Work vehicles

Abstract

After the vehicle height is increased, turning the body of a work vehicle such as an onion seedling transplanter is not always easy, even when the rear wheels remain in contact with the field and a walking worker grips the handlebars and pushes down. [Solution] This onion seedling transplanter is equipped with a pair of left and right rear wheels 12 mounted on the rear of the vehicle body, which are driven by the generated driving power, and a handle 23 mounted on the rear of the vehicle body so as to extend backward, which a walking worker grips and pushes down to lift the front wheels 11 out of the field when the vehicle body is turned. The driving battery 40 is positioned such that when the walking worker grips and pushes down the handle 23 while the rear wheels 12 are in contact with the field after the vehicle height has been increased for the vehicle body to be turned, at least a portion of the driving battery 40 is positioned directly above the rear wheel contact point P in the vertical direction when viewed from the side of the vehicle body.

Description

Technical Field

[0001] The present invention relates to a work vehicle such as an onion seedling transplanter.

Background Art

[0002] In a transplanter in which a seedling supply device and a seedling planting device are provided on a traveling vehicle body that performs left-right tilt control of the vehicle body by operating a left-right tilt control actuator based on detection of the left-right tilt of the vehicle body by a left-right tilt sensor, a transplanter is known in which a left battery connector and a right battery connector for mounting a battery that supplies power to the left-right tilt sensor are provided on both left and right sides of the seedling supply device, and a control device is provided that recognizes the mounting position of the battery and changes the zero point position of the left-right tilt sensor (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the present inventor has found that after the vehicle height is increased, turning of the vehicle body of a work vehicle such as an onion seedling transplanter, in which a walking worker grips and pushes down the handle while the rear wheel ground contact state where the rear wheels are in contact with the field is maintained, is not necessarily easy.

[0005] In view of the above-described conventional problems, the present invention aims to provide a work vehicle that allows a walking worker to more easily perform vehicle body turning by gripping and pushing down the handle while the rear wheel ground contact state where the rear wheels are in contact with the field is maintained after the vehicle height is increased.

Means for Solving the Problems

[0006] The first aspect of the present invention is a work vehicle that plants transplanted materials into a field while driving, A pair of front wheels mounted on the front of the vehicle body, A driving battery positioned above the front wheel supplies power for generating driving force, A pair of left and right rear wheels mounted on the rear of the vehicle body are driven by the aforementioned generated propulsion force, A handle attached to the rear of the vehicle body, extending backward, is used by a walking worker to grip and push down the front wheels in order to lift them off the field when the vehicle body is turned. It is equipped with, The work vehicle is characterized in that, after the vehicle height is increased in order to perform the aforementioned vehicle rotation, and while the rear wheels are in contact with the field, the vehicle operator grips the handle and pushes down, at least a portion of the driving battery is positioned directly above the point of contact with the rear wheels in the vertical direction when viewed from the side of the vehicle.

[0007] The second aspect of the present invention is a planting device for planting the transplanted material in the field, A compaction wheel unit positioned below the handle for compacting the soil of the field near the planted transplanted material, It is equipped with, The first work vehicle of the present invention is characterized in that, in order to perform the vehicle body rotation, the vehicle height is increased and the compaction wheel unit is raised so that it does not come into contact with the field, and while the rear wheels remain in contact with the ground, when the walking worker grasps the handle and pushes down, at least a portion of the driving battery is positioned directly above the point of contact with the field in the vertical direction before the compaction wheel unit comes into contact with the field again.

[0008] The third aspect of the present invention is a work vehicle of the second aspect of the present invention, characterized in that the floor is tilted downwards towards the front so that the front of the vehicle body is lower than the rear of the vehicle body as a result of the increase in the vehicle height.

[0009] The fourth aspect of the present invention includes seats erected on the floor where an onboard worker sits, The third work vehicle of the present invention is characterized in that the aforementioned driving battery is arranged to be housed below the seat.

[0010] The fifth aspect of the present invention is a work vehicle of the fourth aspect of the present invention, characterized in that the traction battery is attached to a rail member provided on the floor such that when the floor is tilted downwards towards the rear by the walking worker gripping and pushing down the handle, the traction battery slides down towards the rear of the vehicle body by its own weight.

[0011] The sixth aspect of the present invention is a work vehicle according to the fifth aspect of the present invention, characterized in that a spring member is provided to pull the traction battery toward the front of the vehicle body such that the traction battery is stored beneath the seat when the floor is not tilted.

[0012] The seventh aspect of the present invention includes a battery case for housing the aforementioned traction battery, The sixth work vehicle of the present invention is characterized in that the case lid of the battery case can be opened forward.

[0013] The eighth aspect of the present invention is that the traction battery can be removed from the battery case by opening the case lid forward. A seventh work vehicle of the present invention is characterized in that a flat surface on which the traction battery removed from the battery case is placed is formed at the front of the vehicle body.

[0014] The ninth aspect of the present invention is a drive motor that outputs the driving power using the power supplied by the drive battery, The length direction of the motor output shaft of the aforementioned drive motor is in the left-right direction of the vehicle body. The eighth work vehicle of the present invention is characterized in that the motor output shaft does not protrude from the edge of the floor in the left-right direction of the vehicle body.

