Work equipment

Abstract

To adjust the supply amount of materials by being able to properly drive a delivery part even in the event that a large burden is generated in the delivery driving shaft of the delivery part for delivering the materials.SOLUTION: A work device is equipped with a control part which controls to provide rotation power to a delivery drive shaft from a first driving source and a second driving source. A work vehicle performs supply work of a map interlock method which controls the supply amount of materials for supplying a field on the basis of the supply amount information of the materials by separated sections, and supply work of materials including the supply work of a real time sensing method which controls the supply amount of materials for supplying to the field from the information of the field obtainable during the traveling of the work vehicle. The work vehicle performs the supply work of the materials based on the supply work of the map interlock method. The control part adjusts the supply amount of the materials on the basis of the information of the field by the supply work of the real time sensing method, even in the event of the supply work of the map interlock method.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Conventionally, in a working device provided in a working vehicle that performs work while traveling in a field and supplies materials such as fertilizers, chemicals, and crop seeds from the working vehicle to the field, a feeding unit that feeds out materials from a storage unit of the materials is driven by a motor. The technology 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] However, in the conventional technology as described above, for example, when a large load is generated on the feeding drive shaft such as at the start of driving of the feeding unit or when clogging of materials occurs, the feeding unit may not be properly driven.

[0005] The present invention has been made in view of the above, and an object thereof is to provide a working device that can properly drive a feeding unit even when a large load is generated on a feeding drive shaft of the feeding unit that feeds out materials and can adjust the supply amount of the materials.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the working device (40) according to the embodiment is a working device (40) for supplying materials (M) to a field (F) in a work vehicle (1) that works while traveling within the field (F), and comprises a storage unit (41) for storing the materials (M), a dispensing unit (42) having a dispensing drive shaft (421) that dispenses a predetermined amount of the materials (M) from the storage unit (41) by the rotation of the dispensing drive shaft (421), a first drive source capable of supplying rotational power to the dispensing drive shaft (41), a second drive source capable of supplying rotational power to the dispensing drive shaft (421), and a control unit (100) that controls the supply of rotational power from the first drive source and the second drive source to the dispensing drive shaft (421). The work vehicle (1) performs material supply operations including a map-linked supply operation that controls the amount of material (M) supplied to the field (F) based on supply amount information of the material (M) for each divided section, and a real-time sensing supply operation that controls the amount of material (M) supplied to the field (F) based on information of the field (F) obtained while the work vehicle (1) is traveling, the work vehicle (1) performs material supply operations based on the map-linked supply operation, and the control unit (100) adjusts the amount of material supplied based on information of the field (F) obtained by the real-time sensing supply operation, even in the case of the map-linked supply operation. [Effects of the Invention]

[0007] According to the work device of this embodiment, the dispensing unit can be driven appropriately even when a large load is placed on the dispensing drive shaft of the material dispensing unit. Furthermore, in the case of map-linked supply operations, by adjusting the amount of material M supplied using field F information used in real-time sensing supply operations, for example, if material M is fertilizer, automatic reduction of fertilizer can be achieved, thereby reducing crop lodging and other damage. [Brief explanation of the drawing]

[0008] [Figure 1]Figure 1 is a schematic side view showing an example of a work vehicle equipped with a work device according to an embodiment. [Figure 2] Figure 2 shows an example of the first and second drive sources of the work device according to the embodiment. [Figure 3] Figure 3 is a diagram (part 1) showing another example of the first and second drive sources of the work device according to the embodiment. [Figure 4] Figure 4 is a diagram (part 2) showing another example of the first and second drive sources of the work device according to the embodiment. [Figure 5] Figure 5 is a block diagram showing an example of a control system for a work vehicle equipped with a work device according to this embodiment. [Figure 6] Figure 6 is an explanatory diagram (part 1) of autonomous operation of a work vehicle equipped with a work device according to the embodiment. [Figure 7] Figure 7 is an explanatory diagram (part 2) of autonomous operation of a work vehicle equipped with a work device according to the embodiment. [Modes for carrying out the invention]

