Work vehicles

Abstract

To provide a work vehicle capable of accurately calculating a material consumption amount.SOLUTION: A work vehicle includes a traveling vehicle body, a work device that is driven by power transmitted from the traveling vehicle body, a first rotation speed sensor that detects a rotation speed of a transmission shaft that drives the work device, an adjustment device that adjusts a work interval of the work device, a position sensor that detects an adjustment position of the adjustment device, and a control device that calculates a material use amount in the work device. The control device calculates the material use amount on the basis of the number of material supply ports in the work device, the number of times of supply per material in the work device, and the number of times of work according to the rotation speed of the transmission shaft and the work interval.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a work vehicle. [Background technology]

[0002] BACKGROUND ART Conventionally, a work vehicle is known that calculates the seedling consumption rate based on the number of seedling mats detected by a sensor placed on a seedling tank and the travel distance of the traveling vehicle body (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-5748 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-described work vehicle may not be able to accurately calculate the consumption of materials such as seedlings if the consumption of materials changes depending on the traveling state of the traveling vehicle body or the operating state of the work equipment.

[0005] The present invention has been made in view of the above, and has an object to provide a work vehicle that accurately calculates the consumption of materials. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment includes a traveling body (2), a working device (4) driven by power transmitted from the traveling body (2), a first rotation speed sensor (120) that detects the rotation speed of a transmission shaft (67) that drives the working device (4), an adjustment device (130) that adjusts the work interval of the working device (4), a position sensor (123) that detects the adjusted position of the adjustment device (130), and a control device (100) that calculates the amount of material used by the working device (4). The control device (100) calculates the amount of material used based on the number of material supply ports of the working device (4), the number of times each material is supplied by the working device (4), and the number of times work is performed according to the rotation speed of the transmission shaft (67) and the work interval. [Effects of the Invention]

[0007] In order to solve the above-mentioned problems and achieve the object, a work vehicle (1) according to one aspect of the embodiment includes a traveling body (2), a working device (4) that is driven by power transmitted from the traveling body (2), a first rotation speed sensor (120) that detects the rotation speed of a transmission shaft (67) that drives the working device (4), an adjustment device (130) that adjusts the working interval of the working device (4), and a position sensor (123) that detects the adjustment position of the adjustment device (130); a lateral feed amount detection sensor (125) for detecting a set number of times of feeding per material in the work device; The control device (100) calculates the amount of material used in the work device (4). The control device (100) calculates the number of material supply ports in the work device (4), Detected by the traverse feed amount detection sensor (125) The number of times the work device (4) supplies each material, and Detected by the first rotation speed sensor (120) The rotation speed of the transmission shaft (67) and The adjustment position of the adjustment device detected by the position sensor (123) The amount of material used is calculated based on the work interval and the corresponding number of work operations. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a work vehicle. [Figure 2] FIG. 2 is a plan view showing the work vehicle. [Figure 3] FIG. 3 is a block diagram showing a control system centered on the control device of the seedling transplanter. [Figure 4]FIG. 4 is a flowchart illustrating the seedling use amount calculation process. [Figure 5] FIG. 5 is a diagram showing an example of a monitor display showing the remaining number of seedlings. [Figure 6A] FIG. 6A is a diagram showing a state in which a distance measuring sensor provided in a seedling tank is positioned below a seedling placement surface. [Figure 6B] FIG. 6B is a diagram showing a state in which the distance measuring sensor provided in the seedling tank protrudes above the seedling placement surface. [Figure 7] FIG. 7 is an explanatory diagram for explaining the concept of compression ratio calculation. [Figure 8] FIG. 8 is an explanatory diagram for explaining the concept of compression ratio calculation. DETAILED DESCRIPTION OF THE INVENTION

[0009] First, an overview of a work vehicle 1 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a side view showing the work vehicle 1. Figure 2 is a plan view showing the work vehicle 1.

[0010] In the following description, the forward / rearward direction refers to the direction of travel of the work vehicle 1 when traveling straight, with the front side of the traveling direction being defined as "front" and the rear side being defined as "rear." The traveling direction of the work vehicle 1 is the direction from the driver's seat 41 toward the handlebars 35 (steering device) when traveling straight (see Figures 1 and 2).

[0011] The left-right direction is a direction that is horizontally perpendicular to the front-rear direction and defines left and right facing the "front." In other words, when the operator (also referred to as an operator) is seated in the operator's seat 41 and facing forward, the left-hand side is the "left" and the right-hand side is the "right."

[0012] The up-down direction is the vertical direction. The front-rear direction, left-right direction, and up-down direction are perpendicular to each other. Each direction is defined for the convenience of explanation, and the present invention is not limited to these directions.

[0013] In this embodiment, the work vehicle 1 will be described as a riding seedling transplanter 1 that is equipped with a seedling planting unit 4 as a work device and that receives seedlings in a field. As shown in Figures 1 and 2, the seedling transplanter 1 is equipped with the seedling planting unit 4, which can be raised and lowered via a lifting link mechanism 3 on the rear side of the traveling body 2, to plant seedlings in the field.

[0014] The main body of the fertilizer applicator 5 is disposed on the upper rear side of the traveling body 2. If the work vehicle 1 is not a seedling transplanter 1, it may be provided with a sowing device that supplies seeds as a work device.

[0015] The traveling body 2 is a four-wheel drive vehicle equipped with left and right front wheels 10 and rear wheels 11, which are also driving wheels. On the front side of the main frame 15 that forms the body skeleton of the traveling body 2, there are provided a transmission case 13 that transmits driving force to the seedling planting section 4 and the like, and a hydraulic continuously variable transmission 14 that outputs driving force supplied from the engine 30, i.e., the rotation generated by the engine 30, to the transmission case 13.

[0016] The continuously variable transmission 14 is a hydrostatic continuously variable transmission known as an HST (Hydro Static Transmission). In the following, a case where the continuously variable transmission is the HST 14 will be described.

[0017] An auxiliary transmission mechanism 16 is provided within the transmission case 13 to switch the driving mode of the traveling vehicle body 2 between high-speed mode for road driving and low-speed mode for planting seedlings, etc. Front wheel final cases 10a are provided on the left and right sides of the transmission case 13, and front wheels 10 are attached to left and right front axles 10b that protrude outward from front wheel support parts that can change the steering direction of the left and right front wheel final cases 10a.