[0015] The tenth aspect of the present invention is provided with a transmission case that outputs the traveling power output from the motor output shaft toward the rear wheels, A part of the traveling power is supplied from the transmission case to the planting device via a rod member, The transmission case is arranged in front of the traveling motor, The traveling motor is arranged so as to be offset to one side with reference to the left-right center line in the vehicle body left-right direction in a plan view of the vehicle body, The rod member is the work vehicle according to the ninth aspect of the present invention, characterized in that the rod member is arranged so as to be offset to the other side with reference to the left-right center line.

[0016] The eleventh aspect of the present invention is the work vehicle according to the tenth aspect of the present invention, characterized by comprising an auxiliary battery arranged below the rotary table of the transplant cup into which the transplant to be planted is loaded by the riding operator. Effects of the Invention

[0017] According to the present invention, after the vehicle height is increased, while the rear wheel ground contact state where the rear wheels are in contact with the field is maintained, a walking operator can more easily perform vehicle body turning by gripping and pressing down the handle. Brief Description of the Drawings

[0018] [Figure 1] Left side view (part one) of the onion seedling transplanter according to the embodiment of the present invention [Figure 2] Left side view (part two) of the onion seedling transplanter according to the embodiment of the present invention [Figure 3] Left side view (part three) of the onion seedling transplanter according to the embodiment of the present invention [Figure 4] (a) Left side view (part four) of the onion seedling transplanter according to the embodiment of the present invention, (b) Left side view (part five) of the onion seedling transplanter according to the embodiment of the present invention [Figure 5]Left side view (part 6) of an onion seedling transplanter according to an embodiment of the present invention. [Figure 6] Perspective view (part 1) of an onion seedling transplanter according to an embodiment of the present invention [Figure 7] Left side view (part 7) of an onion seedling transplanter according to an embodiment of the present invention. [Figure 8] Partial plan view (part 1) of an onion seedling transplanter according to an embodiment of the present invention [Figure 9] Perspective view (part two) of an onion seedling transplanter according to an embodiment of the present invention. [Figure 10] Perspective view (part 3) of an onion seedling transplanter according to an embodiment of the present invention. [Figure 11] Partial plan view (part two) of an onion seedling transplanter according to an embodiment of the present invention [Figure 12] (a) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (Part 1), (b) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (Part 2) [Figure 13] Diagram (Part 3) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 14] Diagram (Part 4) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 15] Diagram (Part 5) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 16] Diagram (6) illustrating an embodiment of the onion seedling transplanter according to the present invention. [Figure 17] Diagram (7) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 18] (a) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (No. 8), (b) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (No. 9) [Figure 19] Diagram (10) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 20] (a) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (No. 11), (b) Explanatory diagram of an onion seedling transplanter according to an embodiment of the present invention (No. 12) [Figure 21]Diagram (13) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 22] Diagram (14) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 23] Diagram (15) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Figure 24] Diagram (16) illustrating an onion seedling transplanter according to an embodiment of the present invention. [Modes for carrying out the invention]

[0019] Embodiments of the present invention will be described in detail with reference to the drawings.

[0020] The same applies below, however, some components may not be shown in the drawings, or they may be shown in perspective or in an abbreviated form.

[0021] The onion seedlings in the embodiment of the present invention are a specific example of the transplanted material in the present invention. The onion seedling transplanter in the embodiment of the present invention is an onion seedling transplanter that plants onion seedlings in a field while moving, and is a specific example of the work vehicle in the present invention.

[0022] While describing the operation of the onion seedling transplanter according to the embodiment of the present invention, a method for controlling the operation of a work vehicle related to the present invention, which is realized by a controller or the like, will also be described.

[0023] (1) First, the configuration and operation of the onion seedling transplanter according to the embodiment of the present invention will be specifically described, mainly with reference to Figures 1, 2 and 3, and 4(a) and 4(b).

[0024] Herein, Figures 1, 2, and 3, as well as 4(a) and 4(b), are left side views (one to five) of an onion seedling transplanter according to an embodiment of the present invention.

[0025] This type of onion seedling transplanter is an electric motor-driven, ride-on transplanter that performs onion transplanting in four rows.

[0026] The front wheels 11 are a pair of left and right front wheels mounted on the front of the vehicle body. The driving battery 40 is a driving battery located above the front wheels 11 that supplies power to generate driving power. The rear wheels 12 are a pair of left and right rear wheels mounted on the rear of the vehicle body that are driven by the generated driving power. The handle 23 is a handle mounted on the rear of the vehicle body that extends backward and is used by a walking worker to grip and push down on the front wheels 11 to lift them out of the field when turning the vehicle body.

[0027] Figure 1 shows the conditions during normal planting while driving. The end of the furrow has not yet been detected by the furrow end sensor 102, but the ground contact of the compaction wheel unit 72 has been detected.

[0028] In order to perform a vehicle turn, after the vehicle height is increased, the rear wheels 12 are in contact with the field, and while the rear wheel contact state is maintained, when a walking worker grasps and pushes down on the handle 23, the driving battery 40 is positioned such that at least a portion of it is located directly above the rear wheel contact point P in the vertical direction when viewed from the side of the vehicle.

[0029] The vehicle rotation of the onion seedling transplanter according to the embodiment of the present invention will be described in more detail as follows.

