Work vehicles

Abstract

In the power path that transmits rotational power from the prime mover to the driving wheels, a side clutch lever is equipped to disconnect the power path transmitted to the steering wheel. The actual time it takes for the driving wheels to stop after the side clutch lever is activated is compared with a pre-registered base time. If the time until activation exceeds the base time, an abnormality is detected. [Solution] An anomaly is detected by comparing the time from when the side clutch lever is activated until the vehicle actually stops with a reference time.

Description

Technical Field

[0001] The present invention relates to a vegetable transplanting work vehicle.

Background Art

[0002] In a vegetable transplanter that operates by walking, there is a work vehicle that has a side clutch lever provided at the handle portion and performs steering and stopping by means of the side clutch lever. (Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the prior art, there is a technique for distinguishing the disengaged state of the side clutch and the disengaged state of the traveling clutch based on the amount of grip of the side clutch lever. However, there were differences among operators in the amount of grip of the clutch, and there were also individual differences in the work vehicle. In addition, due to aging deterioration, stable operation of the side clutch could not be achieved.

[0005] An object of the present invention is to improve the accuracy of the prior art and prevent accidents by detecting an abnormal operation of the side clutch such as aging deterioration by monitoring the time from the operation of manually disengaging the clutch to the actual disengaged state of the clutch.

Means for Solving the Problems

[0006] The first invention is solved by the following technical means.

[0007] In the power path that transmits rotational power from the prime mover to the driving wheels, a side clutch lever is equipped to disconnect the power path transmitted to the steering wheel. The actual time it takes for the driving wheels to stop after the side clutch lever is activated is compared with a pre-registered base time. If the time until activation exceeds the base time, an abnormality is detected.

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

[0009] The system is equipped with a device capable of recording work sounds, and the recorded work sounds can be transmitted to a remote location, enabling a decision to continue work at that location.

[0010] The third invention is solved by the following technical means.

[0011] The system is equipped with a device capable of measuring vibrations in work vehicles, transmitting the measured vibration values ​​to a remote location, and enabling a decision on whether to continue work at that location. [Effects of the Invention]

[0012] The first invention, with its side clutch mechanism for cutting off power, allows for the detection of signs of malfunction in advance, enabling accident prevention measures.

[0013] The second invention makes it possible to verify, even from a remote location, whether the content of the first invention is based on a misinterpretation.

[0014] The third invention makes it possible to verify, even from a remote location, whether the content of the first and second inventions has been misinterpreted. [Brief explanation of the drawing]

[0015] [Figure 1] Rear left perspective view of a work vehicle in an embodiment of the present invention [Figure 2] Left side view of a work vehicle in an embodiment of the present invention. [Figure 3] Block diagram of each component in an embodiment of the present invention [Figure 4] Flow chart of side clutch control in an embodiment of the present invention

Embodiments for Carrying Out the Invention

[0016] Hereinafter, the present invention will be described based on the examples shown in the drawings.

[0017] The work vehicle shown in FIGS. 1 to 4 shows an example of this embodiment.

[0018] As an example of the work vehicle of the present invention, it is described based on a vegetable transplanter, but the scope of the work vehicle is not limited to this, and walking work vehicles such as cultivators, management machines, rice transplanters, control machines, binders, vegetable transplanters, vegetable harvesters, etc. are applicable.

[0019] The walking work vehicle is equipped with an operation handle at the rear of the vehicle, and a vehicle with a seat arranged and used as a passenger vehicle can also be used as the technology of the handle clutch.

[0020] As an example of the work vehicle in the present invention, it will be described with reference to the configuration of the electric walking vegetable transplanter shown in FIGS. 1 and 2. In the figure, the outer cover is removed, and the mechanisms and structures not directly related to the present invention are not shown.

[0021] The work vehicle 10 has left wheels 123A and right wheels 124A as running parts. By the left side clutch lever 23 and the right clutch lever 24, the left wheel running clutch 123 and the right wheel running clutch 124 are engaged and disengaged, so that the rotation of the left and right wheels is engaged and disengaged, and steering and turning are performed by the operator.

