Working Equipment

Abstract

To appropriately drive a delivery part even when a large load is generated in a delivery drive shaft of the delivery part that delivers a material.SOLUTION: A work device performs the work of supplying materials to a farm field in the work vehicle that performs the work while traveling in the farm field with drive of rear wheels, and comprises a storage part, a delivery part, a first driving source, a second driving source, and a control part. The storage part stores materials. The delivery part includes a delivery drive shaft and delivers materials by a prescribed amount from the storage part through the rotation of the delivery drive shaft. The first driving source is capable of applying the rotational power to the delivery drive shaft. The second driving source is a motor and is capable of applying the rotational power to the delivery drive shaft. The control part performs control so as to apply the rotational power to the delivery drive shaft from at least one of the first driving source and second driving source.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a working device. [Background technology]

[0002] Conventionally, in a work device that is provided on a work vehicle that travels through a field while performing work and that supplies materials such as fertilizer, chemicals, and crop seeds from the work vehicle to the field, a technology is known in which a motor is used to drive a delivery section that delivers materials from a storage section (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-99418 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology described above, it was sometimes impossible to drive the payout unit properly when a large load was generated on the payout drive shaft, for example, when the payout unit started to drive or when a material jam occurred.

[0005] The present invention has been made in consideration of the above, and aims to provide a working device that can properly drive the pay-out section even when a large load is generated on the pay-out drive shaft of the pay-out section that pays out materials. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the working device (40) according to the embodiment is a working device (40) for supplying materials (M) to a farm field (F) in a working vehicle (1) that performs work while traveling in the farm field (F) by driving the rear wheels (16), and includes a storage unit (41), a pay-out unit (42), a first drive source (51), a second drive source (52), and a control unit (100). The storage unit (41) stores the materials (M). The pay-out unit (41) has a pay-out drive shaft (421) and pays out a predetermined amount of materials (M) from the storage unit (41) by rotation of the pay-out drive shaft (421). The first drive source (51) is capable of applying rotational power to the pay-out drive shaft (421). The second drive unit (52) is a motor and is capable of applying rotational power to the payout drive shaft (421). The control unit (100) controls at least one of the first drive source (51) and the second drive source (52) to apply rotational power to the payout drive shaft (421). Effect of the Invention

[0007] According to the working device of the embodiment, even when a large load is generated on the feed drive shaft of the feed unit that feeds out the material, the feed unit can be appropriately driven. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic side view showing an example of a work vehicle equipped with a work device according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a first driving source and a second driving source of the working device according to the embodiment. [Diagram 3] FIG. 3 is a diagram (part 1) showing another example of the first driving source and the second driving source of the working device according to the embodiment. [Figure 4] FIG. 4 is a diagram (part 2) showing another example of the first driving source and the second driving source of the working device according to the embodiment. [Diagram 5] FIG. 5 is a block diagram showing an example of a control system of a work vehicle equipped with a work implement according to this embodiment. [Figure 6]FIG. 6 is an explanatory diagram (part 1) of the autonomous work of the work vehicle equipped with the work device according to the embodiment. [Figure 7] FIG. 7 is an explanatory diagram (part 2) of the autonomous work of the work vehicle equipped with the work device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of a working device disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiment described below.

[0010] <Overall configuration of the work vehicle> The overall configuration of a work vehicle 1 equipped with a working device 40 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a schematic side view showing an example of a work vehicle 1 equipped with a working device 40 according to an embodiment. The work vehicle 1 performs work in a field F while traveling within the field F. The work vehicle 1 is a "seedling transplanter" that plants seedlings in the soil surface FS of the field F while traveling within the field F.

[0011] In addition, each figure including Fig. 1 may show a three-dimensional Cartesian coordinate system including a Z-axis with the positive direction being the vertically upward (upward). In the following, for the sake of convenience, the positive direction of the X-axis is defined as the left, the negative direction of the X-axis as the right, the positive direction of the Y-axis as the forward direction, and the negative direction of the Y-axis as the backward direction, and the X-axis direction is referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0012] In the following description, the seedling transplanter 1, which is a work vehicle, and the running body 2, which will be described later, may be referred to as the "machine body".

[0013] As shown in FIG. 1, the seedling transplanter 1 includes a traveling vehicle body 2 and a seedling planting unit 3. The traveling vehicle body 2 is capable of traveling within a field F. The seedling planting unit 3 is a type of working machine (working device) in the seedling transplanter 1, and is provided on the traveling vehicle body 2. The seedling planting unit 3 plants seedlings in the soil surface FS of the field F. The seedling transplanter 1 is a ride-on type that is operated by an operator (also called an "operator"), but has the function of automatically planting seedlings while autonomously traveling along a preset work route.

[0014] The traveling vehicle body 2 includes a pair of left and right front wheels 11 and a pair of left and right rear wheels 12. In the traveling vehicle body 2, the pair of left and right front wheels 11 are steered wheels, and the pair of left and right rear wheels 12 are drive wheels. For example, in the case of a 4WD mode, the pair of left and right front wheels 11 and the pair of left and right rear wheels 12 are drive wheels.

[0015] Further, at the front of the main frame 13 forming the body skeleton of the traveling vehicle body 2, there are provided a transmission case 14 for transmitting driving force to the seedling planting unit 3 (described later) and the like, and a hydraulically variable transmission (not shown) for outputting driving force supplied from a driving source such as an engine E (see FIG. 5) or a motor, i.e., the rotational power of the driving source (for example, the engine E) to the transmission case 14. The continuously variable transmission is, for example, a hydrostatically variable transmission called an HST (Hydro Static Transmission). In the following, the continuously variable transmission will be referred to as "HST".

[0016] An auxiliary transmission mechanism (not shown) for switching the driving mode when driving on the road, planting seedlings, etc. is provided inside the transmission case 14. In the traveling vehicle body 2, front wheel final cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are attached to left and right front axles that protrude outward from support parts that can change the steering direction of the left and right front wheel final cases 15.

[0017] Rear wheel gear cases 16 are provided on the left and right sides of a rear frame extending in the left-right direction at the rear of the main frame 13, and the rear wheels 12 are attached to left and right rear axles that protrude outward from the rear wheel gear case 16. The rear wheel gear case 16 applies driving force to the rear wheels 12.

[0018] Additionally, left and right link support frames 18 that support lift links 17 (described later) are provided extending upward from the upper portion of the rear frame. Left and right upper links 19 and left and right lower link arms 20 are provided between the left and right link support frames 18. A hydraulically driven lift cylinder 21 is provided between the left and right upper links 19 and the left and right lower link arms 20 in the left-right direction.

[0019] The left and right upper links 19 and the left and right lower link arms 20 form a parallel link mechanism, the lifting link 17. The left and right upper links 19, the left and right lower link arms 20 and the lifting cylinder 21 each have one end connected to the traveling vehicle body 2 and the other end connected to the seedling planting unit 3.

[0020] In addition, an engine E (see FIG. 5) serving as a drive source is mounted on the main frame 13. The rotational power of the engine E is transmitted to a transmission case 14 via a belt transmission device (not shown) and an HST. The rotational power transmitted to the transmission case 14 is changed in speed by an auxiliary transmission mechanism in the transmission case 14, and then separated into traveling power and power to be taken out to the outside.

[0021] In addition, the rotational power of the engine E is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, a power steering mechanism 23 (see FIG. 5) of the steering wheel 22, the lift cylinder 21, etc.

[0022] The externally extracted power extracted from the rotational power transmitted to the transmission case 14 is transmitted to a planting clutch 24 (see FIG. 5) provided at the rear of the traveling body 2, and is transmitted from the planting clutch 24 to the seedling planting section 3 via a planting transmission shaft (not shown). Left and right drive shafts (not shown) are provided at the rear of the transmission case 14. The rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts (not shown).

