Fertilization system

Abstract

To solve the problem with a conventional work vehicle that usability when using a convenient function is not always good, more specifically, the problem with a fertilization system such as a fertilization system of a conventional rice transplanter that fertilization work with an intended fertilization amount is sometimes not performed under the current situation that the trend to mount convenient functions on a work vehicle such as a rice transplanter one after another is thought to be more and more accelerated in consideration of various needs of work vehicle users.SOLUTION: There is provided a fertilization system to increase the number of revolutions of a fertilizer feeding shaft 10 on the basis of increase in the vehicle speed when controlling the number of revolutions of the fertilizer feeding shaft 10 on the basis of the vehicle speed and a fertilization target set value. A fertilizer feeding shaft rotation speed correction is carried out to correct an excessive amount of increase in the number of revolutions of the fertilizer feeding shaft 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a fertilizer application system such as a fertilizer application system of a rice transplanter.

Background Art

[0002] A storage hopper for storing fertilizer, a feeding device for feeding the fertilizer supplied from the storage hopper in set amounts, a fertilizer application amount adjusting device for adjusting the fertilizer application amount fed from the feeding device, a fertilizer application amount setting device for setting the fertilizer application amount for the fertilizer application amount adjusting device, a swing arm for operating the feeding device by swinging around a swing fulcrum, a power supply device connected to one end of the swing arm and supplying power to the swing arm, a fertilizer application device having a fertilizer application amount adjusting motor driven based on an instruction from the fertilizer application amount setting device, and an inclination detection sensor for detecting the inclination of the traveling vehicle body in the front-rear direction, the other end of the swing arm is connected to the feeding device, the position of the swing fulcrum is automatically changed by the fertilizer application amount adjusting device according to the setting of the fertilizer application amount setting device, and when the inclination detection sensor detects that the traveling vehicle body is in a front-upward inclination state of a predetermined angle or more in a state where the work in the field is completed, the fertilizer application amount setting device operates the fertilizer application amount adjusting motor to move the position of the swing fulcrum to a standard position, a rice transplanter is known (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] By the way, the present inventor considers various needs of work vehicle users and believes that the trend of successively implementing convenient functions on work vehicles such as rice transplanters is accelerating more and more.

[0005] However, the inventor has noticed that for conventional work vehicles, the usability when using convenient functions is not always good.

[0006] More specifically, the inventor has noticed that for a fertilization system such as that of a conventional rice transplanter, the fertilization work may not be performed at the intended fertilization amount.

[0007] An object of the present invention is to provide a fertilization system that can improve usability in consideration of the above-described conventional problems.

Means for Solving the Problems

[0008] The first invention is a fertilizing system that rotates a fertilizer delivery shaft using wheel driving force. When controlling the rotational speed of the fertilizer delivery shaft based on the vehicle speed and a fertilizing target set value, the fertilizing system increases the rotational speed of the fertilizer delivery shaft based on an increase in the vehicle speed, and fertilizer delivery shaft rotational speed correction is performed to correct an excessive increase amount of the rotational speed of the fertilizer delivery shaft, the excessive increase amount of the rotational speed of the fertilizer delivery shaft is generated due to the inertia of the fertilizer delivery shaft to be rotated, and expands in response to the increase in the vehicle speed, the fertilizer delivery shaft rotational speed correction is performed so that the excessive increase amount of the rotational speed of the fertilizer delivery shaft is canceled, the fertilizer delivery shaft rotational speed correction is performed for each predetermined travel distance of the vehicle body driven by the wheel driving force, and is reset when the vehicle body stops, a swing arm having a slit is provided so as to be swung by the wheel driving force, a swing fulcrum pin slidably inserted into the slit is provided, one end of the swing arm is moved in the vertical direction by the wheel driving force, so that the other end of the swing arm is moved in the vertical direction with the swing fulcrum pin as a fulcrum, the fertilizer delivery shaft is rotated as the other end of the swing arm moves, the swing fulcrum pin is attached to a swing fulcrum pin nut member, the swing fulcrum pin nut member is slidably screwed to a screw member that is rotated by a motor mechanism based on the fertilizer delivery shaft rotational speed correction. The fertilizing system is characterized by this. The second invention is the fertilizing system of the first invention, characterized in that the default position of the swing fulcrum pin when the fertilizing target set value is given is a position where the excessive increase amount of the rotational speed of the fertilizer delivery shaft is canceled when the value of the vehicle speed is half of the maximum vehicle speed value. The third invention is that the screw member has a screw extension part, a sensor pin nut member slidably screwed to the screw extension part is provided, a sensor pin attached to the sensor pin nut member is provided, The fertilizing system of the second invention is characterized by having a rotation angle sensor having a rotatable sensor arm to which the sensor pin is locked. In the fourth aspect of the present invention, the screw extension portion extends from the side of the other end of the swing arm toward the motor mechanism. The fertilization system according to the third aspect of the present invention is characterized in that the rotation angle sensor is provided so as to be adjacent to the screw extension portion. In the fifth aspect of the present invention, the sensor arm is rotated around the sensor arm rotation axis of the rotation angle sensor. The fertilization system according to the fourth aspect of the present invention is characterized in that the distance from the minimum fertilization target setting sensor pin position of the sensor pin corresponding to the minimum fertilization target setting value to the sensor arm rotation axis is larger than the distance from the maximum fertilization target setting sensor pin position of the sensor pin corresponding to the maximum fertilization target setting value to the sensor arm rotation axis. The fertilization system according to the fifth aspect of the present invention is characterized in that the minimum fertilization target setting sensor pin position is farther from the motor mechanism than the maximum fertilization target setting sensor pin position. In the seventh aspect of the present invention, a plurality of recesses for filling fertilizer are formed on the surface of a fertilizer feeding roll connected to the fertilizer feeding shaft, and the fertilizer feeding shaft is rotated to fill the fertilizer. The fertilizer filling rate of the fertilizer in the recess decreases as the rotation speed of the fertilizer feeding shaft increases. The fertilization system according to the sixth aspect of the present invention is characterized in that the fertilizer feeding shaft rotation speed correction is performed so that the reduction amount of the fertilizer filling rate is also canceled. The first invention related to the present invention In a fertilization system that rotates a fertilizer delivery shaft using wheel driving force, when controlling the rotational speed of the fertilizer delivery shaft based on the vehicle speed and a fertilization target setting value, it is a fertilization system that increases the rotational speed of the fertilizer delivery shaft based on an increase in the vehicle speed, characterized in that fertilizer delivery shaft rotational speed correction is performed to correct an excessive increase amount of the rotational speed of the fertilizer delivery shaft.