[0009] The embodiments of the work apparatus disclosed herein will be described in detail below with reference to the attached drawings. However, the present invention is not limited to the embodiments described below. <Overall composition of work vehicles> Referring to Figure 1, the overall configuration of the work vehicle 1 equipped with the work device 40 according to the embodiment will be described. Figure 1 is a schematic side view showing an example of the work vehicle 1 equipped with the work device 40 according to the embodiment. The work vehicle 1 travels within the field F and performs work in the field F. The work vehicle 1 is a "seedling transplanter" that travels within the field F and plants seedlings on the soil surface FS of the field F.

[0010] Note that some figures, including Figure 1, may show a three-dimensional Cartesian coordinate system that includes a Z-axis with the positive direction being vertically upward (upward). For the sake of explanation, in the following, the positive direction of the X-axis will be defined as left, the negative direction of the X-axis as right, the positive direction of the Y-axis as forward, and the negative direction of the Y-axis as backward. The X-axis direction will be referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0011] Furthermore, in the following, the term "machine" may be used to refer to the work vehicle, the seedling transplanter 1, or the vehicle body 2, which will be described later.

[0012] As shown in Figure 1, the seedling transplanter 1 comprises a vehicle body 2 and a seedling planting unit 3. The vehicle body 2 is capable of traveling within the field F. The seedling planting unit 3 is a type of implement (working device) in the seedling transplanter 1 and is installed on the vehicle body 2. The seedling planting unit 3 plants seedlings on the soil surface FS of the field F. The seedling transplanter 1 is a ride-on type operated by a driver (also called a "worker"), but it also has the function of autonomously traveling along a pre-set work path and automatically performing seedling planting work.

[0013] The vehicle body 2 comprises a pair of front wheels 11 and a pair of rear wheels 12. In the vehicle body 2, the pair of front wheels 11 are the steering wheels, and the pair of rear wheels 12 are the drive wheels. For example, in 4WD mode, both the pair of front wheels 11 and the pair of rear wheels 12 become the drive wheels.

[0014] Furthermore, the front of the main frame 13, which forms the body frame of the vehicle body 2, is provided with a transmission case 14 that transmits driving force to the seedling planting unit 3 (described later), and a hydraulic continuously variable transmission (not shown) that outputs driving force supplied from a drive source such as an engine E (see Figure 5) or a motor, i.e., the rotational power of the drive source (for example, engine E), to the transmission case 14. The continuously variable transmission is, for example, a hydrostatic continuously variable transmission called an HST (Hydro Static Transmission). Hereafter, the continuously variable transmission will be referred to as "HST".

[0015] The transmission case 14 is equipped with a sub-transmission mechanism (not shown) that switches between driving modes, such as when driving on roads or when planting seedlings. In the vehicle body 2, front wheel final drive cases 15 are provided on the left and right sides of the transmission case 14, and the front wheels 11 are attached to the left and right front axles that protrude outward from support parts that can change the steering direction of the left and right front wheel final drive cases 15.

[0016] Also, at the rear part of the main frame 13, rear wheel gear cases 16 are provided on the left and right sides of the rear frame extending in the left - right direction, and rear wheels 12 are attached to the left and right rear axles protruding outward from the rear wheel gear cases 16 respectively. The rear wheel gear cases 16 apply driving force to the rear wheels 12.

[0017] Also, on the upper part of the rear frame, left and right link support frames 18 for supporting lift links 17 (described later) extend upward. Between the left and right link support frames 18, left and right upper links 19 and left and right lower link arms 20 are provided. Between the left and right upper links 19 and the left and right lower link arms 20 in the left - right direction, a lift cylinder 21 driven by hydraulic pressure is provided.

[0018] The left and right upper links 19 and the left and right lower link arms 20 form lift links 17 which are a parallel link mechanism. Incidentally, one end of each of the left and right upper links 19, the left and right lower link arms 20 and the lift cylinder 21 is connected to the traveling vehicle body 2 side, and the other end of each is connected to the seedling planting part 3 side.