[0023] Side clutches 25 (see FIG. 5) for turning on and off the power transmission to the left and right drive shafts are provided upstream of the left and right drive shafts in the power transmission direction. As shown in FIG. 1, for example, side clutch pedals (not shown) for turning on and off the left and right side clutches 25 are provided below and to the left and right sides of the front of the cockpit 26.

[0024] Of the left and right side clutch pedals, when the side clutch pedal on the inside of the turn is depressed to disengage the side clutch 25, and then the steering wheel 22 is operated to make a turn, the drive rotation of the rear wheel 12 on the inside of the turn can be interrupted.

[0025] A bonnet 28 that houses an engine E is provided in front of the floor step 27 of the traveling vehicle body 2. A control panel 29 is provided at the rear of the bonnet 28. The control panel 29 is provided with a meter panel, various operating tools such as switches, and the like.

[0026] In addition, at the rear of the bonnet 28, there are provided a rotatable steering handle (hereinafter referred to as the "handle") 22 for adjusting the steering amount of the front wheels 11, a main shift lever 30 for operating the HST and the seedling planting unit 3, and a sub-shift lever 31 (see Figure 5) for operating the sub-shift mechanism.

[0027] Also provided within bonnet 28 are a fuel tank, a battery, and an interlocking mechanism for rotating the left and right front wheels 11 and the lower sides of the left and right front wheel final cases 15 in response to operation of handlebars 22. The front portion of bonnet 28 is covered by an openable and closable front cover 28a.

[0028] A fertilizer applicator 40, which is a working device described later, is provided behind the driver's seat 26 and at the rear of the main frame 13. The driving force of the fertilizer applicator 40 is transmitted by a fertilizer transmission mechanism provided to face the fertilizer applicator 40 from one of the left and right sides of the left and right rear wheel gear cases 16.

[0029] Floor steps 27 are formed on the left and right sides of the lower part of the bonnet 28. The floor steps 27 are substantially horizontal and partially lattice-shaped, so that even if mud on the shoes of the operator (operator) walking on the floor steps 27 or other operators falls onto the floor steps 27, the fallen mud falls into the field F.

[0030] In addition, a spare seedling frame 34 is provided at the front and on the left and right sides of the traveling body 2, in which a plurality of spare seedling carrying tables 33 are arranged at intervals in the vertical direction on seedling frame supports 32. The spare seedling frame 34 can hold seedling mats, fertilizer bags, etc. to be supplied to the seedling planting section 3.

[0031] A seedling tank 35 for loading and storing a seedling mat including seedlings to be planted on the soil surface FS of the field F is connected to the rear end of the lifting link 17 together with a sliding mechanism for sliding it in the left-right direction. Provided below the seedling tank 35 is a planting device 36 including planting claws 38 for scraping seedlings from the loaded seedling mat and planting the scraped seedlings on the soil surface FS.

[0032] The planting device 36 includes a planting transmission case 37, a planting claw 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 with a gap therebetween, and the planting rotary 39 for rotating the planting claw 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting claw 38 scrapes seedlings from the seedling mat while rotating, and plants the scraped seedlings in the field F as described above.

[0033] In addition to the seedling planting unit 3, the seedling transplanter 1 is also equipped with a working device 40 for the field F and the crops growing in the field F. The working device 40 supplies materials M to the field F from the seedling transplanter 1 traveling within the field F. In this embodiment, the materials M are "fertilizer," and the working device 40 is a "fertilizer application device" that supplies (fertilizes) the materials, fertilizer M, to the field F. Note that the materials M include chemicals and crop seeds in addition to fertilizer, and the working device 40 includes chemical spraying devices and sowing devices in addition to fertilizer application devices.

[0034] Fertilizer application device 40, which is a working device, includes a storage section 41, a payout section 42, a duct, a hose, a blower, a first driving source 51 (see Figure 2), a second driving source 52 (see Figure 2), and a control section 100 (see Figure 2).

[0035] The storage section (hereinafter referred to as "hopper") 41 stores fertilizer M (see FIG. 1) as a material. The hopper 41 is divided into the same number of sections as the number of working rows in the seedling planting section 3. The hopper 41 may be a so-called side fertilizing structure in which, for example, half of the total rows (for example, four rows in the case of eight rows) are arranged on the left and right.

[0036] The delivery units 42 are provided for each row at the bottom of the hopper 41, and deliver a predetermined amount of fertilizer M from the hopper 41. The delivery units 42 include a delivery drive shaft (also called a "fertilizer roll") 421 (see FIG. 2). By rotating the delivery drive shaft 421, the delivery unit 42 can deliver a predetermined amount of fertilizer M from a fertilizer discharge outlet provided at the bottom of the hopper 41.

[0037] The duct is provided below the feeding unit 42, and allows the passage of conveying air that moves the fertilizer M fed by the feeding unit 42. The hose is provided below the feeding unit 42, and guides the fertilizer M to the vicinity of the position where the seedlings are planted in the seedling planting unit 3. The blower is provided at one end of the duct, and generates conveying air by the driving force of the motor.

[0038] The first drive source 51 is capable of applying rotational power to the payout drive shaft 421 of the payout section 42. The first drive source 51 is, for example, the rear wheel gear case 16. The rear wheel gear case 16 applies driving force to the rear wheel 12 and also applies rotational power to the payout drive shaft 421. The rotational power applied from the rear wheel gear case 16 to the payout drive shaft 421 is released when the fertilizer clutch 44a (see FIG. 2) is switched "off." When the fertilizer clutch 44a is switched "on," rotational power is applied from the rear wheel gear case 16 to the payout drive shaft 421.

[0039] Note that the first drive source 51 may be a dedicated drive motor 511 (see FIGS. 3 and 4) instead of the rear wheel gear case 16.

[0040] The second driving source 52 is a motor different from the first driving source 51, and is capable of applying rotational power to the payout drive shaft 421 of the payout section .

[0041] Here, the first driving source 51 and the second driving source 52 will be described with reference to Figs. 2 to 4. Fig. 2 is a diagram showing an example of the first driving source 51 and the second driving source 52 of the working device according to the embodiment. Figs. 3 and 4 are diagrams showing other examples of the first driving source 51 and the second driving source 52 of the working device according to the embodiment. Fig. 4 is an enlarged view of part IV in Fig. 3.

[0042] As shown in Fig. 2, the fertilizer application device 40, which is a working device, has a payout unit 42 below a hopper 41. The fertilizer application device 40 transmits rotational power from a rear wheel gear case 16 provided on the axle 12a of the rear wheel 12 (see Fig. 1) to a payout drive shaft 421 via a fertilizer application transmission mechanism 43. A fertilizer application clutch mechanism 44 including a fertilizer clutch 44a that switches power transmission from the rear wheel gear case 16 to the fertilizer application transmission mechanism 43 on and off is provided on the side of the rear wheel gear case 16, which serves as the first drive source 51. The fertilizer clutch mechanism 44 switches power transmission to the output shaft 45a on and off by switching the fertilizer clutch 44a on and off.

[0043] The rotational power transmitted to the output shaft 43a by connecting ("on") the fertilizer clutch mechanism 44 (fertilizer clutch 44a) is transmitted from the fertilizer transmission drive rod 43b to an intermediate rod 43c that changes the transmission direction of the rotational drive to the fore-and-aft direction of the machine body, from the intermediate rod 43c to the sub-drive rod 43d, and from the sub-drive rod 43d to the fertilizer adjustment mechanism 45. Such a fertilizer application device 40 has an existing configuration except for a second drive source 52 (and a control unit 100) described later.

[0044] 2, in an example of the first drive source 51 and the second drive source 52, the rear wheel gear case 16 serving as the first drive source 51 is connected to the payout drive shaft 421 of the payout section 42 via a fertilizer application adjustment mechanism 45 that adjusts the supply amount (fertilizer application amount) of fertilizer M (see FIG. 1). The rear wheel gear case 16 serves as a main drive source for imparting rotational power to the payout drive shaft 421.