[0018] In addition, rear wheel gear cases 11a are attached to both the left and right sides of a rear frame 22 (see Figure 2) that is arranged laterally on the rear side of the main frame 15, and rear wheels 11 are attached to left and right rear axles 11b that protrude outward from the rear wheel gear cases 11a, respectively.

[0019] Left and right link support frames 23 that support the lifting link mechanism 3 protrude upward from the upper part of the rear frame 22. A pair of left and right lower link arms 24 are provided below and between the left and right link support frames 23. A hydraulically operated lifting cylinder 25 is provided between the left and right lower link arms 24.

[0020] An upper link arm 26 is provided above the lifting cylinder 25, forming a parallel link mechanism, the lifting link mechanism 3. The left and right lower link arms 24, the lifting cylinder 25, and the other end of the upper link arm 26, each of which has one end connected to the traveling vehicle body 2, are attached to the front of the seedling planting section 4.

[0021] An engine 30 is mounted on the main frame 15. Rotational power of the engine 30 is transmitted to the transmission case 13 via the belt transmission device 21 and the HST 14. The rotational power transmitted to the transmission case 13 is changed in speed by the sub-transmission mechanism 16 inside the transmission case 13, and then separated into traveling power and externally extracted power.

[0022] The rotational power of the engine 30 is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST 14, a power steering mechanism 88 (see FIG. 3) of the handle 35, the lift cylinder 25, etc.

[0023] The externally extracted power extracted from the rotational power transmitted to the transmission case 13 is transmitted to the planting clutch case 27 provided at the rear of the traveling body 2, and is then transmitted from the planting clutch case 27 to the seedling planting section 4 via the planting transmission shaft 67 (transmission shaft). In other words, the seedling planting section 4 is driven by power transmitted from the traveling body 2.

[0024] Meanwhile, left and right drive shafts 42 are provided at the rear of the transmission case 13. Rotational power from the engine 30 is transmitted via the transmission case 13 and the drive shafts 42 to the left and right rear wheel gear cases 11a.

[0025] A side clutch 44 (rear wheel clutch, see FIG. 3) that turns on and off the power transmission to the left and right drive shafts 42 is disposed upstream in the power transmission direction from the left and right drive shafts 42. As shown in FIG. 1, a side clutch pedal 43a that turns on and off the left and right side clutches 44 is provided at the front lower part of the cockpit 41 and on one of the left and right sides.

[0026] Of the left and right side clutch pedals 43a, when the side clutch pedal 43a on the inside of the turn is depressed to disengage the side clutch 44, and then the steering wheel 35 is operated to make a turn, the drive rotation of the rear wheel 11 on the inside of the turn can be completely cut off.

[0027] A bonnet 39 with an operation panel 38 arranged on top for operating each section is provided on the upper front side of the traveling vehicle body 2. The operation panel 38 is provided with a monitor 86 (see FIG. 3) and the like.

[0028] The hood 39 is also provided with a handlebar 35 for steering the traveling body 2, a speed change operation lever 36 for operating the HST 14 and the seedling planting unit 4, and an auxiliary transmission operation lever 37 for operating the auxiliary transmission mechanism 16. By operating the speed change operation lever 36, the traveling body 2 can be switched between forward and reverse.

[0029] An openable front cover 40 is provided in front of the hood 39. Inside the front cover 40, a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 10 and the lower sides of the left and right front wheel final cases 10a in response to steering of the handlebars 35 are provided. The front wheels 10 are, for example, steerable wheels that turn in response to steering of the handlebars 35.

[0030] An engine cover 30a that covers the top and sides of the engine 30 is provided behind the hood 39 and above the engine 30, and a pilot's seat 41 where the pilot sits is provided above the engine cover 30a.

[0031] The fertilizer applicator 5 is provided behind the driver's seat 41, at the rear end of the main frame 15. The driving force of the fertilizer applicator 5 is transmitted by a fertilizer transmission mechanism provided so as to face the fertilizer applicator 5 from one of the left and right rear wheel gear cases 11a.

[0032] Approximately horizontal floor steps 33 are formed on both the left and right sides of the lower part of the engine cover 30a and the hood 39. As shown in Fig. 2, the floor steps 33 are partially lattice-shaped, so that even if mud on the shoes of an operator walking on the floor steps 33 falls off, the fallen mud will fall into the field.

[0033] 2, a rear step 330 is connected to the rear of the floor step 33. The surface of the rear step 330 is preferably provided with an anti-slip finish, for example, with a pattern of multiple protrusions, to prevent feet from slipping during work.

[0034] In addition, on the front side of the traveling body 2 and on both the left and right sides, spare seedling frames 50 are provided, each with a seedling frame support 51 on which multiple spare seedling loading tables 52 are arranged at intervals in the vertical direction, so that work materials such as seedlings and fertilizer bags to be replenished in the seedling planting section 4 can be placed.

[0035] A seedling tank 53 for carrying seedlings to be planted in the field is attached to the rear end of the lifting link mechanism 3, along with a sliding mechanism for sliding it left and right. Seedling partition fences 54, which are long in the vertical direction, are placed on the seedling tank 53 at predetermined intervals in the horizontal direction. Below the seedling tank 53 is a seedling planting device 55 that picks up the loaded seedlings and plants them in the field.

[0036] The seedling planting device 55 plants eight rows at the same time, the same number as the number of rows to be planted separated by the seedling partition fence 54. Four planting transmission cases 56 are arranged at intervals below the seedling tank 53, and planting rotaries 57 are attached to both the left and right sides of the planting transmission cases 56, which rotate to pick up seedlings using planting rods 58 and plant them in the field.

[0037] In the fertilizer applicator 5, the fertilizer hopper 70 that stores the fertilizer is divided into the same number of sections as the number of working rows in the seedling planting section 4 (eight rows in the example shown in FIG. 2). Note that the eight-row fertilizer hopper 70 is long in the left-right direction, which reduces the convenience of adding fertilizer and attaching and detaching it, so it may have a so-called side fertilizer application structure, in which sections divided into four rows are lined up on each side.

