1. [Effects of the Invention]

[0010] According to the first invention, by measuring the soil quality at the time of planting, the data is real time, and there is no need to take the trouble of measuring the soil data, as it is measured simultaneously with planting, which saves labor.

[0011] The second invention also makes it possible to manage the number of seedlings planted. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is an overall perspective view of a work vehicle according to the present invention, seen from the left rear; [Figure 2] FIG. 1 is a perspective view of a planting section of a work vehicle according to the present invention; [Figure 3] An enlarged view of the planting section from the rear of the work vehicle of the present invention. [Figure 4] Overall perspective view of another type of work vehicle from the left front [Figure 5] Configuration of seedling frame of the work vehicle of the present invention [Figure 6] Configuration 1 of the planting table of a different type of work vehicle [Figure 7] Configuration 2 of the planting table of a different type of work vehicle [Figure 8] Configuration of crushing wheels of different types of work vehicles [Figure 9] Configuration 3 of the planting table of a different type of work vehicle [Figure 10] Configuration of operation device for work vehicle of another type [Figure 11]Arrangement of auxiliary seedling frames for different types of work vehicles [Figure 12] FIG. 1 shows a work vehicle according to the present invention and data registration in a farm field map. DETAILED DESCRIPTION OF THE INVENTION

[0013] The present invention will be described below with reference to the embodiments shown in the drawings.

[0014] The work vehicle shown in FIGS. 1 to 3 shows an example of this embodiment.

[0015] The work vehicle of the present invention will now be described.

[0016] FIG. 1 is a perspective view showing the overall configuration of a transplanting vehicle according to an embodiment.

[0017] In the following description, the transplantation work vehicle 1 may be referred to as the "machine body." The side where the steering handle 3 is located is referred to as the rear, and the opposite side, i.e., the side where the engine 4 is located, is referred to as the front. The right-hand side facing the front of the machine body is referred to as the right, and the left-hand side is referred to as the left.

[0018] The transplanting work vehicle 1 is equipped with a running body 2 that allows the machine to travel forward, a control handle 3 for walking control provided at the rear of the running body 2, a planting section 5 for planting seedlings in the field, and a table 6 for temporarily storing seedlings (crops) for transplanting and supplying the seedlings stored in the planting section 5.

[0019] The traveling vehicle body 2 is equipped with an engine 4, rear wheels 7 which are a pair of left and right drive wheels that are driven to rotate by the power transmitted from the engine 4, and a pair of left and right front wheels 8 which are supported in front of the rear wheels 7 so as to be freely rotatable.

[0020] A traveling transmission case 9, which is a transmission case, is disposed behind the engine 4. The traveling transmission case 9 has a case portion (not shown) that extends from its left side toward the left side of the engine 4, and the case portion is connected to a shaft on the left side of the engine 4. The traveling vehicle body 2 is configured so that the output shaft of the engine 4 fits into the case portion and power is transmitted to a transmission mechanism inside the traveling transmission case 9.

[0021] The front portion of a traveling transmission case 11, which is long in the front-to-rear direction, is rotatably attached to both left and right sides of the traveling transmission case 9. Specifically, an axle case 12 that rotates integrally with the traveling transmission case 11 is provided on the inside of the front portion of the traveling transmission case 11 in the vehicle body. The axle case 12 is rotatably attached to both left and right sides of the traveling transmission case 9, and left and right traveling transmission cases 11L, 11R are rotatably attached corresponding to the left and right sides of the traveling transmission case 9. A pair of left and right rear wheels 7, 7 are mounted on rear wheel axles 13 that protrude laterally to the rear of the left and right traveling transmission cases 11L, 11R.

[0022] The ends of the wheel drive shafts extending outward on both the left and right sides from the traveling transmission case 9 fit into the rotation axis position of the front of the left and right traveling transmission cases 11L, 11R, and the traveling power passes through the traveling system speed change transmission part inside the traveling transmission case 9 and is transmitted to the transmission mechanism inside the left and right traveling transmission cases 11L, 11R. The traveling power is then transmitted to the rear wheel axles 13L, 13R of the left and right traveling transmission cases 11L, 11R via the transmission mechanism inside the left and right traveling transmission cases 11L, 11R, driving and rotating the rear wheels 7L, 7R.