[0045] The second driving source 52 is connected to the payout drive shaft 421 of the payout section 42. The second driving source 52 serves as an auxiliary driving source (assist motor) for imparting rotational power to the payout drive shaft 421. Note that the second driving source 52 may be configured to impart rotational power to the payout drive shaft 421 from a system separate from the rear wheel gear case 16 serving as the first driving source 51.

[0046] The first driving source 51 (rear wheel gear case 16) and the second driving source 52 are each connected to the control unit 100. The control unit 100 controls so that rotational power is applied from at least one of the rear wheel gear case 16 serving as the first driving source 51 and the second driving source 52 to the payout drive shaft 421. For the rear wheel gear case 16 serving as the first driving source 51, the control unit 100 turns the fertilization clutch 44a on and off to turn on and off the rotational power from the rear wheel gear case 16 to the payout drive shaft 421.

[0047] Fertilizer application device 40 as illustrated in FIG. 2 can be easily realized by adding components such as second drive source 52 to an existing fertilizer application device.

[0048] Furthermore, the second drive source 52 can be used not only to provide rotational power to the payout drive shaft 421, but also to generate power. In this case, the second drive source 52 stores electricity while providing rotational power from the first drive source 51 (rear wheel gear case 16) to the payout drive shaft 421. In this way, the supply of fertilizer M can be performed by the power generation of the second drive source 52, thereby achieving hybridization.

[0049] In another example of the first driving source 51 and the second driving source 52 as shown in FIGS. 3 and 4, a dedicated driving motor 511 is used as the first driving source 51 instead of the rear wheel gear case 16.

[0050] As shown in FIG. 3, first drive source 51 and second drive source 52 are provided at either the left or right end (for example, the right end) of payout section 42 extending in the left-right direction of the body.

[0051] As shown in FIG. 4, the first driving source 51 is connected to the payout drive shaft 421 of the payout section 42 (see FIG. 3). The first driving source 51 serves as a main driving source for applying rotational power to the payout drive shaft 421. The second driving source 52, like the first driving source 51, is connected to the payout drive shaft 421 of the payout section 42 (see FIG. 3). The second driving source 52 serves as an auxiliary driving source (also referred to as an "assist motor") for applying rotational power to the payout drive shaft 421.

[0052] The second drive source 52 can be used to generate power in addition to being used to provide rotational power to the payout drive shaft 421. In this case, the second drive source 52 stores electricity while providing rotational power from the first drive source 51 to the payout drive shaft 421. In this way, the supply work of the fertilizer M can be performed by the power generation of the second drive source 52, thereby achieving hybridization.

[0053] The first driving source 51 (driving motor 511) and the second driving source 52 are each connected to the control unit 100. The control unit 100 controls at least one of the driving motor 511 and the second driving source 52, which are the first driving source 51, to apply rotational power to the payout driving shaft 421.

[0054] A float 61 is provided below the seedling planting section 3. The float 61 includes a center float 61a in the center and left and right side floats 61b. The center float 61a and the left and right side floats 61b are in contact with the soil surface FS of the field F and slide on the soil surface FS as the traveling body 2 advances (moves forward).

[0055] The seedling planting section 3 is provided forward of the float 61 and includes a soil leveling rotor 62 for leveling the soil surface FS. The soil leveling rotors 62 are provided forward of the center float 61a and forward of the left and right side floats 61b. The seedling planting section 3 plants seedlings on the soil surface FS leveled by the soil leveling rotor 62. Driving force is transmitted to the soil leveling rotor 62 via a rotor transmission shaft (not shown).

[0056] Furthermore, line drawing markers are provided on the left and right sides of the seedling planting section 3, one of which comes into contact with the soil surface FS of the field F to form a furrow (guide line) that serves as a guide for traveling in the next work row (next process). When one of the left and right line drawing markers descends and touches the ground, the other rises. Furthermore, when the seedling planting section 3 is raised while the machine body is turning, both the left and right line drawing markers rise, and when the seedling planting section 3 descends after the machine body has turned, one of the left and right line drawing markers rises and the other descends (touches the ground).

[0057] A center mascot 63 is erected to extend upward at the left-right center of the traveling body 2 and in front of the bonnet 28. By aligning the center mascot 63 with the guide lines formed on the soil surface FS of the field F by the left and right line markers, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0058] Depending on the soil quality of field F, the guide lines formed by the left and right line-drawing markers may quickly become buried, and the guide for going straight may disappear. In such cases, it is better to use left and right side markers that are placed forward of the left and right line-drawing markers. In other words, by moving the left and right side markers outward and positioning them above the seedlings planted in the previous process, it becomes possible to perform planting work in accordance with the planting of the seedlings in the previous work row.

[0059] As shown in Fig. 1, the seedling transplanter 1 further includes a positioning device 150. The positioning device 150 acquires the current position P (see Fig. 6) of the traveling body 2 (seedling transplanter 1). The positioning device 150 acquires the current position P of the seedling transplanter 1 by using a satellite positioning system such as a global positioning system (GPS) or a global navigation satellite system (GNSS).

[0060] <Work vehicle control system> Next, a control system of the work vehicle (seedling transplanter) 1 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of a control system of the work vehicle (seedling transplanter) 1 equipped with a work device 40 according to an embodiment. As shown in Fig. 2 etc., the seedling transplanter 1, which is a work vehicle, is capable of controlling each part including a first drive source 51 and a second drive source 52 by electronic control, and is equipped with a control unit 100 that controls each part.

[0061] The control unit 100 has, for example, a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and further an input / output unit, which are interconnected to enable the exchange of signals. The storage unit stores computer programs and the like for controlling the seedling transplanter 1. The control unit 100 performs each function by reading out the computer programs and the like stored in the storage unit and the like.

[0062] The control unit 100 is connected to, for example, actuators such as a throttle motor 70, hydraulic control valves 71, 72, a planting clutch actuation solenoid 73, a side clutch actuation solenoid 74, an HST motor 75, a steering motor 76, a line drawing marker lifting motor 77, and a differential lock switching motor 78.

[0063] The throttle motor 70 increases or decreases the rotation speed of the output shaft of the engine E by operating a throttle that adjusts the amount of intake air of the engine E. The hydraulic control valve 71 controls the extension and retraction operation of the lift cylinder 21. The hydraulic control valve 72 controls the power steering mechanism 23. The planting clutch operating solenoid 73 operates the planting clutch 24.

[0064] A side clutch actuation solenoid 74 actuates a side clutch 25 that switches the state of power transmission to the rear wheels 12 (see FIG. 1). The HST motor 75 changes the rotation angle of the HST trunnion, thereby changing the inclination angle of the HST swash plate. The steering motor 76 steers and drives the front wheels 11 (see FIG. 1), which are the steered wheels. The steering motor 76 is a motor that drives the handle 22, which adjusts the steering amount (also called the "steering angle" or "turning angle") of the front wheels 11. The line drawing marker lifting motor 77 lifts and lowers the line drawing marker.

[0065] The differential lock switching motor 78 is a motor that switches between operation and deactivation of a differential lock mechanism (hereinafter referred to as "diff-lock mechanism") 79 that rotates left and right wheels (for example, the left and right front wheels 11) at the same rotational speed. When the differential lock mechanism 79 is in the "ON" state, the vehicle can be forcibly put into four-wheel drive (4WD mode), and the left and right running wheels rotate at the same rotational speed.

[0066] In addition, a rear wheel rotation speed sensor 80, a steering amount sensor 81, an inclination sensor 82, etc. are connected to the control unit 100. Two rear wheel rotation speed sensors 80 are provided corresponding to the left and right rear wheels 12 and detect the rotation speeds of the left and right rear wheels 12, respectively.

[0067] The steering amount sensor 81 detects the rotation of the handle 22, i.e., the steering amount of the front wheels 11. The steering amount sensor 81 is provided, for example, on a shaft connected to a pitman arm. The inclination sensor 82 detects the inclination angle (for example, roll angle and / or pitch angle) of the traveling body 2 (seedling transplanter 1).