[0009] The second invention related to the present invention The excessive increase amount of the rotational speed of the fertilizer delivery shaft is caused by the inertia of the fertilizer delivery shaft to be rotated and expands in response to the increase in the vehicle speed, The first invention related to the present invention which is the fertilization system.

[0010] The third invention related to the present invention characterized in that the fertilizer delivery shaft rotational speed correction is performed so that the excessive increase amount of the rotational speed of the fertilizer delivery shaft is canceled. The second invention related to the present invention which is the fertilization system.

[0011] The fourth invention related to the present invention characterized in that the fertilizer delivery shaft rotational speed correction is performed for each predetermined travel distance of the vehicle body driven by the wheel driving force and is reset when the vehicle body stops. The third invention related to the present invention which is the fertilization system.

[0012] The fifth invention related to the present invention A swing arm having a slit is provided so as to be swung by the wheel driving force, a swing fulcrum pin slidably inserted into the slit is provided, one end of the swing arm is moved in the vertical direction by the wheel driving force, so that the other end of the swing arm is moved in the vertical direction with the swing fulcrum pin as a fulcrum, the fertilizer delivery shaft is rotated as the other end of the swing arm moves, the swing fulcrum pin is attached to a swing fulcrum pin nut member, The swing fulcrum pin nut member is slidably screwed to a screw member that is rotated by a motor mechanism based on the fertilizer feeding shaft rotation speed correction. The fourth invention related to the present invention This is the fertilization system of

[0013] The sixth invention related to the present invention When the fertilization target set value is given, the default position of the swing fulcrum pin is a position where the extra increase amount of the rotation speed of the fertilizer feeding shaft is canceled when the vehicle speed value is half of the maximum vehicle speed value. The fifth invention related to the present invention This is the fertilization system of

[0014] The seventh invention related to the present invention The screw member has a screw extension part, A sensor pin nut member slidably screwed to the screw extension part is provided, A sensor pin attached to the sensor pin nut member is provided, A rotation angle sensor having a rotatable sensor arm to which the sensor pin is locked is provided. The sixth invention related to the present invention This is the fertilization system of

[0015] The eighth invention related to the present invention The screw extension part extends from the side of the other end of the swing arm toward the motor mechanism, The rotation angle sensor is provided so as to be adjacent to the screw extension part. The seventh invention related to the present invention This is the fertilization system of

[0016] The ninth invention related to the present invention The sensor arm is rotated around the sensor arm rotation axis of the rotation angle sensor, The distance from the minimum fertilization target setting sensor pin position of the sensor pin corresponding to the minimum fertilization target set value to the sensor arm rotation axis is larger than the distance from the maximum fertilization target setting sensor pin position of the sensor pin corresponding to the maximum fertilization target set value to the sensor arm rotation axis. The eighth invention related to the present invention This is the fertilization system of

[0017] The tenth invention related to the present invention is characterized in that the minimum fertilization target setting sensor pin position is farther from the motor mechanism than the maximum fertilization target setting sensor pin position The ninth invention related to the present invention fertilization system