[0038] Below the fertilizer hopper 70, a dispensing device 71 that supplies a set amount of fertilizer is provided for each row. Below the dispensing device 71, a ventilation duct 72 is provided in the left-right direction, through which conveying air passes to move the fertilizer. Below the dispensing device 71, a fertilizer hose 73 is provided to guide the fertilizer near the seedling planting position in the seedling planting section 4. Also, at one end of the ventilation duct 72, a blower 74 is provided that is operated by an electric blower motor 76 to generate conveying air. The dispensing device 71 is driven by power transmitted from the rear wheel 11 via a power transmission shaft.

[0039] 1 and 2, a center float 62C that slides on the field surface and two side floats 62L and 62R are provided rotatably about axes below the seedling planting section 4. The center float 62C and the left and right side floats 62L and 62R are sometimes collectively referred to as floats 62.

[0040] In addition, below the seedling planting section 4, and forward of the float 62, a ground leveling rotor 63 for leveling unevenness in the field is provided. Driving force is transmitted to the ground leveling rotor 63 from the rear wheel gear case 11a on the other left or right side via a rotor transmission shaft 63a.

[0041] 1, line-drawing markers 65 are provided on both the left and right sides of the seedling planting section 4. One of the markers 65 touches the ground on the field surface to form a groove that serves as a guide for traveling in the next work row (next process). When one of the markers 65 touches the ground, the other moves upward, and when the seedling planting section 4 is raised during rotation, both the left and right sides move upward, and when the seedling planting section 4 is lowered after rotation, one of the markers 65 moves upward and the other moves downward.

[0042] 1 and 2, a center mascot 66 that is long in the vertical direction is provided in the center of the left and right of the traveling vehicle body 2, and in front of the hood 39. By aligning the center mascot 66 with the grooves formed in the field by the left and right line markers 65, it becomes possible to travel in accordance with the work position of the previous work row, improving work accuracy and preventing non-working.

[0043] Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 65 may quickly become buried, causing the guide for going straight to disappear. In such cases, it is advisable to use the left and right side markers 19, which are located forward of the left and right line-drawing markers 65. In other words, by moving the left and right side markers 19 outward and positioning them above the planted seedlings, planting work can be performed in accordance with the planting of the seedlings in the previous work row.

[0044] 1, the seedling transplanter 1 is provided with a position detection device 150 and an antenna 151. The seedling transplanter 1 does not necessarily have to have the position detection device 150 and the antenna 151.

[0045] The antenna 151 receives satellite signals, for example, from GPS (Global Positioning System) satellites. The antenna 151 is attached to the mounting stay 59, for example, and disposed above the traveling vehicle body 2. The antenna 151 may be provided with an inertial positioning unit (IMU: Internal Measurement Unit). The inertial positioning unit can detect the acceleration of the traveling vehicle body 2, the inclination of the traveling vehicle body 2, and the like.

[0046] The position detection device 150 detects the current position of the seedling transplanter 1. The position detection device 150 detects the position of the traveling vehicle body 2 based on a satellite signal received by an antenna 151.

[0047] Next, the control system of the seedling transplanter 1 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing the control system centered on the control device 100 of the seedling transplanter 1. The seedling transplanter 1 is capable of controlling each part by electronic control, and is equipped with a control device (hereinafter referred to as a controller) 100 that controls each part.

[0048] The controller 100 is provided with a processing unit having a CPU (Central Processing Unit), a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, which are interconnected to allow signals to be exchanged between them.

[0049] The storage unit stores a computer program for controlling the seedling transplanter 1. The controller 100 performs each function by reading out the computer program stored in the storage unit.

[0050] The controller 100 is connected to actuators such as a throttle motor 80, hydraulic control valves 81 and 82, a planting clutch actuation solenoid 83, a side clutch actuation solenoid 84, an HST motor 85, a line-drawing marker lifting motor 87, a steering motor 95, a seedling removal adjustment actuator 96, and a ridge clutch actuation motor 97.

[0051] The throttle motor 80 increases or decreases the rotation speed of the output shaft of the engine 30 by operating a throttle that adjusts the amount of air intake into the engine 30. The hydraulic control valve 81 controls the extension and retraction of the lifting cylinder 25. The hydraulic control valve 82 controls the power steering mechanism 88. The power steering mechanism 88 changes the direction of the front wheels 10, which are the steering wheels of the traveling body 2. The planting clutch operating solenoid 83 operates the planting clutch 27a (clutch). The planting clutch 27a is a clutch that switches the state of power transmission to the seedling planting unit 4. When the planting clutch 27a is in the "on state", power is transmitted to the seedling planting unit 4. When the planting clutch 27a is in the "off state", power is not transmitted to the seedling planting unit 4.

[0052] The side clutch actuation solenoid 84 actuates the side clutch 44, which switches the state of power transmission to the rear wheels 11 (see FIG. 1). The side clutch 44 is provided on each of the left and right rear wheels 11, and two side clutch actuation solenoids 84 are provided corresponding to each side clutch 44.

[0053] The HST motor 85 changes the rotation angle of the trunnion of the HST 14, thereby changing the tilt angle of the swash plate of the HST 14. The steering motor 95 is a motor that drives the handle 35, which is a steering device that adjusts the steering amount (steering angle) of the front wheels 10 (see Figure 1) when automatic turning control is performed. The steering motor 95 rotates the handle 35. The line drawing marker lifting motor 87 lifts and lowers the line drawing marker 65. The seedling removal adjustment actuator 96 is a motor that adjusts the seedling removal amount, etc.

[0054] The ridge clutch operating motor 97 operates each of the multiple ridge clutches 45. The ridge clutches 45 are provided in accordance with the planting rods 58. The ridge clutch operating motor 97 switches each ridge clutch 45 between an "on" state and an "off" state. When a ridge clutch 45 is in the "on" state, the planting rod 58 corresponding to the ridge clutch 45 operates. When a ridge clutch 45 is in the "off" state, the planting rod 58 corresponding to the ridge clutch 45 does not operate.