[0068] In addition, signals are input to the control unit 100 as operation signals, for example, from the main speed change lever 30, the sub-speed change lever 31, the seedling planting unit lifting switch 83, the line drawing marker automatic lifting switch 84, the automatic rotation changeover switch 85, the mode changeover switch 86, etc.

[0069] The seedling planting section lifting switch 83 is a switch for switching between lifting and lowering the seedling planting section 3. The seedling planting section lifting switch 83 can be changed between the "up" and "down" positions. When the seedling planting section lifting switch 83 is in the "up" position, the seedling planting section 3 is lifted to a predetermined non-working position, and the planting device 36 (see FIG. 1) is stopped in a non-working state (the "off" state of the seedling planting section 3). When the seedling planting section lifting switch 83 is in the "down" position, the seedling planting section 3 is lowered to a predetermined working position, and the planting device 36 is activated in a working state (the "on" state of the seedling planting section 3). In other words, the seedling planting section lifting switch 83 is a switch that can detect the working state of the seedling planting section 3.

[0070] The automatic line drawing marker raising / lowering switch 84 is a switch that switches whether or not the line drawing marker is automatically raised / lowered in conjunction with the steering amount of the handlebars 22 (i.e., the steering amount of the front wheels 11). When the automatic line drawing marker raising / lowering switch 84 is "ON", control is executed to automatically raise / lower the line drawing marker in conjunction with the steering amount. On the other hand, when the automatic line drawing marker raising / lowering switch 84 is "OFF", control is not executed to automatically raise / lower the line drawing marker in conjunction with the steering amount.

[0071] The automatic turning changeover switch 85 is a switch that switches whether automatic turning is enabled or disabled when the operator manually operates the seedling transplanter 1. When the automatic turning changeover switch 85 is "ON", automatic turning is enabled. When the automatic turning changeover switch 85 is "OFF", automatic turning is disabled. The mode changeover switch 86 is a switch that switches whether or not the seedling transplanter 1 is to run autonomously.

[0072] Note that an orientation sensor (not shown) or the like may be connected to the control unit 100. The orientation sensor detects, for example, the absolute azimuth angle of the aircraft's traveling direction (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The orientation sensor detects the absolute azimuth angle at regular time intervals and transmits the detected absolute azimuth angle to the control unit 100.

[0073] The control unit 100 controls the steering wheel 22 via the steering motor 66 based on the detection result of the steering amount sensor 81. While controlling the steering wheel 22, the control unit 100 performs straight-line control and turning control of the seedling transplanter 1 based on the current position P of the seedling transplanter 1 acquired by the positioning device 150 and the like.

[0074] As described above, the control unit 100 controls at least one of the first driving source 51 (rear wheel gear case 16) and the second driving source 52 to apply rotational power to the payout drive shaft 421 of the payout unit 42 in the fertilizer application device 40. In this case, the first driving source 51 functions as a main driving source for the payout drive shaft 421. The second driving source 52 functions as an auxiliary driving source that drives the payout drive shaft 421 together with the first driving source 51. In other words, the second driving source 52 serves as an assist motor for auxiliary driving of the payout drive shaft 421.

[0075] According to this configuration, it is possible to apply rotational power to the payout drive shaft 421 of the payout unit 42 that pays out the material M by two drive sources, so that the payout unit 42 can be appropriately driven even when a large load is generated on the payout drive shaft 421, for example, when the payout unit 42 starts to drive or when a blockage of fertilizer M occurs. Also, the first drive source 51 can be used as the main drive source, and the motor serving as the second drive source 52 can be used as an auxiliary drive source (assist motor). This reduces the burden on the first drive source 51 that serves as the main drive source, and enables the first drive source 51 to be made smaller in size.

[0076] When the unwinding unit 42 starts to drive, the control unit 100 stops only the assist motor that becomes the second drive source 52 after the load drops to a certain level after the unwinding unit 42 starts to drive. If the assist motor that becomes the second drive source 52 stops abnormally, the control unit 100 stops the machine, generates a warning sound, and displays a warning display on the display unit. When the unwinding unit 42 starts to drive, if the first drive source 51 is the drive motor 511, the control unit 100 rotates the drive motor 511 in the opposite direction by a predetermined angle before rotating it.

[0077] The control unit 100 detects slippage of the rear wheels 12 (see FIG. 1). The control unit 100 detects slippage of the seedling transplanter 1 by detecting slippage of the rear wheels 12 (see FIG. 1). In this case, the control unit 100 detects slippage of the rear wheels 12 (i.e., the seedling transplanter 1) based on the detection result of the rear wheel rotation speed sensor 80.

[0078] When the control unit 100 detects a slip, it switches the application of rotational power to the payout drive shaft 421 from the rear wheel gear case 16 to the second drive source 52. That is, during normal operation, the rotational power is applied to the payout drive shaft 421 from the rear wheel gear case 16, and during slip, the rotational power is applied to the payout drive shaft 421 from the second drive source 52.

[0079] According to this configuration, during normal operation, rotational power is applied to the payout drive shaft 421 from the rear wheel gear case 16, which is an existing drive source, and during slippage, rotational power is applied to the payout drive shaft 421 from the motor, which serves as the second drive source 52, thereby enabling more precise control of the supply amount of fertilizer M during slippage. This makes it possible to suppress partial unevenness in the supply of fertilizer M, thereby realizing uniform growth of crops and suppressing wasteful supply of fertilizer M. Also, since there is no need to constantly drive the motor, it is possible to reduce the size of the motor (assist motor), which serves as the second drive source 52.

[0080] When switching from the first driving source 51 (rear wheel gear case 16) to the second driving source 52, a predetermined handover time is set to eliminate the time when the payout section 42 is not driven. During the handover time, rotational power is applied to the payout drive shaft 421 from both the first driving source 51 and the second driving source 52. When the handover time has elapsed, the first driving source 51 is stopped and rotational power is applied only from the second driving source 52.

[0081] The control unit 100 calculates the running speed (hereinafter referred to as "first running speed") of the seedling transplanter 1 running in the field F based on the current position P of the seedling transplanter 1 acquired by the positioning device 150. The control unit 100 also calculates the running speed (hereinafter referred to as "second running speed") of the seedling transplanter 1 running in the field F based on the detection result of the rear wheel rotation speed sensor 80. Then, the control unit 100 detects slippage of the rear wheels 12 (seedling transplanter 1) by comparing the first running speed acquired by the positioning device 150 with the second running speed.

[0082] When the control unit 100 detects a slip, as described above, the control unit 100 applies rotational power from the second drive source 52 to the payout drive shaft 421. When the control unit 100 does not detect a slip, the control unit 100 applies rotational power from the first drive source 51, i.e., the rear wheel gear case 16.

[0083] With this configuration, it is possible to specifically detect slippage, and when a slip occurs, the motor (assist motor) serving as the second drive source 52 applies rotational power to the payout drive shaft 421, thereby enabling more precise control of the supply amount of fertilizer M when a slip occurs. This makes it possible to suppress, for example, partial unevenness in the supply of fertilizer M, realize uniform growth of crops, and suppress wasteful supply of fertilizer M.

[0084] Here, the autonomous operation of the seedling transplanter 1, which is a work vehicle, will be described with reference to Figures 6 and 7. Figures 6 and 7 are explanatory diagrams of the autonomous operation of the work vehicle (seedling transplanter 1) equipped with the work device 40 according to the embodiment. The seedling transplanter 1 is capable of autonomous operation while repeating the above-mentioned automatic straight running and automatic turning by the control of each part by the control unit 100.

[0085] As shown in Fig. 6, when the seedling transplanter 1 receives a work instruction for a specific field F, it performs autonomous work in the field F based on the current position P acquired by the positioning device 150 (see Fig. 1). First, the seedling transplanter 1 travels along the periphery of the field F to perform a first step (teaching step) of acquiring the shape of the field F where work will be performed.