[0018] The eleventh invention related to the present invention is formed on the surface of a fertilizer delivery roll connected to the fertilizer delivery shaft, and a plurality of recesses are filled with fertilizer when the fertilizer delivery shaft is rotated the fertilizer filling rate of the fertilizer in the recess decreases as the rotation speed of the fertilizer delivery shaft increases it is characterized in that the fertilizer delivery shaft rotation speed correction is performed so that the reduction amount of the fertilizer filling rate is also canceled The tenth invention related to the present invention fertilization system

Advantages of the Invention

[0019] According to the present invention, it is possible to improve usability. In addition, according to the present invention, in addition to the effects of the present invention described above, it is possible to improve convenience. Further, according to the present invention, in addition to the effects of the present invention described above, it is possible to improve practicality. Also, according to the present invention, in addition to the effects of the present invention described above, it is possible to reduce the burden on the operator. The first invention related to the present invention it is possible to improve usability

[0020] The second invention related to the present invention in addition to the effect of The first invention related to the present invention it is possible to improve convenience

[0021] The third invention related to the present invention in addition to the effect of The second invention related to the present invention it is possible to further improve convenience

[0022] The fourth invention related to the present invention in addition to the effect of The third invention related to the present invention it is possible to improve practicality

[0023] The fifth invention related to the present invention in addition to the effect of The fourth invention related to the present invention it is possible to reduce the burden on the operator

[0024] The sixth invention related to the present invention in addition to the effect of The fifth invention related to the present invention In addition to the effects, it is possible to further improve the practicality.

[0025] The seventh invention related to the present invention By this, The sixth invention related to the present invention In addition to the effects, it is possible to further reduce the burden on the operator.

[0026] The eighth invention related to the present invention By this, The seventh invention related to the present invention In addition to the effects, it is possible to simplify the configuration.

[0027] The ninth invention related to the present invention By this, The eighth invention related to the present invention In addition to the effects, it is possible to improve the reliability.

[0028] The tenth invention related to the present invention By this, The ninth invention related to the present invention In addition to the effects, it is possible to further improve the reliability.

[0029] The eleventh invention related to the present invention By this, The tenth invention related to the present invention In addition to the effects, it is possible to further improve the usability.

Brief Explanation of Drawings

[0030]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Embodiments for Carrying Out the Invention

[0031] While referring to the drawings, the embodiments of the present invention will be described in detail.

[0032] The same applies hereinafter, but some components may not be shown in the drawings, or may be shown perspectively or omitted.

[0033] While explaining the operation of the fertilization system of this embodiment, the fertilization system operation control method of the invention related to the present invention, which is realized by the controller 100 etc., will also be explained.

[0034] The fertilization system of this embodiment is a fertilization system that rotates the fertilizer delivery shaft 10 by using the wheel driving force. When controlling the rotation speed of the fertilizer delivery shaft 10 based on the vehicle speed and the fertilization target setting value, the rotation speed of the fertilizer delivery shaft 10 is increased based on the increase in the vehicle speed, which is a specific example of the fertilization system in the present invention.

[0035] (1) First, with reference mainly to FIGS. 1 to 5, 6, and 7, the configuration and operation of the fertilization system according to the embodiment of the present invention will be specifically described.

[0036] Here, FIGS. 1 to 5 are perspective views (the first to fifth) of the fertilization system according to the embodiment of the present invention, FIG. 6 is a schematic cross-sectional view of the vicinity of the fertilizer delivery shaft 10 of the fertilization system according to the embodiment of the present invention, and FIG. 7 is a perspective view of the vicinity of the motor mechanism 40 of the fertilization system according to the embodiment of the present invention.

[0037] The swing arm 20 in which the slit 21 is formed is provided so as to be swung by the wheel driving force. A swing fulcrum pin 30 slidably inserted into the slit 21 is provided. One end of the swing arm 20 is moved in the vertical direction by the wheel driving force, so that the other end of the swing arm 20 is moved in the vertical direction with the swing fulcrum pin 30 as a fulcrum.

[0038] More specifically, the rotational power from the rear axle output shaft is input to the lower end, and the upper end of the wheel driving force transmission mechanism that is moved in the vertical direction is connected to one end of the swing arm 20, so that one end of the swing arm 20 is moved in the vertical direction.

[0039] The fertilizer delivery shaft 10 is rotated as the other end of the swing arm 20 moves. The swing fulcrum pin 30 is attached to the swing fulcrum pin nut member 31. The swing fulcrum pin nut member 31 is slidably screwed to a screw member 50 that is rotated by the motor mechanism 40 based on the correction of the fertilizer delivery shaft rotation speed.

[0040] Specifically, a screw member 50 such as a ball screw member is rotated by a motor mechanism 40. As a rocking fulcrum pin nut member 31 screwed onto the main body of the screw member 50 slides, a rocking fulcrum pin 30 serving as a movable fulcrum attached to the rocking fulcrum pin nut member 31 is moved. The other end of the rocking arm is moved in the vertical direction with the rocking fulcrum pin as a fulcrum, and the upper end of the fertilizer feeding shaft rotation mechanism is connected to the other end of the rocking arm 20. As the other end of the rocking arm 20 is moved in the vertical direction by the rocking of the rocking arm 20, a fertilizer feeding roll 80 of a fertilizer feeding shaft 10, also called a fertilizer feeding shaft, is rotated via a one-way clutch 101 that allows only rotation in a predetermined direction.