[0019] Also, an engine E (see FIG. 5), which is a driving source, is mounted on the main frame 13. The rotational power of the engine E is transmitted to the transmission case 14 via a belt transmission device (not shown) and an HST. The rotational power transmitted to the transmission case 14 is shifted by a sub - transmission mechanism in the transmission case 14 and then divided into traveling power and externally extracted power.

[0020] Also, the rotational power of the engine E is transmitted to a hydraulic pump (not shown). The hydraulic pressure generated by the hydraulic pump is supplied to the HST, the power steering mechanism 23 (see FIG. 5) of the steering handle 22, the lift cylinder 21, etc.

[0021] External power extracted from the rotational power transmitted to the transmission case 14 is transmitted to the planting clutch 24 (see Figure 5) located at the rear of the vehicle body 2, and from the planting clutch 24 to the seedling planting unit 3 via a planting transmission shaft (not shown). Left and right drive shafts (not shown) are provided at the rear of the transmission case 14. Rotational power from the engine E is transmitted to the left and right rear wheel gear cases 16 via the transmission case 14 and the drive shafts (not shown).

[0022] Furthermore, upstream of the left and right drive shafts, side clutches 25 (see Figure 5) are provided to engage and disengage power transmission to the left and right drive shafts. As shown in Figure 1, for example, side clutch pedals (not shown) for engaging and disengaging the left and right side clutches 25 are provided at the front lower part of the driver's seat 26 and on the left and right sides.

[0023] By depressing the side clutch pedal on the inside of the turn to disengage the side clutch 25, and then operating the steering wheel 22 to turn, the drive rotation of the rear wheel 12 on the inside of the turn can be interrupted.

[0024] A bonnet 28 housing the engine E is provided in front of the floor step 27 of the vehicle body 2. A control panel 29 is provided at the rear of the bonnet 28. The control panel 29 is equipped with an instrument panel and various controls such as switches.

[0025] Furthermore, the rear of the bonnet 28 is provided with a rotatable steering handle (hereinafter referred to as "handle") 22 for adjusting the steering amount of the front wheels 11, a main transmission lever 30 for operating the HST and seedling planting unit 3, and a sub-transmission lever 31 for operating the sub-transmission mechanism (see Figure 5).

[0026] Furthermore, the hood 28 contains a fuel tank, a battery, and an interlocking mechanism that rotates the left and right front wheels 11 and the lower parts of the left and right front wheel final drive cases 15 in response to the operation of the steering wheel 22. The front part of the hood 28 is covered by an openable and closable front cover 28a.

[0027] A fertilizer application device 40, which will be described later, is provided behind the cockpit 26 and at the rear of the main frame 13. The driving force for the fertilizer application device 40 is transmitted by a fertilizer transmission mechanism, which is provided so as to face the fertilizer application device 40 from one side of the left and right rear wheel gear cases 16.

[0028] Floor steps 27 are formed on the left and right sides of the lower part of the bonnet 28. The floor steps 27 are approximately horizontal and partially grid-like, so that even if mud from the shoes of the operator (worker) or other workers walking on the floor steps 27 falls onto the floor steps 27, the fallen mud will fall into the field F.

[0029] Furthermore, at the front of the vehicle body 2, and on both the left and right sides, there is a spare seedling frame 34 in which multiple spare seedling trays 33 are arranged vertically at intervals on seedling frame support columns 32. The spare seedling frame 34 can hold seedling mats, fertilizer bags, and other items supplied to the seedling planting section 3.

[0030] Furthermore, a seedling tank 35, which loads and stores seedling mats containing seedlings to be planted on the soil surface FS of field F, is connected to the rear end of the lifting link 17 along with a sliding mechanism that allows it to slide in the left-right direction. Below the seedling tank 35, a planting device 36 is provided, which includes planting claws 38 that pick up seedlings from the loaded seedling mats and plant the picked-up seedlings on the soil surface FS.