[0086] Next, the seedling transplanter 1 is moved to the work area A in the field F. W In the second step, the seedling transplanter 1 performs a second step (automatic reciprocating step) of traveling while repeating straight ahead and turning. In the second step, the seedling transplanter 1 performs work such as planting seedlings in the field F and supplying fertilizer M to the field F.

[0087] Next, the seedling transplanter 1 is placed in the work area A. WIn the third step (automatic inner circumference step), the seedling transplanter 1 travels along the outer periphery of the field F and along the inner periphery of the field F. In the third step, the seedling transplanter 1 also performs tasks such as planting seedlings in the field F and supplying fertilizer M to the field F.

[0088] Next, the seedling transplanter 1 performs a fourth step (finishing step) in which the seedling transplanter 1 performs finishing work while traveling around the inner periphery of the field F, and ends the work in the field F. Note that the first and fourth steps are performed by an operator (worker) riding on the seedling transplanter 1 and operating the seedling transplanter 1.

[0089] When supplying fertilizer M to a field F, the seedling transplanter 1 selects and executes one of a conventional supplying operation, a map-linked supplying operation, and a real-time sensing supplying operation.

[0090] In conventional supply work, fertilizer M is supplied to the field F at a predetermined fixed supply amount. In map-linked supply work, map data provided by an information provision system is used. In map-linked supply work, fertilizer M is supplied while controlling the supply amount of fertilizer M to be supplied to the field F based on supply amount information of fertilizer M for each divided section. In real-time sensing supply work, fertilizer M is supplied while controlling the supply amount of fertilizer M to be supplied to the field F based on information about the field F, such as the depth and fertility of the field F, obtained from a depth sensor, a fertility sensor, etc. while the seedling transplanter 1 is traveling.

[0091] In the case of map-linked supply work, the control unit 100 applies rotational power from the rear wheel gear case 16 (see FIG. 1), which serves as the first drive source 51, to the payout drive shaft 421 (see FIG. 3) of the payout unit .

[0092] With this configuration, when supplying using the map-linked method, the amount of fertilizer M supplied is linked to the travel of the seedling transplanter 1 by providing rotational power from the rear wheel gear case 16, which is the existing drive source, rather than from a motor, which is the second drive source 52.

[0093] When the control unit 100 determines that the current position P of the seedling transplanter 1 acquired by the positioning device 150 is outside the field F, the control unit 100 applies rotational power from the rear wheel gear case 16, which serves as the first drive source 51, to the pay-out drive shaft 421 of the pay-out unit 42. In this case, the control unit 100 does not apply rotational power from the second drive source 52 to the pay-out drive shaft 421 of the pay-out unit 42.

[0094] With this configuration, even if the current position P of the seedling transplanter 1 is outside the field F, that is, even if it is in another field F that does not have a work instruction value defined for supplying work using the map-linked method, it is possible to supply fertilizer M. In this case, the amount of fertilizer M supplied is linked to the travel of the seedling transplanter 1 by applying rotational power from the rear wheel gear case 16, which is an existing drive source.

[0095] In the case of map-linked supplying work or real-time sensing supplying work, if the amount of fertilizer M fed out by the feed-out unit 42 is large, the control unit 100 imparts rotational power from the rear wheel gear case 16, which serves as the first drive source 51, to the feed-out drive shaft 421 of the feed-out unit 42. In addition, in the case of map-linked supplying work or real-time sensing supplying work, if the amount of fertilizer M fed out by the feed-out unit 42 is small, the control unit 100 imparts rotational power from the second drive source 52 to the feed-out drive shaft 421 of the feed-out unit 42.

[0096] According to such a configuration, an inexpensive motor with a relatively low output can be used as the motor (assist motor) serving as the second drive source 52. Furthermore, when the amount of fertilizer M fed by the feed-out unit 42 is small, that is, when precision is required in the amount of fertilizer M fed, the feed-out unit 42 can be appropriately driven by driving the motor.

[0097] In the case of map-linked supply work or real-time sensing supply work, if the rotational power applied to payout drive shaft 421 of pay-out unit 42 is equal to or greater than a predetermined value, control unit 100 applies rotational power from rear wheel gear case 16, which serves as first drive source 51, to pay-out drive shaft 421. In addition, in the case of map-linked supply work or real-time sensing supply work, if the rotational power applied to pay-out drive shaft 421 is less than a predetermined value, control unit 100 applies rotational power from second drive source 52 to pay-out drive shaft 421.

[0098] According to this configuration, an inexpensive motor with a relatively low output can be used as the motor (assist motor) serving as the second drive source 52. Furthermore, when the rotational power imparted to the payout drive shaft 421 becomes equal to or greater than a predetermined value, for example, when the payout of fertilizer M begins, the payout section 42 can be appropriately driven by imparting the rotational power from the rear wheel gear case 16.

[0099] In the case of map-linked supply work or real-time sensing supply work, if the current position P of the seedling transplanter 1 cannot be obtained by the positioning device 150, the control unit 100 applies rotational power from the rear wheel gear case 16, which serves as the first drive source 51, to the payout drive shaft 421. In addition, in the case of map-linked supply work or real-time sensing supply work, even if the seedling transplanter 1 is located outside the field F due to erroneous detection by the positioning device 150 or the like, the control unit 100 applies rotational power from the rear wheel gear case 16, which serves as the first drive source 51, to the payout drive shaft 421.

[0100] According to this configuration, if the current position P of the seedling transplanter 1 cannot be obtained due to loss of radio waves during map-linked supply work or real-time sensing supply work, the supply work of the map-linked supply work or real-time sensing supply work is switched to conventional supply work and rotational power is applied from the rear wheel gear case 16 which serves as the first drive source 51, so that the supply work of the fertilizer M can be continued. Also, if the seedling transplanter 1 is located outside the field F due to erroneous detection, the supply work of the map-linked supply work or real-time sensing supply work is switched to conventional supply work and rotational power is applied from the rear wheel gear case 16 which serves as the first drive source 51, so that the supply work of the fertilizer M can be continued.

[0101] In addition, in the seedling transplanter 1, the control unit 100 automatically controls the amount of fertilizer M to be reduced (reduced fertilizer) when the front wheels 11 (see FIG. 1) are lifted from the ground by the tilt sensor 82 (see FIG. 5) (i.e., when the wheels are deep in the field F). This can reduce the lodging of crops.

[0102] In addition, in the seedling transplanter 1, when there is a part shaded by an obstacle around the field F in the image acquired by the GPS or the like, the control unit 100 automatically controls to increase (increase) the amount of fertilizer M in the shaded part. This makes it possible to suppress the variation in the growth of the crops.

[0103] Furthermore, in the seedling transplanter 1, the control unit 100 performs control to automatically reduce (reduce) the amount of fertilizer M at the position where slippage of the rear wheels 12 is detected. This makes it possible to reduce lodging of crops.

[0104] In addition, in the seedling transplanter 1, the control unit 100 performs control to automatically reduce (reduce) the amount of fertilizer M in the third step (automatic inner circumference step) because the field F becomes deeper. This makes it possible to reduce lodging of crops.

[0105] Furthermore, in the seedling transplanter 1, the control unit 100 automatically controls the amount of fertilizer M to be reduced (reduced) in the first step (teaching step) and the fourth step (finishing step). By reducing the amount of fertilizer M while the operator (worker) is on board in the first step (teaching step) and the fourth step (finishing step), it is possible to further reduce the lodging of crops.

[0106] 7, in the seedling transplanter 1, the control unit 100 performs control to automatically reduce (reduce) the amount of fertilizer M at a position where a turn has occurred in the field F. This can reduce lodging of crops.