[0041] The screw member 50 has a screw extension portion 51. A sensor pin nut member 61 slidably screwed onto the screw extension portion 51 is provided.

[0042] As will be described in detail later, when the rocking fulcrum pin nut member 31 is slid in the direction of decreasing the fertilization target set value as the screw member 50 rotates, the thread cutting of the sensor pin nut member 61 is a so-called reverse thread cutting, which is opposite to the thread cutting of the rocking fulcrum pin nut member 31. Thus, the sensor pin nut member 61 is slid in the opposite direction. For this reason, the minimum fertilization target setting rocking fulcrum pin position Q min is closer to the motor mechanism 40 than the maximum fertilization target setting rocking fulcrum pin position Q Max However, the minimum fertilization target setting sensor pin position P min is farther from the motor mechanism 40 than the maximum fertilization target setting sensor pin position P Max

[0043] A sensor pin 60 attached to the sensor pin nut member 61 is provided. A rotation angle sensor 70 having a rotatable sensor arm 71 to which the sensor pin 60 is locked is provided.

[0044] Specifically, the upper part of the sensor arm 71 is notched so as to be released upward, and the notched edge that contacts the sensor pin 60 from below is bent in a zigzag shape in the middle to form an obtuse angle. The plate shape of the sensor arm 71 is not a simple elongated hole plate shape, and since the above-described notched configuration suppresses the occurrence of engagement between the sensor arm 71 and the sensor pin 60, the layout of the rotation angle sensor 70 can be performed with sufficient freedom with less member interference so that maintenance work and the like are easier.

[0045] The screw extension part 51 extends from the side of the other end of the swing arm 20 toward the motor mechanism 40. The rotation angle sensor 70 is provided adjacent to the screw extension part 51.

[0046] Specifically, the motor mechanism 40 has a number of gears such as a motor gear 102, two counter gears 103, and a drive gear 104, and the rotational power to the drive gear 104 for moving the swing fulcrum pin 30 is supplied from the motor gear 102 via the counter gear 103.

[0047] (2) Next, with reference mainly to FIGS. 8 to 13, the configuration and operation of the fertilization system according to the embodiment of the present invention will be described more specifically.

[0048] Here, FIGS. 8 to 13 are explanatory diagrams (Parts 1 to 6) of the operation control of the fertilization system according to the embodiment of the present invention.

[0049] Correction of the rotation speed of the fertilizer delivery shaft is performed to correct an excessive increase in the rotation speed of the fertilizer delivery shaft 10.

[0050] More specifically, it is as follows.

[0051] One end of the swing arm 20 is moved in the vertical direction by the wheel driving force, so the other end of the swing arm 20 is moved in the vertical direction with the swing fulcrum pin 30 as the fulcrum, and the fertilizer feeding shaft 10 is rotated as the other end of the swing arm 20 moves. In the above-described configuration, for the fertilization target set value X [g / m 2 , if the position of the swing fulcrum pin 30 selected according to [] is fixed, the fertilizer feeding shaft rotation speed ω [min -1 of the fertilizer feeding shaft 10 should be directly proportional to the vehicle speed V [m / s]. That is, the fertilizer feeding shaft rotation speed ω is determined by the coefficient of the function C(X) of the fertilization target set value X,

[0052] (Equation 1) ω = C(X)V should be expressed as a first-degree polynomial for the vehicle speed V as follows. This is the same as ω / V except for a constant multiple by the fertilization system normalization constant A determined according to the specifications of the fertilizer feeding roll 80 and the driving route of the vehicle body 90, that is,

[0053] (Equation 2) Ω = A(ω / V) is satisfied, which means that the fertilization amount Ω [g / m 2 as the fertilizer application amount per unit area of the field is uniquely maintained according to the fertilization target set value X regardless of the vehicle speed V. This means that so-called variable fertilization can be realized by fixing the position of the swing fulcrum pin 30 according to the fertilization target set value X.

[0054] However, the inventor noticed that an excessive increase in the rotation speed of the fertilizer feeding shaft 10 occurs in such a simple fertilization system model (see Fig. 8) and conducted various studies.

[0055] The excessive increase in the rotation speed of the fertilizer feeding shaft 10 is caused by the inertia of the fertilizer feeding shaft 10 to be rotated and expands as the vehicle speed increases.

[0056] More specifically, it is as follows.

[0057] The inventor constructed a fertilization system model of the present embodiment expressed by the function f(V, X) of the vehicle speed V and the fertilization target setting value X, where the rotation speed ω of the fertilizer delivery shaft is

[0058] (Equation 3) ω = f(V, X) = (N1X 2 + N2X)V 2 + (N3X)V The numerical parameters N1, N2, and N3 are fertilization system parameters obtained by curve fitting or the like.