[0030] The planting device 70 is a planting device for planting onion seedlings in the field. The compaction wheel unit 72 is a compaction wheel unit located below the handle 23 that compacts the soil of the field near the planted onion seedlings.

[0031] Figure 2 shows the state of the compaction wheel unit 72 when the compaction wheels are raised. After the end of the ridge is detected by the ridge end sensor 102, the vehicle height is increased sufficiently to the limit height position by raising the compaction wheels so that the safety of turning with the ridge end lift can be ensured.

[0032] In order to perform a vehicle turn, the vehicle height is increased and the compaction wheel unit 72 is raised so that it does not come into contact with the field. Then, while the rear wheels remain in contact with the ground, when a walking worker grasps the handle 23 and pushes it down, the traction battery 40 is positioned such that at least a portion of the traction battery 40 is located directly above the rear wheel contact point P in the vertical direction before the compaction wheel unit 72 comes into contact with the field again.

[0033] The vehicle rotation of the onion seedling transplanter according to the embodiment of the present invention will be described in more detail as follows.

[0034] As the vehicle height is increased, the floor 21 is tilted downwards towards the front so that the front of the vehicle is lower than the rear of the vehicle.

[0035] In this way, by increasing the vehicle height along with raising the pressure wheels so that the floor 21 is tilted downwards towards the front, the operator can easily achieve a state where at least a portion of the driving battery 40 is positioned directly above the rear wheel contact point P in the vertical direction by simply pushing down the handle 23. Of course, it is also possible to adopt a configuration in which the vehicle height is increased so that the floor 21 is horizontal. Switching between increasing the vehicle height so that the floor 21 is tilted downwards towards the front and increasing the vehicle height so that the floor 21 is horizontal can be achieved by inserting or removing a pin member that restricts the rotation of the front wheels 11 relative to the vehicle body.

[0036] Figure 3 shows the state when the handle is pushed down for lifting. Pushing down the handle so that the compaction wheel unit 72 contacts the field again gives the limit angle for the ridge-finishing lift for turning, and when the ridge-finishing lift is performed at the limit angle, for example, most of the travel battery 40 and travel motor 30 are located directly above the rear wheels 12 but in front of the rear end of the rear wheels 12.

[0037] In this way, by performing the handle push-down lift so that the compaction wheel unit 72 comes into contact with the field, the operator can often perform turning operations stably. Of course, it is also possible to adopt a configuration in which the handle push-down lift is performed sparingly so that the compaction wheel unit 72 does not come into contact with the field with excessively large contact pressure, or a configuration in which the compaction wheel unit 72 does not come into strict contact with the field.

[0038] Seat 22 is a seat erected on floor 21 where the crew member sits. The driving battery 40 is positioned to be stored below seat 22.

[0039] The onion seedling transplanter according to the embodiment of the present invention is an electric motor-driven riding transplanter that not only enables stable driving and planting operations but also facilitates turning operations at the end of the ridge, also known as ridge-end maneuvering operations.

[0040] Since heavy engine units and other components are not positioned at the very front of the vehicle, even in a forward-leaning tilted posture where the front of the vehicle is lifted, the center of gravity G does not tend to shift excessively from directly above the rear wheels towards the front wheels 11, allowing the operator to perform turning operations stably.

[0041] As shown in Figure 4(a), when the vehicle is being used for planting, the vehicle battery 40 is located above the blower 101, and its position is offset towards the front wheel 11, between the front wheel 11 and the rear wheel 12.

[0042] As shown in Figure 4(a), when the vehicle is being used for planting, the vehicle motor 30 is located below the blower 101, and its position is between the front wheel 11 and the rear wheel 12, with a bias toward the rear wheel 12.

[0043] When this type of mobile planting operation is being performed, the operator sits in seat 22 as a passenger and replenishes the onion seedlings in the onion seedling cups on the rotating table 71. Since the transplanting machine operates in a straight line, a walking operator to grasp and push down the handle 23 is not necessarily required.

[0044] As shown in Figure 4(b), in the forward-leaning tilted position in which the front of the vehicle is lifted during the turning operation, the driving battery 40, the driving motor 30, and the seat 22 are all located above the rear wheels 12.

[0045] When this turning operation is being performed, the worker grasps and pushes down the handle 23 as a walking worker, not as a mounted worker. The turning operation, in which the front wheels 11 are lifted, is performed manually by dismounting and moving to the handle 23, which is the operating handle.

[0046] As described above, when the vehicle is performing planting operations while moving, the center of gravity G is located between the front wheels 11 and the rear wheels 12, allowing for stable planting operations. When the vehicle is performing turning operations, the center of gravity G moves to a position directly above the rear wheel contact point P in the vertical direction, allowing for safe turning operations. Furthermore, the vehicle battery 40 is positioned to facilitate battery replacement.

[0047] The traction battery 40 may also be attached to a rail member 91 provided on the floor 21 so as to slide down toward the rear of the vehicle by its own weight when the floor 21 is tilted downwards toward the rear by a walking worker gripping and pushing down the handle 23.

[0048] Since the traction battery 40 reliably slides down toward the rear of the vehicle, when turning operations are performed, the position of the center of gravity G moves to a position directly above the rear wheel contact point P in the vertical direction, allowing turning operations to be performed more safely. Furthermore, excessive sliding of the traction battery 40 can be suppressed by stopper members or other means provided as needed.