[0031] The planting device 36 comprises a planting transmission case 37, planting claws 38, and a planting rotary 39. In the planting device 36, the planting transmission case 37 is provided below the seedling tank 35 at intervals, and the planting rotary 39 that rotates the planting claws 38 is provided on the left and right sides of the planting transmission case 37. In the planting device 36, the planting claws 38 rotate and pick up seedlings from the seedling mat, and plant the picked-up seedlings in the field F as described above.

[0032] In addition to the seedling planting section 3, the seedling transplanter 1 is also equipped with a work device 40 for the field F and the crops growing in field F. The work device 40 supplies material M from the seedling transplanter 1, which travels within field F, to field F. In this embodiment, material M is "fertilizer," and the work device 40 is a "fertilizer application device" that supplies (applies fertilizer M) to field F. Material M can also include chemicals and crop seeds, and the work device 40 can include chemical spraying devices and seeding devices in addition to fertilizer application devices.

[0033] The fertilizer application device 40, which is a work device, comprises a storage unit 41, a dispensing unit 42, a duct, a hose, a blower, a first drive source 51 (see Figure 2), a second drive source 52 (see Figure 2), and a control unit 100 (see Figure 2).

[0034] The storage section (hereinafter referred to as "hopper") 41 stores the fertilizer M (see Figure 1), which is the material. The hopper 41 is divided into the same number of sections as the number of working rows in the seedling planting section 3. The hopper 41 may also be a so-called side fertilization structure in which each section is divided into half the number of rows (for example, four rows each in the case of eight rows) and these sections are arranged on the left and right sides.

[0035] The dispensing unit 42 is provided at the bottom of the hopper 41 for each row and dispenses a predetermined amount of fertilizer M from the hopper 41. The dispensing unit 42 is equipped with a dispensing drive shaft (also called a "fertilizer roll") 421 (see Figure 2). By rotating the dispensing drive shaft 421, the dispensing unit 42 can dispense a predetermined amount of fertilizer M from the fertilizer discharge port provided at the bottom of the hopper 41.

[0036] A duct is provided below the dispensing unit 42 and allows the airflow that moves the fertilizer M dispensed by the dispensing unit 42 to pass through. A hose is provided below the dispensing unit 42 and guides the fertilizer M to the vicinity of the planting position for seedlings in the seedling planting unit 3. A blower is provided at one end of the duct and generates the airflow using the driving force of a motor.

[0037] The first drive source 51 can supply rotational power to the feed drive shaft 421 of the feed unit 42. The first drive source 51 is, for example, the rear wheel gear case 16. The rear wheel gear case 16 supplies driving force to the rear wheel 12 and also supplies rotational power to the feed drive shaft 421. The rotational power supplied from the rear wheel gear case 16 to the feed drive shaft 421 is released when the fertilizer clutch 44a (see Figure 2) is turned "off". When the fertilizer clutch 44a is turned "on", rotational power is supplied from the rear wheel gear case 16 to the feed drive shaft 421.

[0038] Alternatively, instead of the rear wheel gear case 16, a dedicated drive motor 511 (see Figures 3 and 4) may be used as the first drive source 51.

[0039] The second drive source 52 is a different motor from the first drive source 51 and is capable of supplying rotational power to the feed drive shaft 421 of the feed unit 42.

[0040] Here, the first drive source 51 and the second drive source 52 will be described with reference to Figures 2 to 4. Figure 2 is a diagram showing an example of the first drive source 51 and the second drive source 52 of the work device according to the embodiment. Figures 3 and 4 are diagrams showing other examples of the first drive source 51 and the second drive source 52 of the work device according to the embodiment. Note that Figure 4 is an enlarged view of part IV in Figure 3.