[0059] (Equation 4) N1 = 0.001915 N2 = 0.123595 N3 = 0.835479 Data such as these are adopted (see FIGS. 10 and 11).

[0060] When the vehicle speed V (>0) and the fertilization amount Ω (>0) are given, by solving the fertilization system operation control equation

[0061] (Equation 5) Ω / A = f(V, X) / V = N1VX 2 + (N2V + N3)X the fertilization target setting value X (>0) as the optimal solution can be obtained. The fertilization target setting value X is none other than the position of the swing fulcrum pin 30, and the motor drive control of the motor mechanism 40 for realizing the position of the swing fulcrum pin 30 selected according to the fertilization target setting value X is performed by the controller 100 or the like.

[0062] Of course,

[0063] (Equation 6) AN3 = 1 By constructing a fertilization system model in which the fertilization target set value X is associated with the position of the swing fulcrum pin 30 so as to be satisfied, a fertilization system model in which the meaning of the extra increase amount of the rotation speed of the fertilizer delivery shaft 10 is easy to understand can be obtained. However, it is not always required to associate the fertilization target set value X with the position of the swing fulcrum pin 30 in this way. For example, when the fertilization target set value X is fixed at X0 = 40 [kg / 10a], when V is not 0 [m / s] but approximately V = 0.7 [m / s], the extra increase amount of the rotation speed of the fertilizer delivery shaft 10 generated due to inertia is well considered and a fertilization amount Ω of 40 [kg / 10a] is obtained (see Fig. 10). Needless to say, the fertilization target set value X may be associated with the position of the swing fulcrum pin 30.

[0064] A mode can be considered in which a fertilization target set value scale label associated with the position of the swing fulcrum pin 30 is attached near the screw member 50 so that the content of the motor drive control of the motor mechanism 40 can be easily visually recognized.

[0065] A mode can also be considered in which a V-X matrix table of the fertilization amount Ω (see Fig. 11) based on the output value of the function f(V, X) obtained by changing the vehicle speed V and the fertilization target set value X as input values is prepared in advance so as to reduce the burden for solving the fertilization system operation control equation.

[0066] When the vehicle speed increases, even if the extra increase amount of the rotation speed of the fertilizer delivery shaft 10 expands due to the inertia of the fertilizer delivery shaft 10 to be rotated, by implementing the fertilization system operation control mode for performing the fertilizer delivery shaft rotation speed correction in which the fertilization target set value X is decreased as the vehicle speed correction mode, the extra increase amount of the rotation speed of the fertilizer delivery shaft 10 in the above-mentioned simple fertilization system model can be covered and the fertilization work can be performed at the intended fertilization amount Ω.

[0067] The fertilizer delivery shaft rotation speed correction is performed so that the extra increase amount of the rotation speed of the fertilizer delivery shaft 10 is canceled.

[0068] Covering of the excessive increase amount of the rotation speed of the fertilizer delivery shaft 10 as such may be performed so that substantially all of the excessive increase amount disappears by using the above-described optimal fertilization target setting value X. Needless to say, for example, it may be performed so that approximately half of the excessive increase amount disappears.

[0069] The correction of the rotation speed of the fertilizer delivery shaft is performed for each predetermined travel distance of the vehicle body 90 driven by the wheel driving force, and is reset when the vehicle body 90 stops.

[0070] The correction of the rotation speed of the fertilizer delivery shaft is not continuously performed in real time, but is discretely performed at the timing when the traveling operation is being performed and the travel distance exceeds the predetermined travel distance (see Fig. 9). This is because when the fertilization target setting value X is fixed, the variation in the fertilization amount Ω accompanying the variation in the vehicle speed V is not necessarily large (see Figs. 10 and 11), and frequent correction of the rotation speed of the fertilizer delivery shaft by adjusting the position of the swing fulcrum pin 30 is often unnecessary. For example, after the planting travel is started, the correction of the rotation speed of the fertilizer delivery shaft is not performed until the forward travel distance exceeds the predetermined travel distance, and the correction of the rotation speed of the fertilizer delivery shaft using the V-X matrix table of the above-described fertilization amount Ω and the like is performed at the timing when the travel distance exceeds the predetermined travel distance. Therefore, the number of motor drive times of the motor mechanism 40 is reduced, and the durability of the relay, also called a relay, for motor protection is improved.

[0071] When the lever position of the transmission such as the HST device becomes the neutral position, the correction of the rotation speed of the fertilizer delivery shaft is reset, and the position of the swing fulcrum pin 30 is made to coincide with the default position. The position of the swing fulcrum pin 30 when the vehicle body 90 stops and returns to the default position remains as it is until the traveling operation is restarted and the forward travel distance exceeds the predetermined travel distance again.