[0055] The controller 100 is connected to a first rotation speed sensor 120, a second rotation speed sensor 121, a steering amount sensor 122, a plant spacing detection sensor 123 (position sensor), a seedling removal amount detection sensor 124 (setting sensor), a lateral feed amount detection sensor 125 (setting sensor), and a position detection device 150.

[0056] The first rotation speed sensor 120 detects the rotation speed of the planting transmission shaft 67 that drives the seedling planting unit 4. The first rotation speed sensor 120 is provided to detect the rotation speed of the planting transmission shaft 67 on the seedling planting unit 4 side relative to the planting clutch 27a.

[0057] Two second rotation speed sensors 121 are provided corresponding to the left and right rear wheels 11, and detect the rotation speeds of the left and right rear wheels 11. The second rotation speed sensors 121 are provided to detect the rotation speed on the rear wheel 11 side relative to the side clutch 44.

[0058] The steering amount sensor 122 detects the steering angle of the steering wheel 35, which is a steering device. In other words, the steering amount sensor 122 detects the operating position of the steering wheel 35, i.e., the steering amount (steering angle) of the front wheels 10. The steering amount sensor 122 is provided, for example, on a shaft connected to a pitman arm. The steering angle is detected in both the left and right directions, with the value when the steering wheel 35 is in a preset straight-ahead position being set as a reference value (0 degrees). For example, the steering angle is detected in conjunction with the turning direction of the steering wheel 35.

[0059] The spacing detection sensor 123 detects the working interval of the seedling planting unit 4, specifically, the adjustment position of the spacing adjustment lever 130 (adjustment device) that adjusts the spacing (spacing) at which seedlings are planted in the field using the planting rod 58. In other words, the spacing detection sensor 123 detects the spacing between plants in the seedling planting unit 4.

[0060] The seedling removal amount detection sensor 124 detects the adjustment position of the seedling removal adjustment actuator 96, which adjusts the seedling removal amount. In other words, the seedling removal amount detection sensor 124 detects the seedling removal amount. The seedling removal amount may also be adjusted using a seedling removal adjustment lever. The seedling removal amount detection sensor 124 is a sensor that detects the set number of plants to be planted (number of times supplied) per seedling mat.

[0061] The lateral feed amount detection sensor 125 detects the adjustment position of the seedling feed amount adjustment lever 131. That is, the lateral feed amount detection sensor 125 detects the seedling feed amount. The lateral feed amount detection sensor 125 is a sensor that detects the set number of planting plants (number of feedings) per seedling mat.

[0062] In addition, signals are input to the controller 100 as operation signals from the speed change operation lever 36, the auxiliary speed change operation lever 37, the planting section lifting / lowering switch 47, the seedling removal adjustment switch 133, the ridge clutch switch 134, etc. At least one of the switches may be a button.

[0063] The planting section lifting / lowering switch 47 is a switch that switches whether to lift or lower the seedling planting section 4. The planting section lifting / lowering switch 47 can be changed to the "up" and "down" positions.

[0064] When the planting unit lift switch 47 is in the "up" position, the seedling planting unit 4 enters a non-working state in which the seedling planting device 55 stops and the seedling planting unit 4 rises to a predetermined non-working position. When the planting unit lift switch 47 is in the "down" position, the seedling planting unit 4 descends to a predetermined working position (predetermined planting work position) and enters a working state in which the seedling planting device 55 operates.

[0065] The seedling removal adjustment switch 133 is a switch for adjusting the amount of seedlings removed. When the seedling removal adjustment switch 133 is operated, the seedling removal adjustment actuator 96 is activated.

[0066] The ridge clutch switch 134 is a switch for activating the ridge clutch 45. A plurality of ridge clutch switches 134 are provided according to the number of ridge clutches 45.

[0067] The controller 100 can switch the travel mode of the seedling transplanter 1 between a manual travel mode and an autonomous travel mode. In the autonomous travel mode, for example, the traveling body 2 performs work while traveling automatically.

[0068] Moreover, various types of information are input to the controller 100 from a remote control device 170 (hereinafter referred to as "remote control"). For example, various types of information are input to the controller 100 from the remote control 170 via a receiver 180 (see FIG. 1). The receiver 180 is attached to, for example, a mounting stay 59 (see FIG. 1), and is arranged above the front side of the traveling vehicle body 2. Note that multiple receivers 180 may be provided. The mounting stay 59 is attached to the traveling vehicle body 2. Note that various types of information may be input to the controller 100 from a terminal device. Also, the controller 100 may output information to the terminal device.

[0069] The controller 100 executes seedling use amount calculation processing. The seedling use amount calculation processing will be described with reference to Fig. 4. Fig. 4 is a flowchart for explaining the seedling use amount calculation processing.

[0070] The controller 100 calculates the number of plants to be planted in the seedling mat (S100). In other words, the controller 100 calculates the number of seedlings to be supplied per seedling mat. The controller 100 calculates the number of plants to be planted in the seedling mat based on the seedling collection amount and the seedling feeding amount. The controller 100 calculates the number of plants to be planted in the seedling mat using formula (1). Number of plants planted = length of seedling mat / amount of seedlings taken × amount of seedlings fed (1)

[0071] The size of the seedling mat (length and width) is a preset size. For example, the length of the seedling mat is 580 mm, and the width of the seedling mat is 280 mm. For example, if the seedling removal amount is 13 mm and the lateral feed amount is 24 times, the controller 100 calculates that the number of plants to be planted is 1080 (= 580 / 13 × 24).

[0072] Next, the controller 100 calculates the amount of seedlings used (amount of material used) based on the number of planting rows (number of material supply ports) of the seedling transplanter 1, the number of plants planted per seedling mat (number of supplies), and the number of planting operations (number of operations) of the seedling planting unit 4 (S101). The number of planting operations of the seedling planting unit 4 is calculated based on the number of rotations of the planting transmission shaft 67 and the spacing between plants.

[0073] The number of planting operations by the seedling planting unit 4 is calculated according to the operating state of the ridge clutch 45. If the ridge clutch 45 is in the "off state," the number of planting operations is calculated by subtracting the reduction in the number of planting rows corresponding to the "off state" ridge clutch 45. In other words, if the number of planting rows corresponding to the "off state" ridge clutch 45 is reduced, the controller 100 subtracts the number of planting operations corresponding to the reduced number of planting rows.