[0041] As shown in Figure 2, the fertilizer applicator 40, which is a working device, has a dispensing section 42 below the hopper 41. The fertilizer applicator 40 transmits rotational power from the rear wheel gear case 16, which is located on the axle 12a of the rear wheel 12 (see Figure 1), to the dispensing drive shaft 421 via the fertilizer transmission mechanism 43. On the rear wheel gear case 16 side, which is the first drive source 51, there is a fertilizer clutch mechanism 44 equipped with a fertilizer clutch 44a that switches the power transmission from the rear wheel gear case 16 to the fertilizer transmission mechanism 43 on and off. The fertilizer clutch mechanism 44 switches the power transmission to the output shaft 45a on and off by switching the fertilizer clutch 44a on and off.

[0042] The rotational power transmitted to the output shaft 43a by the engagement ("on") of the fertilizer clutch mechanism 44 (fertilizer clutch 44a) is transmitted from the fertilizer transmission drive rod 43b to the relay rod 43c, which changes the direction of rotational drive transmission to the front-rear direction of the machine, from the relay rod 43c to the sub-drive rod 43d, and from the sub-drive rod 43d to the fertilizer adjustment mechanism 45. Such a fertilizer application device 40 has an existing configuration except for the second drive source 52 (and control unit 100) which will be described later.

[0043] In an example of a first drive source 51 and a second drive source 52 as shown in Figure 2, the rear wheel gear case 16, which is the first drive source 51, is connected to the feed drive shaft 421 of the feed unit 42 via a fertilizer adjustment mechanism 45 that adjusts the amount of fertilizer M (see Figure 1) supplied (fertilizer application amount). The rear wheel gear case 16 serves as the main drive source for supplying rotational power to the feed drive shaft 421.

[0044] The second drive source 52 is connected to the feed drive shaft 421 of the feed unit 42. The second drive source 52 acts as an auxiliary drive source (assist motor) to provide rotational power to the feed drive shaft 421. The second drive source 52 may be configured to provide rotational power to the feed drive shaft 421 from a separate system from the rear wheel gear case 16, which is the first drive source 51.

[0045] The first drive source 51 (rear wheel gear case 16) and the second drive source 52 are each connected to the control unit 100. The control unit 100 controls the application of rotational power to the feed drive shaft 421 from at least one of the rear wheel gear case 16, which is the first drive source 51, and the second drive source 52. For the rear wheel gear case 16, which is the first drive source 51, the control unit 100 switches the rotational power from the rear wheel gear case 16 to the feed drive shaft 421 by switching the fertilizer clutch 44a on and off.

[0046] Furthermore, a fertilizer application device 40, as illustrated in Figure 2, can be easily realized by adding components such as a second drive source 52 to an existing fertilizer application device.

[0047] Furthermore, the second drive source 52 can be used not only to provide rotational power to the feed drive shaft 421, but also to generate electricity. In this case, the second drive source 52 stores electricity while supplying rotational power from the first drive source 51 (rear wheel gear case 16) to the feed drive shaft 421. In this way, the fertilizer M supply operation can be performed by generating electricity with the second drive source 52, thereby realizing a hybrid system.

[0048] In other examples of the first drive source 51 and second drive source 52, as shown in Figures 3 and 4, a dedicated drive motor 511 is used as the first drive source 51 instead of the rear wheel gear case 16.

[0049] As shown in Figure 3, the first drive source 51 and the second drive source 52 are provided at either the left or right end (for example, the right end) of the feed section 42 which extends in the left-right direction of the machine body.

[0050] As shown in Figure 4, the first drive source 51 is connected to the feed drive shaft 421 of the feed unit 42 (see Figure 3). The first drive source 51 is the main drive source for supplying rotational power to the feed drive shaft 421. The second drive source 52 is connected to the feed drive shaft 421 of the feed unit 42 (see Figure 3) in the same way as the first drive source 51. The second drive source 52 is an auxiliary drive source (also called an "assist motor") for supplying rotational power to the feed drive shaft 421.

[0051] The second drive source 52 can be used not only to provide rotational power to the feed drive shaft 421, but also to generate electricity. In this case, the second drive source 52 stores electricity while supplying rotational power from the first drive source 51 to the feed drive shaft 421. In this way, the fertilizer M supply operation can be performed by generating electricity with the second drive source 52, thereby realizing a hybrid system.