[0022] The running gear has an electric motor 100 at the front and a cartridge-type replaceable battery device 102 on top of it. The battery device 102 has a replaceable battery inside and ensures power by replacing the charged battery. A battery management system for controlling the power of the battery device 102 is also included in the device. It is the electric motor MCU 101 behind the electric motor 100 that detects abnormalities in the rotational speed, rotational direction, and motor power of the electric motor 100 with this managed power.

[0023] The power from the axis of this electric motor 100 is input into a transmission case 103 at the center of the vehicle body by a transmission belt (not shown). By the transmission case 103, the power is distributed to the running system, planting system, and hydraulic system, and is changed to each specified rotational speed and output.

[0024] The main frame 1 that supports these electric motor 100, battery device 102, and transmission case 103 extends to the rear and is connected to the handle frame 2. The handle frame 2 is a frame that an operator holds by hand when operating, and is a part that is manually operated during operations such as steering, turning, and stopping. Devices necessary for operation are around the handle frame 2. There are a transplant clutch lever 21, a running clutch lever 22, a left side clutch lever 23, a right side clutch lever 24, and an electric motor start switch 25. An operation screen device 3 equipped with a display showing the state of the running vehicle is equipped with a satellite positioning device 50 and an inertial measurement device 51 for detecting the position of the work vehicle. Also, an input circuit 11, a control device 12, a basic data storage unit 13, and an output circuit 14, which serve as data management and data input / output for each detection sensor of the vehicle, are also equipped.

[0025] This work vehicle is a vegetable transplanter, but the seedling planting device 4 is connected to the main frame 1 at the rear of the work vehicle and positioned above it. The planting device is curved to the rear, and the cell tray 70 is fed downward using the gentle curve, and seedlings from one cell are taken out of the cell tray 70 by seedling retrieval claws (not shown) located below the planting device and inserted into the planting hopper 5. The planting hopper 5 receives power for the planting system from the transmission case 103, and uses a crank mechanism to rotate the planting hopper 5 and receive the seedlings in the soil of the field.

[0026] The cell trays 70 are temporarily placed on the seedling trays 71 as spare seedlings, allowing for seedling replenishment within the field.

[0027] In such walk-behind work vehicles, the operator is positioned at the rear of the vehicle to operate it. However, vibrations from the vehicle and prolonged fatigue can dull the operator's sense of timing, and if the vehicle's operational sensitivity gradually deteriorates, it may become difficult for the operator to detect. This invention makes it possible to mechanically detect these signs.

[0028] The operating handle has a side clutch lever that switches the power of the vehicle on and off. When the side clutch lever is disengaged, the vehicle has a function to detect an abnormality if the deceleration time of the driving wheels is compared with basic data and exceeds a predetermined time compared to the basic data.

[0029] There are left and right side clutch levers, a left side clutch lever 23 and a right side clutch lever 24. The basic data for the deceleration time of the driving wheels is stored in the basic data storage unit 13 within the control device 12, and is determined and controlled within the control device 12 according to the control content shown in Figure 4.

[0030] When the side clutch lever is pulled, the power supply for driving is immediately cut off, causing deceleration. However, if there is a problem with the transmission wire 23A or right wire 24A in the transmission path from the side clutch lever to the clutch that cuts off the power, the power cannot be properly cut off. In this case, the left wheel 123A and right wheel 124A, which are the wheels that power the vehicle, will continue to rotate, which may lead to an accident.

[0031] While these accidents can sometimes occur suddenly, many are caused by the gradual wear and deterioration of components that transmit power, such as the left wire 23A, right wire 24A, and rods. This leads to a gradual increase in the time it takes for the driving wheels to decelerate after the side clutch lever is pulled.

[0032] In walk-behind work vehicles, the side clutch lever is used for steering and turning, making it the most frequently used and therefore the most rapidly deteriorating component. Consequently, it is presumed that malfunctions due to wear in this component are most likely to occur first. Since wear occurs gradually, it can be difficult for the operator performing the work to notice. Therefore, by comparing the time from pulling the side clutch lever until the vehicle actually stops with a standard value, signs of malfunction can be detected in advance.