[0072] When the vehicle body 90 cannot be stopped and the traveling operation is continued while the fertilizer feed shaft rotation speed correction is being performed, the fertilizer feed shaft rotation speed correction is performed for each predetermined traveling distance of the vehicle body 90. Therefore, excessive motor drive of the motor mechanism 40 accompanying fluctuations in the vehicle speed V is suppressed, and relay consumption is reduced.

[0073] The default position of the swing fulcrum pin 30 when the fertilization target set value is given is a position where an excessive increase amount in the rotation speed of the fertilizer feed shaft 10 is canceled when the value of the vehicle speed is half of the maximum vehicle speed value.

[0074] Since normal traveling operations are performed at a so-called medium speed where the value of the vehicle speed is half of the maximum vehicle speed value, even if the vehicle body 90 stops frequently, the position of the swing fulcrum pin 30 remains within a relatively narrow range near the default position, and excessive motor drive of the motor mechanism 40 is further suppressed.

[0075] The sensor arm 71 is rotated around the sensor arm rotation axis 72 of the rotation angle sensor 70. The minimum fertilization target setting sensor pin position P of the sensor pin 60 corresponding to the minimum fertilization target set value min The distance from to the sensor arm rotation axis 72 is greater than the distance from the maximum fertilization target setting sensor pin position P of the sensor pin 60 corresponding to the maximum fertilization target set value Max to the sensor arm rotation axis 72.

[0076] The sensor pin 60 is moved in the longitudinal direction of the linear screw member 50 in conjunction with the swing fulcrum pin 30 for controlling the rotation speed of the fertilizer feed shaft 10, and the sensor mounting center is at the maximum fertilization target setting sensor pin position P in the movement range of the sensor pin 60 Max The rotation angle sensor 70 of the sensor pin 60 is arranged so as to be positioned in the vicinity. This is because although the movement amount of one end of the swing arm 20 moved by the wheel driving force is constant, the movement amount of the other end of the swing arm 20 is changed by the position of the swing fulcrum pin 30, and the position change rate of the sensor pin 60 moved in conjunction with the swing fulcrum pin 30 is the maximum fertilization target setting sensor pin position P MaxSince the fertilization target setting sensor pin position P is the minimum, the scale interval of the fertilization target setting value X described above becomes smaller. Max This is because deterioration of the sensor accuracy can be compensated for by ensuring the rotation angle of the sensor arm rotation shaft 72 in the vicinity.

[0077] Minimum fertilizer target setting sensor pin position P min is the maximum fertilization target setting sensor pin position P Max 40. It is farther from the motor mechanism 40 than the

[0078] The amount of movement of one end of the swing arm 20 that is moved in the vertical direction by the wheel driving force is often larger than the amount of movement of the other end of the swing arm 20. In order to avoid not only interference with the fertilizer hopper 105, etc., but also interference with other members caused by such a large amount of movement of one end of the swing arm 20, the screw extension portion 51 is extended from the other end of the swing arm 20 toward the front of the vehicle body, and not only the motor mechanism 40, which is relatively bulky, but also the maximum fertilization target setting sensor pin position P Max A rotation angle sensor 70 and the like located nearby are also arranged away from one end of the swing arm 20 .

[0079] A plurality of recesses 81 into which fertilizer is filled as the fertilizer feed-out shaft 10 is rotated are formed on the surface of a fertilizer feed-out roll 80 connected to the fertilizer feed-out shaft 10. The fertilizer filling rate of the fertilizer in the recesses 81 decreases as the rotation speed of the fertilizer feed-out shaft 10 increases. The fertilizer feed-out shaft rotation speed correction is performed so as to cancel the amount of reduction in the fertilizer filling rate.

[0080] A more specific explanation is as follows.

[0081] The inventors have determined that the fertilizer loading rate ρ

[0082] (Number 7) ρ=g(ω)=N4ω+N5 Thus, an improved fertilization system model of this embodiment expressed by the function g(ω) of the fertilizer delivery shaft rotation speed ω was constructed. The numerical parameters N4 and N5 are fertilization system parameters obtained by curve fitting or the like,

[0083] (Equation 8) N4 = -0.00172 N5 = 0.956159 Data such as this is adopted (see FIGS. 12 and 13).

[0084] In such an improved fertilization system model,

[0085] (Equation 9) Ω = ρA(ω / V) is required to be considered instead of (Equation 2). When the vehicle speed V and the fertilization amount Ω are given, instead of solving (Equation 5), the fertilization system operation control equation

[0086] (Equation 10) Ω / A = g(f(V, X))f(V, X) / V is solved to obtain the fertilization target setting value X as the optimal solution.

[0087] A mode is also conceivable in which a V - X matrix table of the fertilization amount Ω (see FIG. 13) is prepared in advance so as to reduce the burden of solving the fertilization system operation control equation.