[0074] The controller 100, for example, calculates the amount of seedlings to be used in a field after planting of the seedlings has begun. The controller 100 may also calculate the area of ​​the field where the seedlings have been planted based on the amount of seedlings used. The controller 100 may also calculate the amount of seedlings to be used in the field. For example, the controller 100 calculates the amount of seedlings to be used in the field based on information about the size of the field and the calculated amount of seedlings to be used, and predicts the amount of seedlings to be used in the field.

[0075] Next, the controller 100 displays the calculated amount of seedlings used on the monitor 86 (S102). Note that, when the controller 100 calculates the work area where the seedlings are planted, the controller 100 may display the calculated work area on the monitor 86.

[0076] The monitor 86 may display the remaining amount of seedlings in the seedling tank 53 based on the calculated amount of seedlings used. For example, the remaining amount of seedlings is displayed on the monitor 86 as an image shown in Fig. 5. Fig. 5 is a diagram showing an example of a display on the monitor 86 indicating the remaining amount of seedlings.

[0077] For example, the number of rows is displayed horizontally on the monitor 86, and the remaining number of seedlings is displayed vertically on the monitor 86. When seedlings are replenished and a selection operation is performed for the number of rows to which the seedlings have been replenished, the remaining number of seedlings is updated and displayed on the monitor 86 in accordance with the selection operation. The monitor 86 is provided with a dial 86a and a button 86b. The dial 86a and the button 86b accept selection operations. Turning the dial 86a changes the number of rows to be updated. Then, pressing the button 86b updates the remaining number of seedlings for the selected number of rows. For example, when the button 86b is pressed once, the gauge (squares) corresponding to the seedling mat increases by five.

[0078] A seedling supply mode in which the gauge increases by one may be set using the dial 86a and button 86b. The gauge may also be updated in units of two rows in response to the ridge clutch switch 134. If a discrepancy occurs between the remaining number of seedlings displayed on the monitor 86 and the actual number of seedlings remaining in the seedling tank 53 due to slippage of the rear wheels 11 during field work or compression of the seedling mat placed in the seedling tank 53, the remaining number of seedlings displayed on the monitor 86 may be corrected using the dial 86a and button 86b.

[0079] When calculating the work area where seedlings have been planted in a field based on the amount of seedlings used (hereinafter referred to as the first work area), the controller 100 may also calculate the work area by the seedling planting unit 4 based on the rotation speed of the rear wheels 11 and the state of power transmission to the seedling planting unit 4 (hereinafter referred to as the second work area). The second work area is the work area when the planting clutch 27a is in the "on" state. For example, if the planting clutch 27a is in the "off" state while turning, the area traveled during that time is not calculated as the second work area.

[0080] The controller 100 detects slippage in the side clutch 44 based on the difference between the first and second work areas. When the side clutch 44 slips, the rotation speed detected by the second rotation speed sensor 121 decreases. As a result, the second work area decreases. The amount of seedlings used is calculated based on the rotation speed of the planting transmission shaft 67 detected by the first rotation speed sensor 120, so the first work area is accurately calculated. Therefore, if the difference between the first and second work areas is large, excess seedlings are being used relative to the actual work area. Also, the spacing between seedlings planted in the field is narrower than the set spacing. Therefore, the controller 100 can detect the condition of the field based on the difference between the first and second work areas.

[0081] The seedling transplanter 1 comprises a traveling body 2, a seedling planting unit 4, a first rotation speed sensor 120, a plant spacing adjustment lever 130, a plant spacing detection sensor 123, and a controller 100. The seedling planting unit 4 is driven by power transmitted from the traveling body 2. The first rotation speed sensor 120 detects the rotation speed of the planting transmission shaft 67 that drives the seedling planting unit 4. The plant spacing adjustment lever 130 adjusts the spacing between seedlings planted by the seedling planting unit 4. The plant spacing detection sensor 123 detects the adjustment position of the plant spacing adjustment lever 130. The controller 100 calculates the amount of seedlings used by the seedling planting unit 4. The controller 100 calculates the amount of seedlings used based on the number of planting rows of the seedling transplanter 1, the number of plants planted per seedling mat, and the number of planting operations by the seedling planting unit 4.

[0082] This allows the seedling transplanter 1 to calculate the actual amount of seedlings used. That is, the seedling transplanter 1 can accurately calculate the amount of seedlings used. The operator can predict the amount of seedlings to be used in the seedling planting work.

[0083] Furthermore, when the ridge clutch 45 is in the "off state" and the number of planted rows is reduced, the controller 100 subtracts the amount of seedlings used corresponding to the reduction in the number of planted rows.

[0084] As a result, the seedling transplanter 1 can accurately calculate the amount of seedlings used even when the ridge clutch 45 is in the "off state."

[0085] The seedling transplanter 1 also includes a seedling picking amount detection sensor 124 and a lateral feed amount detection sensor 125. The seedling picking amount detection sensor 124 detects the seedling picking amount. The lateral feed amount detection sensor 125 detects the seedling feed amount. The controller 100 calculates the amount of seedlings used based on the seedling picking amount and the seedling feed amount.

[0086] As a result, the seedling transplanter 1 can accurately calculate the seedling feeding amount and the seedling use amount even when the seedling feeding amount is adjusted.

[0087] Furthermore, the controller 100 displays the remaining number of seedlings on the monitor 86. The monitor 86 displays the number of seedling rows in the horizontal direction and the remaining number of seedlings in the vertical direction.

[0088] This allows the worker to easily recognize the remaining amount of seedlings in each row. For example, the worker can easily know when to replenish seedlings. Also, the worker can use up all the seedlings in the seedling tank 53 just before the end of planting work in the field. Furthermore, the seedling transplanter 1 can notify the worker of a decrease in seedlings without, for example, providing a sensor in the seedling tank 53 to detect the decrease in seedlings. Therefore, the seedling transplanter 1 can reduce the number of parts.

[0089] Furthermore, when seedlings are replenished and a selection operation is performed for the number of rows to which seedlings have been replenished, the remaining number of seedlings is updated and displayed on the monitor 86 in accordance with the selection operation.