[0033] In the first invention, a side clutch lever is equipped in the power path that transmits rotational power from the prime mover to the driving wheels, which disconnects the power path that transmits power to the handlebars. By operating the side clutch lever, the actual time until the driving wheels stop is compared with a pre-registered basic time, and if the time until operation exceeds the basic time, an abnormality is detected, thereby preventing malfunctions.

[0034] As a means of detecting abnormalities, the operating sound of a reference work vehicle is registered in the reference data storage unit 13, and by comparing it with this reference operating sound, it is possible to detect abnormalities in the work vehicle.

[0035] As mentioned earlier, the method for detecting signs of wear on parts by observing the operating time of the side clutch lever can be improved. If the clutch does not disengage properly, it not only takes longer to operate, but also causes abnormal noises due to the movement of the left wheel's drive clutch 123 and the right wheel's drive clutch 124, as well as vibrations.

[0036] Since abnormal noises from the drive system clutches are difficult to hear from the ear position of workers performing walking tasks, this is addressed by installing sound-collecting devices near the drive system clutches (left wheel drive clutch 123, right wheel drive clutch 124), the power transmission cases (cases 123B, case 124B), and the left wheel 123A and right wheel 124A.

[0037] In Figure 1, the left microphone 32 is positioned near the drive clutch, power transmission case, and wheel as a microphone for sound collection on the left side. A left vibration sensor 31 is also placed next to it to measure both noise and vibration from a reference position.

[0038] Although not shown in the diagram, the right side is equipped with a right microphone 32A and a right vibration sensor 31A, which perform measurements on the right side.

[0039] Figure 3 is a block diagram showing the relationships between the components. Measuring noise with the microphone 32 and vibration with the vibration sensor 31 near the power system is advantageous because it is difficult for workers to hear the noise or react to vibrations with their hands, and it is easier to detect changes over time, thus making it easier to detect problems in advance.

[0040] The work vehicle has a transplant clutch lever 21, a travel clutch lever 22, a left-side clutch lever 23, a right-side clutch lever 24, and an electric motor start switch 25. The driving and working status can be checked by the position of these levers, allowing the status of the work vehicle at that time to be determined. Basic data for that state is registered in the reference data storage unit 13. Clutch operation, wheel stopping time, noise and vibration under each working condition are registered, and the reference data being compared is always different.

[0041] Data from each measurement sensor is sent to the control device 12 via the input circuit 11. The data is calculated within the control device 12 and then outputted via the output circuit 14 to control each component. If the operation must be stopped immediately, a stop signal is sent to the electric motor MCU 101 to stop the electric motor 100. If the urgency is somewhat low and it is not necessary to stop the electric motor 100, and each power system is to be stopped individually, the transfer clutch 121 and the travel clutch 121 are used, or abnormal information such as the side clutch abnormality display 125, abnormal vibration detection display 131, and abnormal driving display 141 are displayed to prevent accidents.

[0042] Although this invention is a walking-type work vehicle, it has a function to send data to a remote location. The reason is that if data such as the feel of the side clutch, noise, vibration data, and confirmation data from the imaging device described later can be sent to a remote location, the accuracy of the judgment will be improved. Furthermore, if the person checking at the remote location is the maintenance manager of the work vehicle, a more reliable judgment will be made, and the decision of whether work can be continued or whether work should be stopped immediately will also be improved.

[0043] The present invention also includes an automatic driving function for straight-line driving, and by adding a data transfer function to remote values, it can handle multiple functions. The functions are explained in Figures 1, 2, and 3. The satellite positioning device 50 and the inertial positioning device 51 are located in the control unit, and the positional relationship of the work vehicle with the field map can be confirmed as information based on this position reference. Automatic driving in a straight line is also possible based on teaching data. This acquired data is transmitted to the cloud 150 via the communication line of the control device 12.

[0044] Side clutch abnormality information 126, abnormal vibration detection information 132, and abnormal driving information 143 are transmitted, and can be viewed by other people in remote locations via an external terminal 151. The abnormal vibration information 132 also includes noise data from the microphone. Furthermore, the imaging device image 60 can be viewed, and by transmitting recorded work sounds and images to a remote location, highly accurate verification becomes possible even from a distance.