[0049] Furthermore, when the floor 21 is not tilted, a spring member 92 may be provided to pull the driving battery 40 toward the front of the vehicle body so that the driving battery 40 is stored beneath the seat 22.

[0050] Since the traction battery 40 is reliably pulled toward the front of the vehicle, when the vehicle is performing planting work while driving, the position of the center of gravity G is between the front wheels 11 and the rear wheels 12, allowing the planting work to be performed more stably while driving.

[0051] (2) Next, the configuration and operation of the onion seedling transplanter according to the embodiment of the present invention will be described in more detail, mainly with reference to Figures 5, 6, 7, 8, 9, 10, and 11.

[0052] Here, Figure 5 is a left side view (part 6) of the onion seedling transplanter according to an embodiment of the present invention, Figure 6 is a perspective view (part 1) of the onion seedling transplanter according to an embodiment of the present invention, Figure 7 is a left side view (part 7) of the onion seedling transplanter according to an embodiment of the present invention, Figure 8 is a partial plan view (part 1) of the onion seedling transplanter according to an embodiment of the present invention, Figures 9 and 10 are perspective views (parts 2 and 3) of the onion seedling transplanter according to an embodiment of the present invention, and Figure 11 is a partial plan view (part 2) of the onion seedling transplanter according to an embodiment of the present invention.

[0053] The battery case 50 is a battery case that houses the driving battery 40. The case lid 51 of the battery case 50 can be opened forward.

[0054] As shown in Figure 5, the replaceable battery, the traction battery 40, is located below the seat 22 which serves as the seat for the operator. The position of the traction battery 40 is above the drive shaft of the rear wheels 12, so it has almost no adverse effect on the lifting load of the handle 23 when moving the vehicle.

[0055] Since an opening for inserting and removing the traction battery 40 is provided on the front of the vehicle body, battery replacement can be easily performed from the front of the vehicle body.

[0056] The case lid 51 is opened forward, allowing the traction battery 40 to be removed from the battery case 50. A flat surface S is formed at the front of the vehicle body on which the traction battery 40, removed from the battery case 50, is placed.

[0057] As shown in Figure 6, the flat surface S is, for example, the flat surface on the upper part of the front bumper, and when battery replacement work is performed, the traction battery 40 can be temporarily placed on the flat surface S.

[0058] The drive motor 30 is a drive motor that outputs driving power using power supplied by the drive battery 40. The length direction of the motor output shaft 31 of the drive motor 30 is in the left-right direction of the vehicle body. The motor output shaft 31 does not protrude from the edges of the floor 21 in the left-right direction of the vehicle body.

[0059] As shown in Figure 7, the travel motor 30 is located below the rear portion of the floor 21 on which the seat 22 in which the operator sits is erected, and is located near the center of gravity G, which is the center of gravity of the vehicle, when the vehicle is being used for planting operations.

[0060] The transmission case 80 is a transmission case that outputs the driving power output from the motor output shaft 31 toward the rear wheels 12. A portion of the driving power is supplied from the transmission case 80 to the planting device 70 via the rod member 81. The transmission case 80 is located in front of the driving motor 30. The driving motor 30 is positioned so as to be biased to one side with respect to the left-right centerline of the vehicle body in a plan view of the vehicle body. The rod member 81 is positioned so as to be biased to the other side with respect to the left-right centerline.

[0061] As shown in Figure 8, the position of the drive motor 30 in the left-right direction of the vehicle body is towards the left side, in a position where power can be transmitted to the transmission case 80, which is the drive transmission case, by the drive belt 103, and the motor output shaft 31 does not protrude from the floor plate surface of the floor 21.

[0062] As shown in Figure 9, the vehicle body lift, as well as the seedling planting depth control and vehicle body rolling control, are performed by an electric cylinder mechanism 104, rather than by a hydraulic cylinder mechanism.

[0063] The two cylinder members of the electric cylinder mechanism 104, which are individually provided on the left and right sides respectively, are located at the front of the vehicle body.

[0064] The auxiliary battery 60 is located below the rotating table 71 of the onion seedling cup into which the onion seedlings to be planted are loaded by the operator.

[0065] As shown in Figure 10, the auxiliary battery 60, also called the electromotive force battery and used as a system starting battery, is located below the rotary table 71, and is different from the main battery, the traction battery 40.

[0066] As shown in Figure 11, the auxiliary battery 60 is positioned in the center of the vehicle in the left-right direction.

[0067] The ground terminal of the auxiliary battery 60 is located on the front side of the vehicle body below the rotary table 71, making it easy to remove the auxiliary battery 60.

[0068] An LCD panel monitor 106 is located on the operating unit 105, which is positioned in the center of the handle 23. Battery level, usage time, and set intervals are displayed on the LCD panel monitor 106.

[0069] The key switch, ON / OFF switch, and accelerator lever are located on the handle grip side of the handle 23.

[0070] (3) Next, the configuration and operation of the onion seedling transplanter according to the embodiment of the present invention will be described in more detail.

[0071] This type of onion seedling transplanter is an electric motor-driven, ride-on transplanter that performs vegetable transplanting in a semi-automatic manner.