[0090] This allows the seedling transplanter 1 to accurately display the remaining amount of seedlings for each row in accordance with the selection operation performed for supplying seedlings for each row.

[0091] The working device may be the fertilizer applicator 5. When the working device is the fertilizer applicator 5, the amount of fertilizer used may be calculated based on the position of the fertilizer adjustment lever that adjusts the amount of feed in the feed device 71, i.e., the amount of fertilizer adjustment, and the number of rotations detected by the second rotation speed sensor 121.

[0092] As shown in Figures 6A and 6B, the seedling transplanter 1 may be provided with a distance measuring sensor 140 (remaining amount sensor) on the upper side of the seedling tank 53 to detect the remaining amount of seedlings in the seedling tank 53. Figure 6A is a diagram showing a state in which the distance measuring sensor 140 provided on the seedling tank 53 is positioned below the seedling placing surface 53a. Figure 6B is a diagram showing a state in which the distance measuring sensor 140 provided on the seedling tank 53 protrudes above the seedling placing surface 53a. The distance measuring sensor 140 includes a sensor unit 141, a pressure plate 142, and a spring 143 (urging unit).

[0093] The sensor unit 141 measures the distance to an object. The sensor unit 141 is rotatably attached to the seedling tank 53. The sensor unit 141 is positioned so that it protrudes upward from the seedling placement surface 53a and measures the distance to the seedling mat below. The seedling tank 53 has a hole formed therein so that the distance sensor 140 can be rotated above and below the seedling placement surface 53a.

[0094] The pressure plate 142 is provided so as to protrude downward along the seedling placing surface 53a from the upper end side of the sensor part 141. The spring 143 biases the sensor part 141 and the pressure plate 142 so as to push the sensor part 141 and the pressure plate 142 above the seedling placing surface 53a.

[0095] When a seedling mat is present on the upper surface of the pressure plate 142, the sensor unit 141 is held below the seedling placing surface 53a by the seedling mat. When no seedling mat is present on the upper surface of the pressure plate 142, the sensor unit 141 protrudes above the seedling placing surface 53a due to the spring 143. The sensor unit 141 then measures the distance to the seedling mat that is below the sensor unit 141.

[0096] When a seedling mat is present on the upper surface of the pressure plate 142, the sensor unit 141 measures the distance to a wall 145 provided below the sensor unit 141. The wall 145 is provided, for example, so as to be shorter than the shortest distance detectable by the sensor unit 141. In other words, when a seedling mat is present on the upper surface of the pressure plate 142, the sensor unit 141 does not detect the distance to the object.

[0097] For example, when slippage in the field is greater than a predetermined upper limit or when there is variation in seedling growth in the seedling mat, the controller 100 detects the remaining number of seedlings using the distance measurement sensor 140. The method for detecting the remaining number of seedlings may be switched automatically or manually. The controller 100 displays the detected remaining number of seedlings on the monitor 86.

[0098] The seedling transplanter 1 can detect the remaining amount of seedlings using the distance sensor 140. The seedling transplanter 1 detects the remaining amount of seedlings when the remaining amount of seedlings in the seedling tank 53 becomes low and the seedling mat is not above the pressure plate 142. In other words, the seedling transplanter 1 can start detecting the remaining amount of seedlings when the number of seedlings becomes low.

[0099] The seedling transplanter 1 may calculate the amount of seedlings used from the amount of seedlings removed. The seedling transplanter 1 may also calculate the actual amount of seedlings used from the remaining amount of seedlings detected by the distance sensor 140. The seedling transplanter 1 may calculate the seedling compression rate from the amount of seedlings consumed calculated from the amount of seedlings removed and the actual amount of seedlings used. The seedling transplanter 1 may correct the remaining amount of seedlings based on the calculated compression rate.

[0100] The seedling transplanter 1 may detect the number of times the seedling tank 53 has moved back and forth by using a seedling tank end detection switch that is pressed when the seedling tank 53 reaches the end. The seedling transplanter 1 may obtain and store the value of the distance measurement sensor 140 when the seedling tank end detection switch is pressed.

[0101] The seedling transplanter 1 may calculate the compression rate from n+1 pieces of measurement data stored until the seedling tank 53 has made n trips from the position first measured by the distance sensor 140. The seedling transplanter 1 may calculate the compression rate from the slope of a linear approximation of the measurement data measured by the distance sensor 140. The seedling transplanter 1 may calculate the amount of seedlings used per unit distance based on the lateral feed amount, the compression rate, and the amount of seedlings removed.

[0102] The seedling transplanter 1 may calculate the remaining amount of seedlings from the remaining amount of seedlings detected by the distance sensor 140 and the number of times the seedling tank end detection switch is pressed. For example, the seedling transplanter 1 may use the remaining amount of seedlings detected by the distance sensor 140 as a priority, and when the remaining amount of seedlings is outside the detection range of the distance sensor 140, detect the remaining amount of seedlings based on the number of times the seedling tank end detection switch is pressed.

[0103] The seedling transplanter 1 may calculate the workable distance by dividing the remaining amount of seedlings by the amount of seedlings used per unit distance. The seedling transplanter 1 may use the remaining amount of seedlings used to calculate the workable distance by subtracting a fixed value from the current remaining amount of seedlings. The fixed value corresponds to a margin of error. If the seedling transplanter 1 has an automatic straight-line driving function and acquires the distance to the ridge after acquiring the reference line for automatic straight-line driving, the remaining number of possible round trips may be displayed on the monitor 86 by dividing the workable distance by the distance to the ridge. The seedling transplanter 1 may travel to a position where ridge-side stopping control is activated, which stops the vehicle when approaching the ridge, and may notify the operator if the remaining number of possible round trips is one or less. This allows the seedling transplanter 1 to notify the operator when the current remaining amount of seedlings is insufficient to perform the round trip work, thereby informing them of the timing for seedling replenishment.