[0107] As shown in FIG. 7, in the seedling transplanter 1, the control unit 100 controls the seedling transplanter 1 to move in the work area A for plowing and plowing. W When seedlings are planted in steps S1, S2, and S3 that proceed in a direction perpendicular to the direction of travel in the above process, control is performed to automatically reduce (reduce) the amount of fertilizer M. In this way, by performing fertilizer reduction control that links the tilling and plowing work with the planting of seedlings, it is possible to reduce lodging of crops.

[0108] In addition, in the seedling transplanter 1, the control unit 100 acquires the field reference value for variable fertilization during the execution of the first step (teaching step). In this case, the control unit 100 sets the average value of the depth and fertility of the field F on the route traveled during teaching as the field reference value. In this way, by acquiring the field reference value together with teaching, it is possible to eliminate the trouble of acquiring each separately, and to reduce the influence during automatic traveling.

[0109] In addition, in the seedling transplanter 1, when the control unit 100 acquires the field reference value for variable fertilization during the execution of the first step (teaching step), the field reference value is set to the average value of the depth and fertility of the field F at each intermediate position of the teaching travel path. Although the quality of the soil at the edge of the field or at the corners of the field F may differ from that at the center of the field F, an appropriate field reference value can be acquired by setting the average value of the depth and fertility of the field F at the intermediate position of the teaching travel path as the field reference value.

[0110] In addition, in the seedling transplanter 1, when the control unit 100 obtains the field reference value for variable fertilization while executing the first step (teaching step), as described above, it takes the average value of the route traveled during teaching, and depending on the usage situation, multiplies it by a coefficient that is the difference between the edge of the field or the corner of the field F and the center of the field F to obtain the field reference value.

[0111] In addition, in the seedling transplanter 1, when the control unit 100 acquires the field reference value for variable fertilization while executing the first step (teaching step), as described above, it takes the average value of the path traveled during teaching, while reducing the influence (weight) of the data acquired at the start position of travel and the turning position, which are likely to be singular points in the data.

[0112] In addition, in the seedling transplanter 1, when the control unit 100 acquires the field reference value for variable fertilization while executing the first step (teaching step), as described above, it takes the average value of the route traveled during teaching, and makes a correction if there is a large difference from the data acquired when traveling in the center of the field F after automatic traveling has started.

[0113] Here, in the case of conventional feeding operation, if the control unit 100 does not detect slippage, it applies rotational power from the rear wheel gear case 16, which serves as the first driving source 51, to the payout drive shaft 421 of the payout unit 42. Also, in the case of conventional feeding operation, if the control unit 100 detects slippage, it applies rotational power from the second driving source 52 to the payout drive shaft 421 of the payout unit 42.

[0114] Furthermore, in the case of map-linked supply work, if the control unit 100 does not detect slippage, it selects either the rear wheel gear case 16 or the second drive source 52 as the first drive source 51, and imparts rotational power from the rear wheel gear case 16 or the second drive source 52 to the payout drive shaft 421 of the payout unit 42. In the case of map-linked supply work, if the control unit 100 detects slippage, it imparts rotational power from the second drive source 52 to the payout drive shaft 421 of the payout unit 42.

[0115] Also, in the case of supply work using the real-time sensing method, if the control unit 100 does not detect slippage, it selects either the rear wheel gear case 16 or the second drive source 52 as the first drive source 51, and imparts rotational power from the rear wheel gear case 16 or the second drive source 52 to the payout drive shaft 421 of the payout unit 42. Also, in the case of supply work using the map-linked method, if the control unit 100 detects slippage, it imparts rotational power from the second drive source 52 to the payout drive shaft 421 of the payout unit 42.

[0116] According to this configuration, in conventional supplying work, rotational power is normally applied from the rear wheel gear case 16, which is the existing drive source, to the payout drive shaft 421, and when slipping, rotational power is applied from the motor (assist motor) which becomes the second drive source 52 to the payout drive shaft 421, thereby enabling more precise control of the supply amount of fertilizer M when slipping. Also, in map-linked supplying work or real-time sensing supplying work, the rear wheel gear case 16 which becomes the first drive source 51 and the motor which becomes the second drive source 52 are switched to normally apply rotational power to the payout drive shaft 421 from one of them, and when slipping, rotational power is applied from the motor (assist motor) which becomes the second drive source 52 to the payout drive shaft 421, thereby enabling more precise control of the supply amount of fertilizer M when slipping. As a result, for example, partial unevenness in the supply of fertilizer M can be suppressed, and uniform growth of crops can be achieved while reducing wasteful supply of fertilizer M. In addition, since there is no need to constantly drive the motor, the motor (assist motor) serving as the second drive source 52 can be made smaller.

[0117] In the fertilizer applicator 40 capable of switching between the rear wheel gear case 16 serving as the first drive source 51 and the motor serving as the second drive source 52, the second drive source 52 can be used to generate power in addition to being used to provide rotational power to the payout drive shaft 421. In this case, the second drive source 52 stores electricity while providing rotational power from the first drive source 51 to the payout drive shaft 421. In this way, the supply of fertilizer M can be performed by the power generation of the second drive source 52, thereby achieving hybridization.

[0118] Incidentally, in order to indicate whether the second drive source 52 is generating electricity or driving, the state may be displayed, for example, on a display unit around the handle 22. In addition, in order to indicate whether the payout unit 42 is driven by the rear wheel gear case 16 or by a motor, the state may be displayed, for example, on a display unit around the handle 22.

[0119] Furthermore, the seedling transplanter 1 basically performs a map-linked supplying operation to supply fertilizer M. Even when the seedling transplanter 1 performs a map-linked supplying operation, the control unit 100 adjusts the supply amount of fertilizer M based on information of the field F (depth and fertility of the field F) obtained by a real-time sensing supplying operation.

[0120] According to this configuration, when the supply work is performed using the map-linked method, the amount of fertilizer M supplied can be adjusted using information on the field F used in the supply work using the real-time sensing method, making it possible to automatically reduce fertilizer, thereby reducing crop lodging, etc.

[0121] According to the embodiment described above, the working device 40 described below is realized.

[0122] (1) A working device 40 for supplying materials M to a field F in a work vehicle 1 that performs work while traveling within a field F by driving its rear wheels 12, the working device 40 comprising: a storage section 41 for storing the materials M; a payout section 42 having a payout drive shaft 421 and paying out a predetermined amount of materials M from the storage section 41 by rotation of the payout drive shaft 421; a first drive source 51 capable of applying rotational power to the payout drive shaft 421; a second drive source 52 which is a motor capable of applying rotational power to the payout drive shaft 421; and a control unit 100 which controls the application of rotational power from at least one of the first drive source 51 and the second drive source 52 to the payout drive shaft 421.

[0123] According to such a working device 40, it is possible to apply rotational power to the payout drive shaft 421 of the payout unit 42 that pays out the material M by two drive sources, the first drive source 51 and the second drive source 52, so that the payout unit 42 can be appropriately driven even when a large load is generated on the payout drive shaft 421, for example, when the payout unit 42 starts to drive or when a blockage of the material M occurs. Also, the first drive source 51 can be used as a main drive source, and the motor serving as the second drive source 52 can be used as an auxiliary drive source (assist motor). This reduces the burden on the first drive source 51 that serves as the main drive source, and allows the first drive source 51 to be made smaller in size.

[0124] (2) In the above (1), the work vehicle 1 has a rear wheel gear case 16 that applies driving force to the rear wheels 12, the first driving source 51 is the rear wheel gear case 16, the payout drive shaft 421 rotates by the rotational power applied from the rear wheel gear case 16, and the control unit 100 detects slippage of the rear wheels 12, and when slippage of the rear wheels 12 is detected, switches the application of rotational power to the payout drive shaft 421 from the rear wheel gear case 16 to the second driving source 52, the working device 40.