[0045] The second invention involves equipping the power path that transmits rotational power from the prime mover to the driving wheels with a device capable of recording working sounds. By transmitting the recorded working sounds to a remote location, it can be used to analyze whether the prolonged operating time of the side clutch in the first invention was due to slippage caused by the slope of the field, etc. While working in the field, noise makes it difficult to distinguish between different sounds. However, by transmitting the working sounds to a remote location and having a person at that location distinguish them, it becomes possible to determine whether it is a sign of machine malfunction or a malfunction.

[0046] Such sound analysis can be performed by analyzing the sound range as a frequency band, or by comparing and analyzing the output time as a pulse sound as a period. Furthermore, the data capacity can be reduced by transmitting the resistance value measured by the vibration of a designated microphone or earphone jack.

[0047] The third invention involves equipping the work vehicle with a device capable of measuring vibrations, transmitting the measured vibration values ​​to a remote location, and enabling a decision on whether to continue work at that location. This device can be used not only to detect when the clutch disengagement is poor, which not only slows down operation, but also to detect abnormal noises and vibrations caused by the left wheel's drive clutch 123 and the right wheel's drive clutch 124 moving together.

[0048] Furthermore, by incorporating a sensor capable of detecting vibrations in the planting drive unit (gear), the system can be configured to include a sensor capable of detecting the operating noise (sound pressure) of the planting drive unit (gear). The detected data is analyzed at regular intervals and stored as comparable data. By comparing drive data from different time intervals, this system can also be used for control purposes to determine malfunctions in the machine based on noise generation or increased vibration.

[0049] The third invention involves equipping the work vehicle with a device capable of measuring vibrations, transmitting the measured vibration values ​​to a remote location, and enabling a decision on whether to continue work from that location. This allows a third party who is not actually performing the work to judge signs of abnormality based on the degree of vibration.

[0050] The inability to disconnect power using the side clutch lever can lead to accidents resulting in personal injury. While it is desirable to address this by detecting signs of malfunction in advance, as in the first invention, various conditions overlap during field work, and relying solely on standard conditions may lead to misjudgments. Therefore, as in the second and third inventions, incorporating judgments from remote locations ensures accurate determination.

[0051] Figure 4 illustrates the overview of side clutch control in a flowchart.

[0052] The side clutch control is started in step S1. First, a driving confirmation is performed in step S2 to check whether the vehicle is moving. The operation sensors for the left and right side clutches are checked. If the side clutch is engaged, a determination is made in step S6 to determine if the stopping time of the driving wheels is longer than the basic time. If it is longer, there is a possibility of an abnormality, so a side clutch abnormality display (work vehicle monitor) is shown in step S7, and the side clutch abnormality information is transmitted (cloud, external terminal) in step S8. This ensures that the situation is confirmed in two places: by the user operating the vehicle and by the person managing it externally, which improves the accuracy of abnormality detection.

[0053] In this control system, if data is sent to an external terminal, the system performs a sound check in S14 and a vibration check in S15, allowing someone other than the worker to decide whether or not to continue the work.

[0054] In this invention, a strain sensor 41 is provided on the arm 42 that lifts the planting section to detect whether the arm 42 is subjected to abnormal stress. If an abnormality is detected, an abnormal stress detection indicator 141 is displayed on the work vehicle, and abnormal stress detection information 143 is transmitted as remote information.

[0055] This control, like the noise and vibration control of the present invention, prevents accidents in advance by sending information to an external source, allowing for decision-making by someone other than the worker. In configurations other than those shown in Figure 1, sensors capable of detecting distortion in the structural members of the work vehicle are mounted within the structural members, and the distortion in the structure is measured by multiple sensors located at various points on the work vehicle. There are also means to check the rotational state of each drive unit and measure the speed of the sliding function, and to correct the detection of the amount of distortion to confirm whether it is within a predetermined range of distortion.