[0088] When the fertilizer delivery shaft rotation speed ω increases, even if the fertilizer filling rate ρ decreases, a fertilization system operation control mode for performing a correction of the fertilizer delivery shaft rotation speed that increases the fertilization target setting value X is implemented as the fertilizer filling rate correction mode. Thus, even when the vehicle speed V and the fertilization target setting value X are relatively large, etc., the reduction amount of the fertilization amount Ω that may decrease due to the reduction of the fertilizer filling rate ρ can be covered, and fertilization work can be performed at the intended fertilization amount Ω.

[0089] An aspect is also conceivable in which the fertilization system operation control mode obtained by combining the above-described vehicle speed correction mode and fertilizer filling rate correction mode is implemented as a high-quality fertilization system operation control mode that can realize operation control exceeding simple increase control or decrease control.

[0090] (3) Next, the configuration and operation of the fertilization system according to the embodiment of the present invention will be described in more detail.

[0091] (3a) With reference mainly to FIGS. 14(A) and 14(B), aspects related to the technology of the fertilizer supply stand will be specifically described.

[0092] Here, FIGS. 14(A) and 14(B) are explanatory views (one and two) of the technology of the fertilizer supply stand according to the embodiment of the present invention.

[0093] FIGS. 14(A) and 14(B) are examples in which fertilizer stands rotatable on both sides of the vehicle body are provided.

[0094] Here, 201 is the left hopper of the left and right hoppers, 202 is a fertilizer bag that supplies fertilizer to the hopper 201. Further, 203 is a frame that holds the fertilizer bag 202, the base thereof is a pipe 207, and it is rotatable horizontally about the rotation shaft 204. The lower part of the frame 203 is dish-shaped, and the upper part is surrounded by wires.

[0095] Note that a cutter 205 is slidably attached to the lower part of the frame 203 in the left and right directions. By moving the cutter 205 to the left and right, the bottom of the fertilizer bag 2 can be torn, and the fertilizer inside can be put into the hopper 201.

[0096] The pipe 207 of the frame 203 that is rotatable about the rotation shaft 420 can also move up and down, and the up and down movement is realized by stepping on the pedal 206.

[0097] That is, the fertilizer bag 202 filled with fertilizer on the ground is lifted by stepping on the pedal 206. When it reaches slightly above the hopper 201, it is rotated horizontally so that the fertilizer bag 202 is positioned directly above the hopper 201. Then, the bottom of the fertilizer bag 202 is cut by the cutter 205, and the fertilizer is put into the hopper 201.

[0098] It is desirable that this fertilizer platform be equipped with a damper to prevent sudden drops during descent.

[0099] When storing this frame 203 in a shed or the like, it can be made compact by tilting the frame 203 downward as shown in Fig. 14(B). At that time, the cutter is protected by a guard in the stored state to ensure safety.

[0100] By doing so, in the rice transplanting operation, although fertilizer replenishment was labor-intensive with poor workability, labor-saving in fertilizer replenishment can be achieved simply by setting the fertilizer bag on the replenishment stand.

[0101] (3b) Aspects related to the technology regarding rural biodiversity will be specifically described mainly with reference to Fig. 15.

[0102] Here, Fig. 15 is an explanatory diagram of the technology regarding rural biodiversity in the embodiment of the present invention.

[0103] Fig. 15 is a map 301 on the screen and a diagram displayed by tapping the map 301.

[0104] (1) Information (photos, names, other information, etc.) of organisms inhabiting rural areas and their surroundings is registered in a server storing a predetermined application, and anyone who can use the application can view it.

[0105] (2) The information of organisms can be classified by habitats (in waterways, in fields, in mountain forests, etc.) and types (insects, birds, mammals, etc.), and can be viewed for each classified item.

[0106] (3) Farmers upload photos of organisms living around the fields they have taken themselves into the app on the server.

[0107] (4) Search for the organisms in the uploaded photos based on the items in (2). When it is determined what kind of organisms they are, link the information registered in the photos, the locations where they were found (waterways, fields, mountain forests), and the location information of the photos. (If the location information of the photos is automatically registered on a smartphone or the like, use that information; otherwise, the registrant registers the location information himself / herself using a commercially available predetermined map software or the like.)

[0108] (5) Automatically determine what kind of organisms are in the uploaded photos and link the photos with the information of those organisms registered in the app on the server.

[0109] (6) Create a QR code (registered trademark) based on the information registered in the app in (4) and (5). By reading the QR code, map information of the production area of the rice and a pin (a pin like that of a commercially available predetermined map) indicating the location where the photo of the organism was taken on the map are displayed. When clicking on the pin, the photo of the organism, the information, and the producer's comment are displayed.

[0110] (7) Place the location where the rice was produced and the QR code in (6) around it on the package of the rice sold to general customers, so that customers who buy it can view the above-mentioned information by reading the QR code.

[0111] Note that the program of the invention related to the present invention is a program for causing a computer to execute the operations of 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.

[0112] In addition, 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 operations of 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 a computer.

[0113] Note that the "part of the steps (or processes, operations, and actions, etc.)" described above means one or some of the plurality of steps.

[0114] In addition, the "operation of the steps (or processes, operations, and actions, etc.)" described above means all or part of the operations of the steps described above.