[0072] As shown in Figures 12(a) and 12(b), and 13, which are explanatory diagrams (parts 1 to 3) of the onion seedling transplanter according to the embodiment of the present invention, the LCD panel monitor 106 displays not only the motor rotation speed of the travel motor 30, the operating time, and the set distance between plants digitally, but also the mode switching switch 201 and the battery icon 202 that indicates the remaining battery level of the travel battery 40. A key switch 203 and an ON / OFF switch 204 are provided together with a lift switch 205.

[0073] One possible configuration is that the drive motor 30 is activated by turning on the key switch 203 located on the upper right of the handle control panel of the control unit 105, and starts rotating when the ON / OFF switch 204 is turned on.

[0074] One possible configuration for the LCD panel monitor 106 in the center of the panel is to display the battery level in the lower left corner of the screen, and the motor speed, usage time, and set interval between plants in the central part, with the mode being switched using the mode switch 201.

[0075] As shown in Figure 14, which is an explanatory diagram (fourth) of an onion seedling transplanter according to an embodiment of the present invention, the accelerator lever 206 is provided so as to be assembled to the handle 23.

[0076] One possible configuration is to control the motor speed using an accelerator lever 206 located next to the grip on the right side of the handle 23. By rotating the accelerator lever 206 inward, the rotation speed of the drive motor 30 increases.

[0077] As shown in Figure 15, which is an explanatory diagram (number five) of an onion seedling transplanter according to an embodiment of the present invention, the electric cylinder of the electric cylinder mechanism 104 can be controlled in various ways using the ratio of the detected value to the stored value, with the difference in the EEPROM stored value as the denominator. Of course, it is also possible to adopt a configuration in which the detected value from the immediately preceding operation is stored as the EEPROM stored value.

[0078] Regarding the data processing specifications, the difference between the sensor-adjusted EEPROM memory value and the measured value is used as the denominator, and various controls are performed based on the ratio of the detected value to the stored value. For each sensor, if the calculated ratio exceeds 100%, it is set to 100%. If the calculated ratio is less than 0%, it is set to 0%. Regarding the current ratio of sensor (cylinder stroke / L) and sensor (cylinder stroke / R), both L and R operate in the cylinder extension direction when the sensor voltage increases, and in the cylinder contraction direction when the voltage decreases. The difference between the upper limit position setting memory value and the lower limit position memory value is used as the denominator (100%). The current ratio of sensor (cylinder stroke / L) is,

[0079] (Math 1) SSL[%]=(ν1 / δ1)×100[%] ν1=SSLn-SSLl δ1 = SSLu - SSLl The formula is used to calculate the value. SSL is the current ratio [%] of the sensor (cylinder stroke / L), SSLn is the current value of the sensor (cylinder stroke / L), SSLu is the upper limit of the sensor (cylinder stroke / L) (default value: 1019 bits), and SSLl is the lower limit of the sensor (cylinder stroke / L) (default value: 29 bits).

[0080] As shown in Figure 16, which is an explanatory diagram (sixth) of an onion seedling transplanter according to an embodiment of the present invention, the sensing roller 302 is provided on the ridge height sensor 301.

[0081] A possible configuration is one in which the vehicle body has a sensing roller 302 for detecting the height of the furrow, and a furrow height sensor 301 is positioned on the sensing roller 302, and the height of the furrow is detected by the angle of the arm.

[0082] As shown in Figure 17, which is an explanatory diagram (number seven) of an onion seedling transplanter according to an embodiment of the present invention, the ridge height sensor 301 changes the ridge height to the higher side when the voltage increases and to the lower side when the voltage decreases. The difference between the upper limit position setting memory value and the lower limit position setting memory value is used as the denominator. The ridge height reference value is set to the 50% position of the upper limit / lower limit ratio (default position).

[0083] Regarding the ridge height sensor 301, an increase in the sensor voltage causes the ridge height to increase, and a decrease in voltage causes the ridge height to decrease. The difference between the upper limit position setting memory value and the lower limit position memory value is used as the denominator (100%). The ridge height reference value is set to the 50% position of the upper / lower limit ratio (default value). The ratio calculation is as follows:

[0084] (Math 2) SU[%]=(ν² / δ²)×100[%] ν² = SUN - SUL δ² = SUu - SUl The formula is used to calculate the current ratio [%] of the ridge height sensor 301, SUn is the current value of the ridge height sensor 301, SUu is the upper limit of the ridge height sensor 301 (default value: 1019 bits), SUn is the lower limit of the ridge height sensor 301 (default value: 29 bits), and SUB is the reference value of the ridge height sensor 301 (default value: 524 bits).

[0085] As shown in Figures 18(a) and 18(b), which are explanatory diagrams (vIII and IX) of an onion seedling transplanter according to an embodiment of the present invention, various sensors such as a seat sensor 402, a main clutch lever sensor 403, and a compaction wheel sensor 404 are provided together with a buzzer 401, as well as sensors such as a ridge-ending sensor 102 with a ridge-ending sensor roller 405 and a ridge height sensor 301. A ridge-ending detection lamp 406, a horizontal switch 407, a left / right tilt control dial 408, a ridge height adjustment dial 409, and an emergency stop button 410 are arranged in order toward the outside of the vehicle body at the front edge of the rotating table 71.

[0086] One possible configuration is to position the ridge height adjustment dial 409 on the left side of the rotating table 71 (right side from the perspective of the operator).