[0023] The drive of each of the left and right rear wheels 7L, 7R can be cut off by left and right side clutches (not shown) provided inside the traveling transmission case 9. Therefore, when turning the vehicle, the left or right rear wheel 7L, 7R on the inside of the turn is put into a non-driven state by the side clutch, allowing for smooth turning.

[0024] Furthermore, the left and right traveling transmission cases 11L, 11R are connected to a driving means that rotates up and down and moves the rear wheels 7L, 7R up and down around the front sides of the left and right traveling transmission cases 11L, 11R as a rotation fulcrum. Specifically, an upwardly extending lever portion 14 is integrally attached to the attachment portion of the left and right traveling transmission cases 11L, 11R to the traveling transmission case 9.

[0025] The electric cylinders (not shown) are connected to the levers 14, and when the piston rods of the electric cylinders extend, the left and right levers 14 rotate backward, causing the traveling transmission case 11 to rotate downward and the machine to rise. Conversely, when the piston rods of the electric cylinders retract, the left and right levers 14 rotate forward, causing the traveling transmission case 11 to rotate upward and the machine to descend.

[0026] The electric cylinder is operated by a sensor plate 16 that is in contact with the ridge surface (ground) and operates in accordance with changes in the vertical distance between the machine body and the ridge surface. The operation of the sensor plate 16 is to detect the height of the ridge top surface based on the position of the machine body, and the electric cylinder is configured to operate so that the machine body is at a set height corresponding to the height of the ridge top surface based on the detection value of the sensor plate 16.

[0027] Furthermore, when the left and right electric cylinders expand and contract by different amounts, the lever portion 14 connected to the electric cylinders rotates, causing the rear wheels 7L and 7R to move up and down and tilt the vehicle body left and right.

[0028] A horizontal frame 17 is attached below the engine 4, and is mounted to be able to rotate in a rolling manner around a longitudinal axis at the left-right center of the vehicle. Vertically long frames 18L, 18R are attached to the left and right sides of the horizontal frame 17, and the front wheels 8L, 8R are rotatably attached to axles fixed to the sides of the lower ends of the vertical frames 18L, 18R. Therefore, the front wheels 8L, 8R are able to rotate in a rolling manner around the longitudinal axis at the left-right center of the vehicle. Furthermore, the vertical frames 18L, 18R are mounted on the left and right sides of the horizontal frame 17 so that they can be adjusted up and down, allowing the height of the front wheels 8L, 8R to be adjusted.

[0029] The steering handle 3 is provided at the rear of the vehicle body, and is located rearward of the rear wheel axles 13L, 13R of the rear wheels 7L, 7R. Specifically, the steering handle 3 has a handle frame 20 attached to a table frame (not shown) that supports the table 6.

[0030] The steering handle 3 extends rearward on both sides from the rear end of the table frame, with each rear end serving as a grip portion of the steering handle 3.

[0031] The planting section 5 comprises a beak-shaped planting tool 24 with a tip pointing downward, a vertical movement mechanism 23 for moving the planting tool 24 up and down between a position where the lower end of the planting tool 24 is above the field surface and a position where the lower end of the planting tool 24 is below the field surface, and an opening / closing mechanism for opening and closing the planting tool 24 between a closed state where the lower end of the beak-shaped planting tool 24 is closed to receive seedlings from above and store the seedlings inside, and an open state where the lower end of the planting tool 24 is open to the left and right to release the seedlings stored inside downward.

[0032] The planting unit 5 of this embodiment is a work vehicle that represents an integrated state of the planting tool 24, but it may also be configured with multiple planting tools arranged on the left and right at set intervals.

[0033] The vertical movement mechanism 23 has a front part mounted so as to be freely rotatable up and down with respect to the transmission case 25, and has lifting links on both the left and right sides of the rear part to which planting tools 24 are connected. A separately provided drive mechanism uses power from inside the transmission case 25 to move the lifting links up and down, and the planting tools 24 connected to the left and right sides of the lifting links move up and down.

[0034] In the raised position of this vertical movement, the lower ends of the planting tools 24 are located above the field surface, and in the lowered position, the lower ends of the planting tools 24 are located below the field surface.

[0035] The opening and closing mechanism of each planting tool 24 is operated by power from within the transmission case 25, and is linked to the operation of the up-and-down movement mechanism 23.When the planting tool 24 descends and reaches the lower end position, the lower side of the planting tool 24 opens to the left and right, putting it in an open state downward, and when each planting tool 24 ascends and reaches the upper end position, the lower side of the planting tool 24 closes, putting it in a closed state.