[0125] In addition to the effect of (1) above, such a working device 40 normally applies rotational power to the payout drive shaft 421 from the rear wheel gear case 16, which is the existing drive source, and applies rotational power to the payout drive shaft 421 from the motor serving as the second drive source 52 during slippage, thereby enabling more precise control of the supply amount of materials M during slippage. This makes it possible to, for example, prevent partial unevenness in the supply of materials M, realize uniform growth of crops, and prevent wasteful supply of materials M. Also, since there is no need to constantly drive the motor, it is possible to reduce the size of the motor (assist motor) serving as the second drive source 52.

[0126] (3) In (2) above, the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, and the control unit 100 calculates a first running speed of the work vehicle 1 based on the current position P of the work vehicle 1 acquired by the positioning device 150, calculates a second running speed of the work vehicle 1 from the rotation speed of the rear wheels 12, detects slippage of the rear wheels 12 by comparing the first running speed with the second running speed, and if slippage of the rear wheels 12 is not detected, provides rotational power from the rear wheel gear case 16, the work device 40.

[0127] According to such a working device 40, in addition to the effect of (2) above, it is possible to specifically realize detection of slippage, and by applying rotational power from the motor (assist motor) serving as the second drive source 52 to the payout drive shaft 421 when a slip occurs, it becomes possible to more precisely control the supply amount of the material M when a slip occurs. This makes it possible to, for example, suppress partial unevenness in the supply of the material M, realize uniform growth of crops, and suppress wasteful supply of the material M.

[0128] (4) In any of (1) to (3) above, the work vehicle 1 has a rear wheel gear case 16 that applies driving force to the rear wheels 12, the first driving source 51 is the rear wheel gear case 16, the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, the work vehicle 1 performs material supply work including a conventional supply work in which materials M are supplied to the field F at a predetermined fixed supply amount, and a map-linked supply work in which the supply amount of materials M supplied to the field F is controlled based on supply amount information of materials M for each divided section, and the control unit 100 applies rotational power from the rear wheel gear case 16 to the work device 40 in the case of the map-linked supply work.

[0129] According to such a work device 40, in addition to any one of the effects (1) to (3) described above, in the case of map-linked supply work, the rotational power is provided from the rear wheel gear case 16, which is the existing drive source, rather than from a motor, which is the second drive source 52, so that the supply amount of materials M is linked to the travel of the work vehicle 1.

[0130] (5) In the above (4), the work vehicle 1 performs a supply operation of materials M, which further includes a supply operation of a real-time sensing method for controlling the supply amount of materials M supplied to the field F from information of the field F obtained while the work vehicle 1 is traveling, and when the control unit 100 determines that the current position P of the work vehicle 1 acquired by the positioning device 150 is outside the field F, it applies rotational power from the rear wheel gear case 16 and does not apply rotational power from the second drive source 52 to the payout drive shaft 421, the work device 40.

[0131] In addition to the effect of (4) above, such a working device 40 makes it possible to supply materials M even if the current position P of the work vehicle 1 is outside the field F, that is, even if it is in another field F that does not have work instruction values ​​defined for map-linked supply work. Also, in this case, by applying rotational power from the rear wheel gear case 16, which is the existing drive source, the supply amount of materials M is linked to the travel of the work vehicle 1.

[0132] (6) In (5) above, in the case of map-linked supply work or real-time sensing supply work, the control unit 100 provides rotational power from the rear wheel gear case 16 when the amount of material M fed by the feed unit 42 is large, and provides rotational power from the second drive source 52 when the amount of material M fed by the feed unit 42 is small, working device 40.

[0133] According to such a working device 40, in addition to the effect of (5) above, an inexpensive motor with a low output can be used as the motor serving as the second drive source 52. Furthermore, when the amount of material M fed by the feeding unit 42 is small, that is, when precision is required in the amount of material M fed, the feeding unit 42 can be appropriately driven by driving the motor.

[0134] (7) In (5) above, in the case of map-linked supply work or real-time sensing supply work, when the rotational power imparted to the payout drive shaft 421 is equal to or greater than a predetermined value, the control unit 100 applies the rotational power from the rear wheel gear case 16, and when the rotational power imparted to the payout drive shaft 421 is less than the predetermined value, the control unit 100 applies the rotational power from the second drive source 52, working device 40.

[0135] According to such a working device 40, in addition to the effect of (5) above, an inexpensive motor with a relatively low output can be used as the motor serving as the second drive source 52. Also, when the rotational power imparted to the payout drive shaft 421 becomes equal to or greater than a predetermined value, for example, when the material M starts to be paid out, the payout section 42 can be appropriately driven by imparting the rotational power from the rear wheel gear case 16.

[0136] (8) In (5) above, in the case of map-linked supply work or real-time sensing supply work, if the control unit 100 is unable to obtain the current position P of the work vehicle 1 using the positioning device 150 or if the work vehicle 1 is located outside the field F due to a false detection, rotational power is provided from the rear wheel gear case 16, and the work vehicle 1 performs the supply work of materials M using conventional supply work, the work device 40.

[0137] According to such a work device 40, in addition to the effect of (5) above, in the case of map-linked supply work or real-time sensing supply work, if the current position P of the work vehicle 1 cannot be obtained due to radio wave loss or the like, or if the work vehicle 1 is located outside the field F due to a false detection, the work device 40 can switch from the map-linked supply work or real-time sensing supply work to conventional supply work and apply rotational power from the rear wheel gear case 16, thereby making it possible to continue the supply work of materials M.

[0138] (9) In any of (1) to (8) above, the work vehicle 1 has a rear wheel gear case 16 that applies driving force to the rear wheels 12, the first driving source 51 is the rear wheel gear case 16, the second driving source 52 is used to apply rotational power to the payout drive shaft 421 and can also be used to generate electricity, and when rotational power is applied from the first driving source 51 to the payout drive shaft 421, the second driving source 52 stores electricity for generating electricity, and the working device 40.

[0139] According to such a working device, in addition to any one of the effects (1) to (8) above, the supply work of materials M can be performed by power generation by the second driving source 52, and thus a hybrid configuration can be realized.

[0140] (10) In the above (9), the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, and the positioning device 150 further acquires a first traveling speed of the work vehicle 1, and the first driving source 51 is a first driving source 52 that acquires the current position P of the work vehicle 1. The work vehicle 1 is capable of performing a conventional supply operation in which materials are supplied to the field F at a predetermined fixed supply amount, a map-linked supply operation in which the supply amount of materials M to be supplied to the field F is controlled based on supply amount information of the materials M for each divided section, and a map-linked supply operation in which the supply amount of materials M to be supplied to the field F is controlled based on supply amount information of the materials M for each divided section. The control unit 100 calculates a first running speed of the work vehicle 1 based on the current position P of the work vehicle 1 acquired by the positioning device 150, calculates a second running speed of the work vehicle 1 from the rotation speed of the rear wheels 12, detects slippage of the rear wheels 12 by comparing the first running speed with the second running speed, and in the case of conventional supply work, detects slippage of the rear wheels 12. When slip of the rear wheel 12 is not detected, rotational power is applied from the rear wheel gear case 16 to the payout drive shaft 421, and when slip of the rear wheel 12 is detected, rotational power is applied from the second drive source 52 to the payout drive shaft 421. In the case of supply work using the map linkage method, when slip of the rear wheel 12 is not detected, either the rear wheel gear case 16 or the second drive source 52 is selected, and rotational power is applied from the rear wheel gear case 16 or the second drive source 52 to the payout drive shaft 421. In the case of supply work using the real-time sensing method, if slippage of the rear wheel 12 is not detected, either the rear wheel gear case 16 or the second drive source 52 is selected and rotational power is applied to the payout drive shaft 421 from the rear wheel gear case 16 or the second drive source 52, and if slippage of the rear wheel 12 is detected, rotational power is applied from the second drive source 52 to the payout drive shaft 421.