[0115] In addition, one usage form of the program of the invention related to the present invention may be a form in which 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.

[0116] In addition, as the recording medium, ROM (Read Only Memory) etc. are included.

[0117] In addition, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may include firmware, an OS (Operating System), and further peripheral devices.

[0118] Note that as described above, the configuration of the present invention may be realized software-wise or hardware-wise.

Industrial Applicability

[0119] The fertilization system in the present invention can improve usability and is useful for the purpose of being used in a fertilization system such as the fertilization system of a rice transplanter.

Explanation of Symbols

[0120] 10 Fertilizer Feeding Shaft 20 Rocking Arm 21 Slit 30 Rocking Fulcrum Pin 31 Rocking Fulcrum Pin Nut Member 40 Motor Mechanism 50 Screw Member 51 Screw Extension 60 Sensor Pin 61 Sensor Pin Nut Member 70 Rotation Angle Sensor 71 Sensor Arm 72 Sensor Arm Rotation Axis 80 Fertilizer Feeding Roll 81 Concave Portion 90 Vehicle Body 100 Controller 101 One-Way Clutch 102 Motor Gear 103 Counter Gear 104 Driving Gear 105 Fertilizer Hopper P min Minimum Fertilization Target Setting Sensor Pin Position P Max Maximum Fertilization Target Setting Sensor Pin Position Q min Minimum Fertilization Target Setting Rocking Fulcrum Pin Position Q Max Maximum Fertilization Target Setting Rocking Fulcrum Pin Position

Claims

In a fertilizing system that rotates a fertilizer delivery shaft using the driving force of wheels, when controlling the rotational speed of the fertilizer delivery shaft based on the vehicle speed and the fertilizing target set value, a fertilizing system that increases the rotational speed of the fertilizer delivery shaft based on an increase in the vehicle speed, fertilizer delivery shaft rotational speed correction is performed to correct an excessive increase amount of the rotational speed of the fertilizer delivery shaft, the excessive increase amount of the rotational speed of the fertilizer delivery shaft is generated due to the inertia of the fertilizer delivery shaft to be rotated, and expands in response to the increase in the vehicle speed, the fertilizer delivery shaft rotational speed correction is performed so that the excessive increase amount of the rotational speed of the fertilizer delivery shaft is canceled, the fertilizer delivery shaft rotational speed correction is performed for each predetermined travel distance of the vehicle body driven by the wheel driving force, and is reset when the vehicle body stops, a swing arm having a slit is provided so as to be swung by the wheel driving force, a swing fulcrum pin slidably inserted into the slit is provided, one end of the swing arm is moved in the vertical direction by the wheel driving force, so that the other end of the swing arm is moved in the vertical direction with the swing fulcrum pin as a fulcrum, the fertilizer delivery shaft is rotated as the other end of the swing arm moves, the swing fulcrum pin is attached to a swing fulcrum pin nut member, the swing fulcrum pin nut member is slidably screwed to a screw member that is rotated by a motor mechanism based on the fertilizer delivery shaft rotational speed correction. A fertilizing system characterized by this.

2. The default position of the swing fulcrum pin when the fertilizing target set value is given is a position where the excessive increase amount of the rotational speed of the fertilizer delivery shaft is canceled when the value of the vehicle speed is half of the maximum vehicle speed value. The fertilizing system according to claim 1, characterized by this.

3. The screw member has a screw extension part, a sensor pin nut member slidably screwed to the screw extension part is provided, a sensor pin attached to the sensor pin nut member is provided, A rotation angle sensor having a rotatable sensor arm to which the sensor pin is locked is provided. The fertilizing system according to claim 2, characterized by this.

4. The screw extension portion extends from the side of the other end of the swing arm toward the motor mechanism. The fertilization system according to claim 3, wherein the rotation angle sensor is provided so as to be adjacent to the screw extension portion.

5. The sensor arm is rotated around the sensor arm rotation axis of the rotation angle sensor. The distance from the minimum fertilization target setting sensor pin position of the sensor pin corresponding to the minimum fertilization target setting value to the sensor arm rotation axis is greater than the distance from the maximum fertilization target setting sensor pin position of the sensor pin corresponding to the maximum fertilization target setting value to the sensor arm rotation axis. The fertilization system according to claim 4, characterized in that.

6. The fertilization system according to claim 5, wherein the minimum fertilization target setting sensor pin position is farther from the motor mechanism than the maximum fertilization target setting sensor pin position.

7. A plurality of recesses for filling fertilizer are formed on the surface of a fertilizer feeding roll connected to the fertilizer feeding shaft, and the fertilizer feeding shaft is rotated to fill the fertilizer. The fertilizer filling rate of the fertilizer in the recess decreases as the rotation speed of the fertilizer feeding shaft increases. The fertilization system according to claim 6, wherein the fertilizer feeding shaft rotation speed correction is performed so that the reduction amount of the fertilizer filling rate is also canceled.

Images