[0036] The table 6 receives the seedlings on the seedling tray 50 from above and inserts them into the planting section 5 through a chute 6A in a hole in the center of the table 6. A table auxiliary stand 60 is provided between the table 6 and the seedling tray 50. The table auxiliary stand 60 is narrower than the width of the seedling tray 50 and wider than the width of the table 6, allowing the worker to manually rake the seedlings on the seedling tray 50 and then slide the table auxiliary stand 60 to drop the seedlings into the chute 6A in the hole in the center of the table 6, improving work efficiency and reducing worker fatigue.

[0037] The seedling tray holder 50 has pins 51, 52, 53, and 54 protruding from the edges that form the frame around the entire periphery, and used seedling trays can be hooked onto these pins. It is possible to drill dedicated holes in the seedling trays, or to hook the trays onto the edges with pins. Since there is space around the seedling tray holder 50 and no obstacles will be encountered during operation, using these simple pins makes it possible to create a cost-effective place to store used seedling trays. Instead of a pin configuration, a receiving platform configuration is also acceptable, as long as it is a component that can be hooked onto the edges of used seedling trays.

[0038] Figure 2 is a partial view of the planting unit 5. A rotational torque detection unit 25A is provided on the outer periphery of the rotating shaft 25. The rotational torque detection unit 25A can detect the reaction force of rotation when the planting unit 5 is driven into the soil. Specifically, it detects the rotational torque when the planting unit 5 is driven into the soil.

[0039] The rotational torque of the rotating shaft 25 extracts part of the power required to open the beak-shaped planting tool 24. Therefore, if the beak-shaped planting tool 24 is difficult to open in the soil, the rotational torque tends to increase. If the beak-shaped planting tool 24 is difficult to open in the soil, the soil may be hard and provide resistance, and it may also be difficult to drive the tool into the soil. The torque of the rotating shaft 25 is the sum of the resistance to driving the planting part 5 into the soil and the resistance to opening the beak-shaped planting tool 24 in the soil, making it an easier-to-detect value.

[0040] Another method is to equip the planting arm 23 with a strain gauge to detect the amount of strain, or to equip the planting arm 23 with a vibration sensor to detect the impact when driving. The amount of strain and vibration is greatly affected by the vehicle speed and driving conditions, so they must be handled based on a relative judgment.

[0041] Figure 3 shows an example where the detection position of the rotational torque is changed in the detection method for the planting unit 5. When there are multiple planting units, the upper and lower operating power of the planting unit 5, this configuration makes it possible to detect torque from the output shaft 27 of the planting transmission case 26, which is the source of power distribution, or from the internal transmission shaft.

[0042] There are two ways to do this: one is to measure the axial torque of the power transmission path that drives these planting units and make a judgment based on the difference from a reference value, and the other is to continuously detect and evaluate the value relatively during the operation. Either way, it serves as an indicator for detecting the hardness of the soil, and by continuously detecting it during planting work, it is also possible to judge the condition of the field.

[0043] Here is an example of a specific usage method. By registering data on actual results under various conditions in advance and comparing the measured torque with this database, it is possible to determine the condition of the soil in the field. If the database is divided into about five levels, it is possible to replace the displayed text with "soft," "slightly soft," "standard," "slightly hard," or "hard." It is also possible to display the torque numerically.

[0044] While planting in the field, the torque of the planting unit 5 is measured and the measurement data is registered on the field map at the measurement position, making it possible to create a map showing the soil condition of the field. An example of registration is shown in Figure 12.

[0045] A work route 80 for the work vehicle 90 is registered as a field map 70. This route is registered in advance based on the shape of the field and the shape and turning performance of the work vehicle, and this work route is managed as latitude and longitude and is a route along which the vehicle will automatically travel while detecting its own position using a satellite positioning device. The travel route can be created by specifying the route position on a screen, or the work vehicle can actually be driven and this route taught; even in the case of teaching, the automatic travel route is created while registering its own position using a satellite positioning device.

[0046] In this embodiment, point 71 shows the registered results of transplanting crops. Map position 72 shows the latitude and longitude, indicating the location where the planting took place. This is an absolute position, but for ease of understanding as a work map, if the row number (row order) and position number (number from the planting position) are used, workers can easily understand the relative positions in the field. At that point, planting data is registered one by one by the planting unit. Planting load 73 is rated as load rank 5. Specific planting torques may be registered, but because mechanisms differ depending on the model, it is easier to perform calculations by first making a relative evaluation against the measured torque.