[0087] One possible configuration is one in which the threshold value of the ridge height sensor 301, which detects the ridge height, can be adjusted by the ridge height adjustment dial 409.

[0088] As shown in Figure 19, an explanatory diagram (number 10) of an onion seedling transplanter according to an embodiment of the present invention, the ridge height adjustment dial 409 is used to control the machine by determining a ratio from the dial's center position and current position. Turning the dial clockwise increases the voltage and sets the ridge height reference value to a higher side by the ratio of the dial. Turning the dial counterclockwise sets the ridge height reference value to a shallower side.

[0089] Regarding the ridge height adjustment dial 409, the electrical effective angle of the switch (VR) assembly is 280 ± 5 degrees. The ridge height adjustment dial 409 is used to control the ridge height by determining the ratio from the dial's center position and current position. Turning the dial clockwise increases the voltage. Turning the dial clockwise sets the ridge height reference value to the higher side by the dial ratio. Turning the dial counterclockwise sets the ridge height reference value to the shallower side. Data processing for the ridge height adjustment dial 409 is performed as follows: When the ridge height adjustment dial 409 is turned to the right from the center position,

[0090] (Math 3) DUR[%]=(ν³ / δ³)×100[%] ν3 = DUn - (DUb + 4bit) δ3 = 10¹⁹ bits - (DUb + 4 bits) The ratio is calculated as follows: DUR is the current ratio [%] when turned clockwise, DUn is the current value of the furrow height adjustment dial 409, DUb is the center position reference value (default value: 524 bits) of the left / right tilt control dial 408, and the AD value of the clockwise neutral width is +4. When the furrow height adjustment dial 409 is turned to the left from the center position,

[0091] (Math 4) DUL[%] = 100% - (ν₄ / δ₄) × 100[%] ν4 = DUn - 29bit δ4 = DUb - 29bit - 4bit The ratio is calculated as follows: DUL is the current ratio [%] when turned counterclockwise, DUn is the current value of the furrow height adjustment dial 409, DUb is the center position reference value (default value: 524 bits) of the left / right tilt control dial 408, and the AD value of the counterclockwise neutral width is -4.

[0092] As shown in Figures 20(a) and 20(b), which are explanatory diagrams (11th and 12th) of an onion seedling transplanter according to an embodiment of the present invention, various sensors such as a seat sensor 402, a main clutch lever sensor 403, and a compaction wheel sensor 404 are provided together with a buzzer 401, as well as sensors such as a ridge-end sensor 102 having a ridge-end sensor roller 405 and a ridge height sensor 301. A ridge-end detection lamp 406, a horizontal switch 407, a left / right tilt control dial 408, a ridge height adjustment dial 409, and an emergency stop button 410 are arranged in order toward the outside of the vehicle body at the front edge of the rotating table 71.

[0093] Vehicle body horizontal control can be switched between automatic and manual horizontal control by operating the horizontal switching switch 407, and the horizontal switching switch 407 and the left / right tilt control dial 408 are thought to be located on the left side of the vehicle body of the rotary table 71 (right side from the perspective of the operator).

[0094] As shown in Figure 21, which is an explanatory diagram (13th) of an onion seedling transplanter according to an embodiment of the present invention, automatic horizontal control is conceivable to maintain a horizontal position using not only the slope sensor detection value but also the slope of the left / right tilt control dial 408 as the target.

[0095] Regarding the changes from the automatic leveling control specifications in the ACR (Autonomous Case-handling Robot) system of the combine harvester FM specification, when work is being performed, the cylinder motors of the electric cylinder mechanisms 104 on the left and right sides of the vehicle body are extended and retracted so that the left and right tilt of the vehicle body matches the tilt angle (±5 degrees) set by the slope sensor detection value and the left and right tilt control dial 408. When automatic leveling control is selected with the leveling switch 407, the output is made so that the tilt angle (by moving average) of the slope sensor matches the tilt angle set by the left and right tilt control dial 408. Regarding the leveling output, the left and right solenoid outputs are switched alternately every 0.5 seconds to perform leveling control output. When the left and right tilt control dial is turned clockwise,

[0096] (Math 5) VrbsR[%] = (Ratio of downward slope sensor to the right[%]) -5 / 15 × (Ratio of clockwise rotation of left / right tilt control dial 408 [%]) The ratio VrbsR[%] is calculated, and when the left / right tilt control dial is turned counterclockwise,

[0097] (Math 6) VrbsL[%] = (Slope sensor left-downward slope ratio[%]) -5 / 15 × (Counter-clockwise rotation ratio of the left / right tilt control dial 408 [%]) Then calculate the ratio VrbsL[%].

[0098] As shown in Figure 22, which is an explanatory diagram (number fourteen) of an onion seedling transplanter according to an embodiment of the present invention, a control system is conceivable in which the voltage is increased when a downward slope to the right is detected by the tilt detection sensor of the machine, such as a slope sensor, and the voltage is decreased when a downward slope to the left is detected. The position of the EEPROM horizontal reference value is the 100% position, and control is performed using ratio data.