[0141] According to such a working device, in addition to the effect of (9) above, in conventional supply work, rotational power is applied from the rear wheel gear case 16, which is the existing drive source, to the feed drive shaft 421 during normal times, and rotational power is applied from the motor (assist motor) serving as the second drive source 52 to the feed drive shaft 421 during slippage, thereby enabling more precise control of the supply amount of materials M during slippage. Also, in map-linked supply work or real-time sensing supply work, the rear wheel gear case 16 and the second drive source 52 are switched to apply rotational power to the feed drive shaft 421 from one of them during normal times, and rotational power is applied from the motor (assist motor) serving as the second drive source 52 to the feed drive shaft 421 during slippage, thereby enabling more precise control of the supply amount of materials M during slippage. As a result, for example, partial unevenness in the supply of materials M can be suppressed, and uniform growth of crops can be achieved while reducing wasteful supply of materials M. In addition, since there is no need to constantly drive the motor, the motor (assist motor) serving as the second drive source 52 can be made smaller.

[0142] (11) In any of (1) to (10) above, the work vehicle 1 performs supply work of materials M including a map-linked supply work of controlling the supply amount of materials M to be supplied to the field F based on supply amount information of materials for each divided section, and a real-time sensing supply work of controlling the supply amount of materials M to be supplied to the field F from information of the field F obtained while the work vehicle 1 is traveling, the work vehicle 1 performs the supply work of materials M based on the map-linked supply work, and the control unit 100 adjusts the supply amount of materials M based on the information of the field F obtained by the real-time sensing supply work, even in the case of the map-linked supply work, a work device 40.

[0143] According to such an operating device, in addition to any one of the effects (1) to (10) above, when the map-linked supplying operation is performed, the amount of material M supplied can be adjusted using information on the field F used in the real-time sensing supplying operation. For example, when the material M is fertilizer, automatic reduction of fertilizer becomes possible, thereby reducing the risk of crop lodging, etc.

[0144] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0145] 1 Work vehicle (seedling transplanter) 12 Rear wheel 16 Rear wheel gear case 40 Work equipment (fertilizer application equipment) 41 Storage section (hopper) 42 Payout section 421 Payout drive shaft 51 First driving source 52 Second drive source (assist motor) 100 Control section 150 Positioning device F Field M Materials (Fertilizer) P Current position

Claims

1. A work device for supplying materials to a farm field in a work vehicle that performs work while traveling in the farm field by driving rear wheels, comprising: A storage section for storing the material; a feed unit having a feed drive shaft and feeding out a predetermined amount of the material from the storage unit by rotation of the feed drive shaft; A first drive source capable of applying rotational power to the payout drive shaft; A second drive source which is a motor capable of applying rotational power to the payout drive shaft; a control unit that controls so as to apply rotational power to the payout drive shaft from at least one of the first drive source and the second drive source; Equipped with the work vehicle has a rear wheel gear case that imparts driving force to the rear wheels, the first drive source is the rear wheel gear case, The payout drive shaft is rotated by rotational power applied from the rear wheel gear case, The control unit detects slippage of the rear wheel, and when the control unit detects slippage of the rear wheel, switches the application of rotational power to the payout drive shaft from the rear wheel gear case to the second drive source. A working device characterized by:

2. The work vehicle has a positioning device for acquiring a current position of the work vehicle, The control unit calculates a first traveling speed of the work vehicle based on the current position of the work vehicle acquired by the positioning device, calculates a second traveling speed of the work vehicle from the rotation speed of the rear wheels, detects slippage of the rear wheels by comparing the first traveling speed with the second traveling speed, and when slippage of the rear wheels is not detected, applies rotational power from the rear wheel gear case.

2. The working device according to claim 1 .

3. the work vehicle has a rear wheel gear case that imparts driving force to the rear wheels, the first drive source is the rear wheel gear case, The work vehicle has a positioning device for acquiring a current position of the work vehicle, the work vehicle performs a supply operation of the material, including a conventional supply operation of supplying the material to the field at a predetermined fixed supply amount, and a map-linked supply operation of controlling a supply amount of the material to be supplied to the field based on supply amount information of the material for each divided section, The control unit applies rotational power from the rear wheel gear case in the case of the map-linked supply operation.

2. The working device according to claim 1 .

4. the work vehicle performs a supply operation of the material, further including a supply operation of a real-time sensing method for controlling a supply amount of the material to be supplied to the field based on information of the field obtained while the work vehicle is traveling; When the control unit determines that the current position of the work vehicle acquired by the positioning device is outside the field and is another field that does not have a work instruction value defined when performing the map-linked supply work, the control unit applies rotational power from the rear wheel gear case and does not apply rotational power from the second drive source to the payout drive shaft.

4. The working device according to claim 3.

5. The control unit, in the case of the map-linked supply operation or the real-time sensing supply operation, applies rotational power from the rear wheel gear case when the amount of the material fed out by the feed unit is large, and applies rotational power from the second drive source when the amount of the material fed out by the feed unit is small.

5. The working device according to claim 4.

6. In the case of the map-linked supply operation or the real-time sensing supply operation, when the rotational power applied to the payout drive shaft is equal to or greater than a predetermined value, the control unit applies the rotational power from the rear wheel gear case, and when the rotational power applied to the payout drive shaft is less than the predetermined value, the control unit applies the rotational power from the second drive source.

5. The working device according to claim 4.

7. the control unit, in the case of the map-linked supply work or the real-time sensing supply work, when the current position of the work vehicle cannot be acquired by the positioning device or when the work vehicle is located outside the field due to a false detection, applies rotational power from the rear wheel gear case; The work vehicle performs the supply work of the material by the customary supply work.

5. The working device according to claim 4.

8. the work vehicle has a rear wheel gear case that imparts driving force to the rear wheels, the first drive source is the rear wheel gear case, The second drive source is used to provide rotational power to the payout drive shaft and can also be used to generate electricity, and stores electricity while the first drive source provides rotational power to the payout drive shaft.

2. The working device according to claim 1 .

9. The work vehicle has a positioning device for acquiring a current position of the work vehicle, The positioning device further acquires a first traveling speed of the work vehicle, The work vehicle performs the material supply work, which includes a conventional supply work of supplying the material to the field at a predetermined fixed supply amount, a map-linked supply work of controlling the supply amount of the material to be supplied to the field based on supply amount information of the material for each divided section, and a real-time sensing supply work of controlling the supply amount of the material to be supplied to the field from information of the field obtained while the work vehicle is traveling, the control unit calculates a first traveling speed of the work vehicle based on the current position of the work vehicle acquired by the positioning device, calculates a second traveling speed of the work vehicle from the rotation speed of the rear wheels, and detects slippage of the rear wheels by comparing the first traveling speed with the second traveling speed; In the case of the conventional supply operation, when slippage of the rear wheel is not detected, rotational power is applied from the rear wheel gear case to the payout drive shaft, and when slippage of the rear wheel is detected, rotational power is applied from the second drive source to the payout drive shaft; In the case of the map-linked supply operation, when slippage of the rear wheel is not detected, either one of the rear wheel gear case and the second drive source is selected, and rotational power is applied from the rear wheel gear case or the second drive source to the payout drive shaft, and when slippage of the rear wheel is detected, rotational power is applied from the second drive source to the payout drive shaft; In the case of a supply operation using a real-time sensing method, when slippage of the rear wheel is not detected, either one of the rear wheel gear case and the second drive source is selected, and rotational power is applied from the rear wheel gear case or the second drive source to the payout drive shaft, and when slippage of the rear wheel is detected, rotational power is applied from the second drive source to the payout drive shaft.

9. The working device according to claim 8.

10. the work vehicle performs the material supply work, which includes a map-linked supply work in which the supply amount of the material to be supplied to the field is controlled based on supply amount information of the material for each divided section, and a real-time sensing supply work in which the supply amount of the material to be supplied to the field is controlled based on information of the field obtained while the work vehicle is traveling, The work vehicle performs the supply work of the material based on the map-linked supply work, The control unit adjusts the supply amount of the material based on the information of the field obtained by the real-time sensing method even in the case of the map-linked method of supplying.

2. The working device according to claim 1 .

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