[0047] Similarly, the field moisture 75 at the time of planting is registered. This moisture is calculated from the minute electric current flowing underground when the planting part is underground. The minute electric current measurement method is not limited to the planting part, but can also be installed on a roller or the like that comes into contact with the ground, and the amount of electric current flowing through the soil is used to calculate the moisture content.

[0048] These soil moisture values, the surface hardness of the ridges, and the planting depth are closely related, and based on the relationship between the water level value of the field and the planting torque and the data registered in advance from the field position, the field hardness 76 at the time of planting and the estimated depth 77 at the time of planting can be estimated and converted and registered at the same time.

[0049] By registering this data for each point in this way, it is possible to manage the condition of the field. Conventionally, it was not possible to check the overall condition of the field, so reference points had to be set and judgments made, but by using this transplanting vehicle, this data is measured at the time of planting, so the entire field can be managed efficiently.

[0050] In Figure 12, items 72a to 77a are registered at point 71a, and items 72b to 77b are registered at point 71b. There are differences in each item between point 71, point 71a, and point 71b, and there is variation across the entire field. Although three locations are shown here, in reality data exists for each planting, and by processing a large amount of data, it can be used to identify deviations in field conditions and enable individual responses to harvested crops.

[0051] In Figure 4, the transplanting work vehicle of Figure 1 is enlarged, with four rows of planting, an electric motor as the power source, and a passenger-type transplanting work vehicle with seats, namely, an electric transplanting work vehicle 100 powered by an electric motor.

[0052] The electric transplanting vehicle 100 is provided with a seat 130 for the operator to sit on so that he can replenish seedlings on the table 106. Specifically, the seat 130 is located in front of the table 106, in the center of the left and right sides of the vehicle, facing backward. The operator sitting on the seat 130 faces backward toward the front of the table 106 and performs seedling replenishment work by corresponding to the front of the table 106, particularly the front linear portion of the circular movement path of the seedling container 27. A step (not shown) is provided above the planting transmission case 126.

[0053] Seat 130 is supported by seat frame structure 131. Seat frame structure 131 has an upper surface 132 on which seat 130 is mounted, a support pillar 133 extending vertically at the front of the aircraft, and support pillars 134 and 135 extending obliquely relative to the vertical at the rear of support pillar 133. The front of seat frame structure 131 is covered by a hood (not shown).

[0054] When replacing battery 110, an operator tilts seat 130 toward the rear of the aircraft, using fulcrum F for the rotation of seat 130 as a fulcrum. This opens up the area above battery 110 and positions seat 130 toward the center of the aircraft, allowing an operator positioned at the front of the aircraft to easily remove battery 110 by tilting it upward.

[0055] Furthermore, a worker positioned at the front of the vehicle can remove the charged spare battery 140 to be replaced from the spare battery storage case 141 located behind the seat and place it on the battery mounting stand 111 of the work vehicle in the form of a battery replacement. After removal, the battery 110 that has used up its power during this replacement can be temporarily placed on the back 130A of the seat 130 that has been reclined toward the rear of the vehicle.

[0056] While the spare battery 140 is temporarily placed on the back part 130A of the inclined seat 130, the spare battery 140 is removed from the spare battery storage case 141 installed at the rear of the seat 130, and the battery replacement work is performed. The used battery 110 temporarily placed on the back part 130A of the seat 130 is placed in the spare battery storage case 141, and the battery replacement is carried out smoothly.

[0057] After replacing the battery, the worker rotates the seat 130 toward the front of the aircraft using the rotation fulcrum F as the fulcrum, and returns it to its original position.

[0058] 5(A) shows a seedling frame device in which an empty tray storage area 210 is installed below a seedling frame 200. A working position 201 of the seedling frame 200 has claws 202 (not shown) for holding seedling trays 220.

[0059] The claws are movable by operating the lever 203. By lowering the lever 203 as shown in Figure 5(A) to Figure 5(B), the claws 202 are stored and the seedling tray 220 they were holding falls into the empty tray storage area 210. A roller 204 that rotates in the Z direction is installed at the bottom of the seedling frame 200. This causes the seedling frame 230 and the seedling frame 240 to naturally flow in the Z direction as shown in Figure 5(B) to Figure 5(C), and the seedling frame 230 moves to the working position 201 in Figure 5(A).