[0104] The seedling transplanter 1 may also be provided with a seedling detection switch and a seedling reduction detection switch in the seedling tank 53. The seedling detection switch is positioned so that the position where it opens is shorter than the length of one seedling mat from the top of the seedling tank 53. This allows the seedling mats to be detected even when they pass continuously. The seedling detection switch is also positioned so that the position where it opens is shorter than the length of one seedling mat from the seedling reduction detection switch located below. This allows the top surface of the second seedling mat to reach the seedling detection switch when seedlings are replenished, allowing the seedling mat to be detected.

[0105] The seedling transplanter 1 may also calculate the compression rate P of the seedling mat. Specifically, the controller 100 calculates the compression rate P. Here, a method for calculating the compression rate P will be described. The compression rate P refers to the rate of loss per seedling mat (hereinafter referred to as seedling mat M) caused by compression of the seedling mat on the seedling tank 53 (in other words, the loss rate). The controller 100 can calculate the compression rate P for each row.

[0106] Here, since the seedling mats M are scraped off (transplanted into the field) in fixed areas according to the seedling harvest volume at the seedling planting section 4 during planting work, the amount of seedling mats M can be considered as a pseudo-area of ​​the seedling mats M. If the compression rate P is for each seedling mat M, as illustrated in FIG. 7, the total area V, which indicates the amount of seedling mats M before being placed on the seedling tank 53's loading platform, is the sum of the compressed area VL, which is the area lost due to compression of the seedling mats M, the remaining area Vs, which is the area of ​​seedling mats M currently on the loading platform (in other words, unused seedling mats M), and the consumed area VA, which is the area already scraped off and consumed by the seedling planting section 4 (transplanted into the field). FIG. 7 is an explanatory diagram for explaining the concept of calculating the compression rate. Here, "K" in Figure 7 indicates the length (distance) that the seedling mat M travels in the conveying direction F when the loading platform makes one round trip back and forth, and "n" indicates the number of round trips that the seedling tank 53 makes (the value that increases by 1 for each round trip).

[0107] Since the total area V, compressed area VL, remaining area Vs, and lateral width Mx (e.g., 280 mm) of the consumed area VA are all the same, these areas are proportional to the length of the seedling mat M in the transport direction F (i.e., the vertical length of the seedling mat M). Therefore, when calculating the compression ratio P, it is sufficient to consider the respective lengths (hereinafter simply referred to as "lengths") of the seedling mat M in the transport direction F. Then, as shown in FIG. 7, for the total length My (e.g., 580 mm) of each seedling mat M in the transport direction F, the length of the compressed area VL in the transport direction F is My × P, the length of the remaining area Vs is My × (1-P) - K × n, and the length of the consumed area VA is K × n. Here, the length of the remaining area Vs is the same as the seedling height (actual seedling length) H, which indicates the length from the bottom end of the seedling placing plate to the top end of the seedling mat M, calculated by the controller 100 based on the detection value of the seedling top end position detection element capable of measuring the length from the bottom end of the seedling placing plate body to the top end of the seedling mat M. Therefore, equation (2) holds. H = My × (1 - P) - K × n (2)

[0108] By solving the equation (2) for the compression rate P, the compression rate P of each seedling mat M can be calculated from the seedling height (actually measured seedling length) H.

[0109] Next, a method for calculating the compression rate P of the seedling mat M when multiple sheets (Q sheets) are placed on the seedling tray will be described with reference to Fig. 8. Fig. 8 is an explanatory diagram for explaining the concept of compression rate calculation.

[0110] When Q seedling mats M of length My are loaded onto the seedling carrier, as described above, if only the length of the seedling mats M in the transport direction F is considered, the amount of seedlings loaded can be expressed as My × Q. Furthermore, the compressed seedling amount, which is the amount lost due to compression of the seedling mats M, can be expressed as My × P × Q. Furthermore, the remaining seedling amount, which is the amount of seedling mats M currently present on the seedling carrier (in other words, unused seedling mats M), can be expressed as seedling height (actual seedling length) H, as described above. Furthermore, the consumed seedling amount, which is the amount already scraped off and consumed by the seedling planting section 4 (transplanted into the field), can be expressed as K × n, as described above. Therefore, equation (3) can be obtained, and by solving this for the compression rate P, equation (4) can be obtained. My×Q=My×P×Q+H×K×n (3) P = 1 - ((H + K × n) / My × Q) (4)

[0111] Here, information on the total length My of each seedling mat M in the transport direction F is stored in advance in the controller 100 by an input operation by the worker before the start of work.

[0112] When the seedling transplanter 1 calculates the compression rate P after a seedling mat is inserted, if there is a difference of a predetermined value (for example, 5%) or more between the current compression rate PN and the previous compression rate P(N-1), it makes an error judgment and does not need to use the current compression rate PN.

[0113] If the difference between the previous compression rate P(N-1) and the compression rate P(N-2) before that is equal to or greater than a predetermined value, and the difference between the current compression rate PN and the previous compression rate P(N-1) is less than the predetermined value, the seedling transplanter 1 may restore the previous compression rate P(N-1) that was determined to be an error and use the current compression rate PN. In this case, the seedling transplanter 1 does not use the compression rate P(N-2) before that as the weighted average value.

[0114] The seedling transplanter 1 may use an average compression rate, which is the average of the current compression rate PN, the previous compression rate P(N-1), and the compression rate P(N-2) before that, for seedling quantity maintenance control to keep seedling planting constant.

[0115] If the seedling transplanter 1 is provided with one sensing switch, the compression ratio P may be reset when the engine 30 is ON, the seedling planting unit 4 is in a predetermined non-working position, and the sensing switch is pressed twice for a predetermined period of time or longer. The seedling transplanter 1 may also reset the compression ratio P when the engine 30 is ON, the seedling planting unit 4 is in a predetermined non-working position, and the sensing switch is pressed multiple times (for example, three times) or more in succession. The seedling transplanter 1 may also be provided with a reset button to reset the compression ratio P. This allows the seedling transplanter 1 to reset the compression ratio P if the compression ratio P becomes an abnormal value.

[0116] The detection switch is provided to detect the presence of the seedling mat when it is open. The detection switch may detect the presence of the seedling mat when the planting clutch 27a is in the "on state" and the speed change operation lever 36 is at the first stage or higher.