[0056] There is a plastic tray called Cell Tray 70 with dividers for growing seedlings. Since one seedling is grown in each divided section, it is possible to efficiently plant them in the field using a work vehicle. These cell trays are reusable, but because they are made of plastic, they gradually deteriorate with use. Cracks on the edges are reusable, but if the inside of the cells is damaged and holes are created, reuse becomes difficult. However, this is not apparent when the seedlings are inside, and after the work is completed, it may be overlooked due to the large volume of processing.

[0057] To facilitate this process, one method involves using an imaging device 60 to check images of the empty cell trays after planting seedlings in a work vehicle. By comparing the images with those of normal trays, if damage or holes are detected in the images, a tray damage detection device 160 is sent to distinguish the trays.

[0058] In vegetable transplanting machines, operators focus primarily on assisting with driving and turning, and supplying seedling trays. Therefore, it's difficult to check for tray shortages or identify missing trays that could result in missing plants. Monitoring by someone other than the operator would be highly effective in addressing this issue. A system utilizing imaging devices for remote monitoring by someone other than the operator is particularly effective.

[0059] However, due to their design, work vehicles may move in dark areas, or even during the day, the amount of light may be insufficient depending on the weather conditions, making it difficult to adequately confirm images with the imaging device. By using an infrared device 61, the way light is captured by the imaging device can be made less susceptible to weather conditions, the mounting location of the work vehicle, and the imaging position.

[0060] Furthermore, infrared light can capture the reflective properties of plants, making it possible to estimate the growth status of crops and determine the condition of seedlings before planting. By combining this determination technology with the use of infrared light as a temperature detection sensor, it becomes possible to confirm the number of seedlings to be planted and to check in advance when the seedling trays will be ready.

[0061] In vegetable transplanting machines, a sheet called a mulch sheet or mulch film, which is made of nylon sheet 111, is laid on the soil before planting to protect the seedlings after planting. This has the effect of raising the soil temperature, especially when the outside temperature is low at the time of planting, and promotes the germination and growth of seedlings. Conversely, it can also protect the roots from the strong sunlight of summer. It also has the effect of suppressing moisture evaporation from the surface, retaining soil moisture and allowing seedlings to absorb the necessary water for a longer period, thus reducing stress caused by drought. In addition, it also suppresses weeds, controls pests and diseases, prolongs the effect of fertilizer, and makes harvesting easier.

[0062] As described above, multi-sheets and multi-films have a wide range of effects, and when applying this nylon sheet 111, there is a multi-sheet cutter 110 that uses a heater on the work vehicle to cut the nylon sheet. Heating the heater for longer than necessary will drain the battery power. Therefore, the heater temperature is made measurable by an attached sensor, and the attached controller detects the heater temperature from the sensor and controls the temperature change. When the heater switch is ON, the control detects the time from switch OFF to ON until the heater reaches a specified temperature or higher, and stores this time in the controller. This time is used as the reference time, and if the time until the heater reaches a specified temperature or higher exceeds a predetermined time, it is detected as a heater malfunction, and maintenance measures are taken, such as displaying a message to encourage heater replacement. [Explanation of symbols]

[0063] 10 Work Vehicles 23 Left-side clutch lever 24 Right-side clutch lever 31. Vibration Sensor 32 Microphones 41. Strain Sensor 60 Imaging device 125 (S7) Side clutch malfunction indicator 126(S8) Side Clutch Malfunction Information 150 Cloud

Claims

1. In the power path that transmits rotational power from the prime mover to the driving wheels, a side clutch lever is provided to disconnect the power path that transmits power to the steering wheel. The actual time it takes for the driving wheels to stop after the side clutch lever is activated is compared with a pre-registered base time. A work vehicle that detects abnormalities if the time taken to activate exceeds the standard time and is longer than the predetermined time.

2. A work vehicle according to claim 1, equipped with a device capable of recording work sounds, transmitting the recorded work sounds to a remote location, and enabling a decision to continue work at the remote location.

3. A work vehicle according to claim 1 and claim 2, equipped with a device capable of measuring vibrations of the work vehicle, transmitting the measured vibration values ​​to a remote location, and enabling a decision on whether to continue work at the remote location.

Images