[0060] By operating the lever 203 in this manner, the retraction of the claws holding the seedling trays allows the seedling frames to be semi-automatically sent to the working position and the empty trays to be collected in the empty tray storage area 210.

[0061] The difference between Figure 5(C) and Figure 5(D) is that seedling tray 250, seedling tray 260, and seedling tray 270, which were located on the right side, are shown being moved to the left side. In this case, seedling tray 220, seedling tray 230, and seedling tray 240 are stored in empty tray storage area 210.

[0062] 5(E) shows the state when the seedling tray is removed from the seedling frame 200 and the rollers at the bottom of the seedling frame are visible. Roller 204 is capable of moving in the Z direction, and roller 205 is oriented so that it can move in a direction perpendicular to the Z direction.

[0063] 6 shows the configuration for transplanting large seedlings, but in the case of large seedlings, the weight of each cup is heavy, so the planting part must be firmly fixed. In this configuration, a plate 300 extending toward the table 290 is attached to the handle 280, and supported by stays 301 extending from the table, making it possible to create a sturdy table configuration.

[0064] For further stability, a rod can be inserted into the plate and a seedling basket can be inserted into the bow. In this case, the plate is fixed so that it is parallel to the ground.

[0065] 7, a plate 320 is provided on the top surface of a table 310, and is fastened together with the frame of the plate 320. The stay is fastened together with the change rod stay on the back surface.

[0066] FIG. 8 shows a configuration in which a sensor plate 350 for detecting a ridge surface height 340 in a vegetable transplanter 330 for multiple row transplanting detects a position other than the planting position.

[0067] In terms of the relative positions of the planting section 380 and the four suppression wheels 390, the mounting section of the ridge surface detection sensor plate 350 is at the same position 360 as in the conventional machine, and the shape of the contact area is offset 370 toward the center of the ridge.

[0068] 9 shows a large seedling transplanter 410 for vegetable transplanting, which is configured with four table cups 400. Depending on its position, cup 401 plays the role of a part that transfers seedlings 405 from seedling frame 406, cup 402 that checks whether seedlings 405A are in the cup, cup 403 that transfers seedlings to hopper 409, and cup 404 that checks whether the seedlings have fallen.

[0069] The seedlings 405 on the seedling frame 406 are not picked up and dropped into the cups, but are brought to the drop-in area by sliding the seedling frame. At a predetermined position, the pivot pin 407 is released and the shutter slide 408 opens.

[0070] Figure 10 shows a chrysanthemum transplanter 420 with hydraulic left and right horizontal levers on both the operator side and the handle side. This allows for operation by someone other than the on-board operator when multiple people are working together, and is useful when planting is often checked by someone other than the on-board operator.

[0071] The hydraulic horizontal lever 430 on the operator's side protrudes from under the seat, so it does not get in the way of work. The operating direction can be either left or right or front or back relative to the seat, but the lever position is fixed and is linked to the hydraulic cylinder, allowing left and right tilt adjustment.

[0072] With the same function, the handle-side hydraulic left and right horizontal lever 440 is provided on the handle 450 at a position that is easy to work in, and because it is fixed by tightening to the frame, the operating position can be changed to any position within the frame.

[0073] In Figure 11(A), the spare seedling storage area 460 is connected to the main frame 501 at the center of the work vehicle 500, but in Figure 11(B), it is connected to the planting frame 502 and placed in the spare seedling storage area 470. This brings the worker closer to the seedling storage area, eliminating the need to move to the side of the machine when replenishing seedlings. Seedlings can be replenished without leaving the handle position at the rear of the machine. [Explanation of symbols]

[0074] 1 Transplanting vehicle 5 Planting section 23 Vertical movement mechanism 24 Planting tools 25 Transmission case 25A Rotational Torque Detection Unit 26 Planting Mission Case 27 Output shaft Pins 51, 52, 53, and 54 60 Table Field Stand 140 Spare Battery 210 Empty tray storage area

Claims

1. The rear of the vehicle is equipped with a planting section for planting seedlings. This transplanting vehicle detects the rotational torque in the transmission mechanism that moves the planting part up and down, thereby detecting the degree of penetration into the soil and determining the condition of the field.

2. 2. The transplanting work vehicle according to claim 1, wherein, in detecting the rotational torque, fluctuations in the torque value are detected, and when a load equal to or greater than a predetermined value is applied, the distance between planted stalks is counted as 1.

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