[0117] The seedling transplanter 1 may calculate the number of traverses using the spacing between plants and the number of rotations of the rear wheels 11 from when the seedling tank end detection switch is pressed until the seedling tank end detection switch is pressed again, and display the calculated number of traverses on the monitor 86. The calculated number of traverses may be used to calculate the compression rate P when keeping the seedling volume.

[0118] The seedling transplanter 1 may add up the seedling consumption length by the number of times the seedling tank end detection switch is pressed. This addition is made on the condition that the planting clutch 27a is in the "ON" position and the speed change lever 36 is in the first position or higher. It may also be made on the condition that the planting clutch 27a is in the "ON" position, the speed change lever 36 is in the first position or higher, and the furrow clutch 45 of the row where the sensing switch is installed is in the "ON" position.

[0119] When the seedling transplanter 1 performs seedling quantity keeping control using one sensing switch, the number R of seedling mats to be fed may be calculated by the formula (5). R=2×U×T / 580(1-P) (5)

[0120] "U" is the number of times the seedling tank 53 has traveled back and forth. "T" is the amount of seedlings taken. "P" is the compression rate. For example, the compression rate is the compression rate up to the previous time.

[0121] The seedling transplanter 1 does not calculate the compression rate if the calculated number of seedlings added is outside a predetermined range. The predetermined range is 0.85 or more and 1.15 or less. The predetermined range is 1.85 or more and 2.15 or less. The number of seedlings added R is the number of seedlings per row added between the previous seedling length detection and the current seedling length detection.

[0122] The seedling transplanter 1 may not use the calculated compression rate P for seedling quantity maintenance control if the compression rate P is outside a predetermined compression range. The predetermined compression range is 5% or more and 25% or less. That is, the seedling transplanter 1 may not use the calculated compression rate P for seedling quantity maintenance control if the compression rate P is less than 5% or greater than 25%. Furthermore, the seedling transplanter 1 may not use the calculated compression rate P for seedling quantity maintenance control if the number of seedlings input R is equal to or greater than a predetermined upper limit (e.g., 4). Furthermore, the seedling transplanter 1 may not use the calculated compression rate P for seedling quantity maintenance control if the number of seedlings input R is equal to or greater than a predetermined lower limit (e.g., 0). Furthermore, the seedling transplanter 1 may not use the calculated compression rate P for seedling quantity maintenance control if the detection switch is open when the seedling planting unit 4 is not performing planting work. This allows the seedling transplanter 1 to prevent the seedling harvest amount from suddenly changing erroneously.

[0123] Further advantages and modifications will readily occur to those skilled in the art. Therefore, 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 their equivalents. [Explanation of symbols]

[0124] 1. Seedling transplanter (work vehicle) 2 Running vehicle 4. Seedling planting section (working equipment) 5 Fertilizer application equipment 10 Front wheels 11 Rear wheel 27a Planting clutch (clutch) 44 Side clutch (rear wheel clutch) 45 Ridge Clutch 67 Planting transmission shaft (transmission shaft) 86 monitors 96 Seedling removal adjustment actuator 97 Ridge clutch operating motor 100 Controller (control device) 120 First rotation speed sensor 121 Second rotation speed sensor 123 Plant spacing detection sensor (position sensor) 124 Seedling quantity detection sensor (setting sensor) 125 Traverse feed amount detection sensor (setting sensor) 130 Plant spacing adjustment lever (adjustment device) 131 Seedling feed rate adjustment lever 140 Distance sensor (remaining amount sensor) 141 Sensor unit 142 Retaining plate 143 Spring (biasing part)

Claims

1. A running vehicle body, a working device that is driven by power transmitted from the traveling vehicle body; a first rotation speed sensor that detects the rotation speed of a transmission shaft that drives the working device; an adjustment device for adjusting the work interval of the work device; a position sensor for detecting an adjustment position of the adjustment device; a lateral feed amount detection sensor for detecting a set number of times each material is fed in the work device; a control device that calculates the amount of material used in the work device; Equipped with The control device calculates the amount of material used based on the number of material supply ports in the work device, the number of supplies detected by the lateral feed amount detection sensor, and the number of operations corresponding to the number of rotations of the transmission shaft detected by the first rotation speed sensor and the operation interval at the adjustment position of the adjustment device detected by the position sensor.

2. The work vehicle according to claim 1 , wherein when the number of supply ports is reduced, the control device subtracts the material usage amount corresponding to the reduction in the number of supply ports.

3. a second rotation speed sensor for detecting the rotation speed of a wheel of the traveling vehicle body; a clutch for switching a power transmission state to the working device; Equipped with The control device calculating a first working area of ​​the working device based on the rotation speed of the transmission shaft; calculating a second working area of ​​the working device based on the number of rotations of the wheel and the power transmission state; The work vehicle according to claim 1 , wherein slippage in a rear wheel clutch that switches the state of power transmission to the rear wheels is detected based on the difference between the first working area and the second working area.

4. The material is a seedling to be planted in a field, The control device displays the remaining amount of the seedlings on a monitor, 2. The work vehicle according to claim 1, wherein the monitor displays the number of seedlings in the work device in the horizontal direction and the remaining number of seedlings in the vertical direction.

5. The work vehicle according to claim 4, wherein when seedlings are supplied and a selection operation is performed for the number of rows to which seedlings have been supplied, the remaining number of seedlings is updated and displayed on the monitor in accordance with the selection operation.

6. A remaining quantity sensor for detecting the remaining quantity of seedlings in the seedling tank of the working device Equipped with The remaining amount sensor detects the distance to the seedlings, The work vehicle described in claim 1, wherein the remaining amount sensor is positioned below the seedling loading surface of the seedling tank when seedlings are above the remaining amount sensor, and protrudes above the seedling loading surface when seedlings are not above the remaining amount sensor.

7. The remaining amount sensor A sensor unit; A pressing plate protruding downward from the upper end side of the sensor unit along the seedling placement surface; a biasing portion that biases the sensor portion and the pressing plate so as to push the sensor portion above the seedling placing surface; Equipped with The work vehicle according to claim 6, wherein the remaining amount sensor protrudes above the seedling placement surface when there are no seedlings on the upper surface of the pressure plate.

Images