[0099] Regarding the slope sensor, the electrical effective angle of the sensor assembly is 0 ± 15 degrees at 2.0 ± 1.5V. When a downward slope to the right is detected, the voltage is increased, and when a downward slope to the left is detected, the voltage is decreased. The EEPROM horizontal reference value is at the 100% position, and control is performed using ratio data. The slope sensor data processing is performed as follows: When a downward slope to the right is detected,

[0100] (Number 7) SLR[%]=100[%]-(ν7 / δ7)×100[%] ν7 = SLn - (SLb + 20) δ7 = 737 bits - (SLb + 20) The ratio SLR[%] is calculated. SLR is the current ratio[%] when the slope is downward to the right, SLn is the current value of the slope sensor, SLb is the horizontal reference value of the slope sensor (default value: 409 bits), the AD value for the downward-sloping neutral width is +20, and a 0.15 degree tilt of the device is detected as a 1% ratio change. When a downward slope to the left is detected,

[0101] (Math 8) SLL[%]=(ν8 / δ8)×100[%] ν8 = SLn - 82bit δ8 = SLb - 20bit - 82bit The ratio SLL[%] is calculated. SLL is the current ratio[%] when the slope is downward to the left, SLn is the current value of the slope sensor, SLb is the horizontal reference value of the slope sensor (default value: 409 bits), and the AD value for the downward-sloping neutral width is -20.

[0102] As shown in Figure 23, which is an explanatory diagram (number 15) of an onion seedling transplanter according to an embodiment of the present invention, manual horizontal control is performed with a left / right tilt control dial 408, and by turning the dial clockwise or counterclockwise from the center position, the tilt of the machine during automatic horizontal control can be adjusted within a range of ±5 degrees.

[0103] Regarding the left / right tilt control dial 408, the electrical effective angle of the switch (VR) assembly is 280 ± 5 degrees. Turning the dial clockwise or counterclockwise from the center position adjusts the tilt of the unit during automatic horizontal control within a range of ±5 degrees. The handling data is 100% at the center position of the dial, and subtraction is performed to 0% by turning clockwise or counterclockwise. Turning the dial clockwise increases the voltage (decreases the ratio), and the unit operates downwards to the right. Turning the dial counterclockwise decreases the voltage (decreases the ratio), and the unit operates downwards to the left. For example, when the left / right tilt control dial 408 is turned clockwise from the center position,

[0104] (Math 9) DLRR[%]=100[%]-(ν9 / δ9)×100[%] ν9 = DLRn - (DLRRb + 4) δ9 = 1019 bits - (DLRRb + 4) The ratio is calculated as follows: DLRR is the current ratio [%] when turned clockwise, DLRn is the current value of the left / right tilt control dial 408, DLRRb is the reference value of the center position of the left / right tilt control dial 408 (default value: 524 bits), the AD value of the clockwise neutral width is +4, and the 0.05 degree downward tilt of the unit is performed with a ratio change of 1%.

[0105] As shown in Figure 24, which is an explanatory diagram (part 16) of an onion seedling transplanter according to an embodiment of the present invention, when the power is turned ON and the position of the horizontal changeover switch 407 is set to either the automatic horizontal control position or the manual horizontal control position, a control is conceivable in which the movement of the lifting cylinder of the electric cylinder mechanism 104 is prohibited by a safety process. After the power is turned ON, the safety process can be released by operating the horizontal changeover switch 407.

[0106] Regarding safety procedures, when the horizontal selector switch 407 is in the automatic horizontal control position or the manual horizontal control position when the power is turned on, the lifting cylinder will not move due to safety procedures. After the power is turned on, the safety procedures can be deactivated. Regarding safety deactivation, after the power is turned on, if the setting is changed from automatic horizontal control to manual horizontal control, or from manual horizontal control to automatic horizontal control, horizontal control will start.

[0107] The main clutch lever sensor 403 is located in the vehicle-mounted transmission section of the transmission case 80, and a configuration is conceivable in which the main clutch lever sensor 403 is activated when the main clutch lever is turned OFF.

[0108] A possible control mechanism is in which the ridge completion detection lamp 406 and buzzer 401 operate when the ridge completion sensor 102 is turned ON, the main clutch lever sensor 403 is turned OFF, and the operation of the main clutch lever sensor 403 is deactivated by the main clutch OFF operation.

[0109] The emergency stop button 410 is located on the left side of the vehicle body of the rotary table 71 (right side from the perspective of the operator), and the motor rotation of the travel motor 30 can be stopped by pressing the emergency stop button 410.

[0110] The seat sensor 402 is positioned below the seat 22, which is the seat for the worker, and is configured to be turned ON when the worker is seated.

[0111] A possible configuration is one in which the motor rotation of the travel motor 30 is stopped when the ridge end sensor 102 is turned ON, the seat sensor 402 is turned ON, the main clutch lever sensor 403 is turned OFF, and the compaction wheel sensor 404 is turned ON, thereby implementing an emergency stop function in case the operator does not notice the end of the ridge.

[0112] Furthermore, the program of the invention related to the present invention is a program that causes a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with the computer.

[0113] Furthermore, the recording medium of the invention related to the present invention is a recording medium that records a program for causing a computer to execute all or part of the steps (or processes, operations, and actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

[0114] Furthermore, the "some steps (or processes, actions, and functions, etc.)" mentioned above refers to one or more of those steps.

[0115] Furthermore, the "actions of the steps (or processes, movements, and actions, etc.)" mentioned above refer to all or part of the actions of the steps mentioned above.

[0116] Furthermore, one form of use of the program of the invention related to the present invention may be that it is transmitted through a transmission medium such as the internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

[0117] Furthermore, recording media include ROM (Read Only Memory), among others.

[0118] Furthermore, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

[0119] As mentioned above, the configuration of the present invention may be implemented in software or in hardware. [Industrial applicability]

[0120] The work vehicle in this invention, after its height is increased, allows for easier vehicle rotation by a walking worker gripping the handlebars and pushing down while maintaining a rear-wheel contact state where the rear wheels are in contact with the field, making it useful for use as a work vehicle such as an onion seedling transplanter. [Explanation of symbols]

[0121] 11 Front Wheel 12 Rear wheels 21 floors 22 seats 23 Handle 30. Driving motor 31 Motor output shaft 40 Driving battery 50 Battery Case 51 Case lid 60 auxiliary batteries 70 Planting device 71 Rotating Table 72 Compression Wheel Unit 80 Transmission Case 81 Rod Member 91 Rail Member 92 Spring member 101 Blower 102 Furrow End Sensor 103 Drive belt 104 Electric Cylinder Mechanism 105 Operating Unit 106 LCD Panel Monitor 201 Mode selector switch 202 Battery icon 203 Key Switches 204 ON / OFF switch 205 Lifting switch 206 Accelerator lever 301 Ridge height sensor 302 Sensing Roller 401 Buzzer 402 Seat Sensor 403 Main clutch lever sensor 404 Pressure Wheel Sensor 405 Furrow-finishing sensor roller 406 Furrow End Detection Lamp 407 Horizontal changeover switch 408 Left / Right Tilt Control Dial 409 Ridge height adjustment dial 410 Emergency Stop Button G center of gravity P Rear wheel contact point S flat surface

Claims

1. It is a work vehicle that plants transplanted crops into the field while moving, A pair of front wheels mounted on the front of the vehicle body, A driving battery positioned above the front wheel supplies power for generating driving force, A pair of left and right rear wheels mounted on the rear of the vehicle body are driven by the aforementioned generated propulsion force, A handle attached to the rear of the vehicle body, extending backward, is used by a walking worker to grip and push down the front wheels in order to lift them off the field when the vehicle body is turned. It is equipped with, A work vehicle characterized in that, after the vehicle height is increased in order to perform the aforementioned vehicle rotation, and while the rear wheels are in contact with the field, the vehicle operator grips and pushes down on the handlebars, at least a portion of the vehicle battery is positioned directly above the point of contact with the rear wheels in the vertical direction when viewed from the side of the vehicle.

2. A planting device for planting the aforementioned transplanted material in the aforementioned field, A compaction wheel unit positioned below the handle for compacting the soil of the field near the planted transplanted material, It is equipped with, The work vehicle according to claim 1, characterized in that, after the vehicle height is increased to raise the compaction wheel unit so that it does not come into contact with the field in order to perform the vehicle body rotation, and while the rear wheels remain in contact with the ground, the walking worker grasps the handle and pushes down, and at least a portion of the driving battery is positioned directly above the point of contact with the field in the vertical direction before the compaction wheel unit comes into contact with the field again.

3. The work vehicle according to claim 2, characterized in that the floor is tilted downwards towards the front so that the front of the vehicle body is lower than the rear of the vehicle body as a result of the increase in the vehicle height.

4. It is equipped with seats erected on the aforementioned floor where the crew members sit, The work vehicle according to claim 3, characterized in that the aforementioned driving battery is arranged to be stored below the seat.

5. The work vehicle according to claim 4, characterized in that the traction battery is attached to a rail member provided on the floor such that when the floor is tilted downwards towards the rear of the vehicle body by the walking worker gripping and pushing down the handle, the battery slides down by its own weight toward the rear of the vehicle body.

6. The work vehicle according to claim 5, characterized in that a spring member is provided to pull the traction battery toward the front of the vehicle body so that the traction battery is stored beneath the seat when the floor is not tilted.

7. It is equipped with a battery case for housing the aforementioned traction battery, The work vehicle according to claim 6, characterized in that the case lid of the battery case can be opened toward the front.

8. When the case lid is opened forward, the traction battery can be removed from the battery case. The work vehicle according to claim 7, characterized in that a flat surface on which the traction battery removed from the battery case is placed is formed at the front of the vehicle body.

9. The vehicle is equipped with a driving motor that outputs the driving power using the power supplied by the aforementioned driving battery, The length direction of the motor output shaft of the aforementioned drive motor is in the left-right direction of the vehicle body. The work vehicle according to claim 8, characterized in that the motor output shaft does not protrude from the edge of the floor in the left-right direction of the vehicle body.

10. The system includes a transmission case that outputs the driving power output from the motor output shaft toward the rear wheels. A portion of the aforementioned driving power is supplied from the transmission case to the planting device via a rod member. The transmission case is positioned in front of the drive motor, The aforementioned drive motor is positioned such that it is biased to one side with respect to the left-right centerline in the left-right direction of the vehicle body when viewed from above. The work vehicle according to claim 9, characterized in that the rod member is arranged to be offset to the other side with respect to the left and right centerlines.

11. The work vehicle according to claim 10, characterized in that it is equipped with an auxiliary battery located below the rotating table of the transplant cup into which the transplanted material is placed by the operator on board.

Images