[0052] The first drive source 51 (drive motor 511) and the second drive source 52 are each connected to the control unit 100. The control unit 100 controls the system to supply rotational power to the feed drive shaft 421 from at least one of the drive motor 511 (which is the first drive source 51) and the second drive source 52.

[0053] A float 61 is provided below the seedling planting section 3. The float 61 comprises a central float 61a and left and right side floats 61b. The center float 61a and the left and right side floats 61b make contact with the soil surface FS of the field F and slide on the soil surface FS as the vehicle body 2 moves forward.

[0054] Furthermore, the seedling planting section 3 is located in front of the float 61 and is equipped with a leveling rotor 62 for leveling the soil surface FS. The leveling rotor 62 is located in front of the center float 61a and in front of each of the left and right side floats 61b. The seedling planting section 3 plants seedlings on the soil surface FS leveled by the leveling rotor 62. Driving force is transmitted to the leveling rotor 62 via a rotor transmission shaft (not shown).

[0055] Furthermore, on the left and right sides of the seedling planting section 3, there are line marking markers that, when one of them touches the soil surface FS of the field F, form a groove (guide line) to serve as a guide for travel in the next work row (next process). When one of the left and right line marking markers lowers and touches the ground, the other rises. Also, when the seedling planting section 3 is raised during a turn of the machine, both the left and right line marking markers rise, and when the seedling planting section 3 is lowered after the machine has turned, one of the left or right markers rises while the other lowers (touches the ground).

[0056] Furthermore, a center mascot 63 is erected in the center of the vehicle body 2 in the left-right direction, and in front of the bonnet 28, so as to extend upward. By aligning the center mascot 63 with the guide lines formed on the soil surface FS of the field F by the left and right line markers, it becomes possible to travel in accordance with the working position of the immediately preceding work row, thereby improving work accuracy and preventing the occurrence of non-work.

[0057] Depending on the soil type of field F, the guide lines formed by the left and right line markers may quickly become buried, causing the straight-line guide to disappear. In such cases, it is advisable to use the left and right side markers, which are positioned in front of the left and right line markers. That is, by moving the left and right side markers outwards and positioning them above the seedlings planted in the previous step, it becomes possible to perform planting work in line with the planting of seedlings in the previous work row.

[0058] As shown in Figure 1, the seedling transplanter 1 is further equipped with a positioning device 150. The positioning device 150 acquires the current position P (see Figure 6) of the traveling vehicle body 2 (seedling transplanter 1). The positioning device 150 acquires the current position P of the seedling transplanter 1 using a satellite positioning system such as GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). <Control system for work vehicles> Next, the control system of the work vehicle (seedling transplanter) 1 will be described with reference to Figure 5. Figure 5 is a block diagram showing an example of the control system of the work vehicle (seedling transplanter) 1 equipped with the work device 40 according to this embodiment. The seedling transplanter 1, which is a work vehicle, is capable of controlling each part, including the first drive source 51 and the second drive source 52, by electronic control, as shown in Figure 2 and other figures, and is equipped with a control unit 100 that controls each part.

[0059] The control unit 100 includes, for example, a processing unit having a CPU (Central Processing Unit), a storage unit such as ROM (Read Only Memory) and RAM (Random Access Memory), and an input / output unit, all of which are connected to each other and capable of exchanging signals. The storage unit stores computer programs for controlling the seedling transplanter 1. The control unit 100 performs its various functions by reading the computer programs stored in the storage unit and other units.

[0060] The control unit 100 is connected to actuators such as a throttle motor 70, hydraulic control valves 71 and 72, a planting clutch operating solenoid 73, a side clutch operating solenoid 74, an HST motor 75, a steering motor 76, a line drawing marker lifting motor 77, and a differential lock switching motor 78.

[0061] The throttle motor 70 increases or decreases the rotational speed of the output shaft of engine E by operating a throttle that adjusts the intake volume of engine E. The hydraulic control valve 71 controls the extension and retraction movement of the lifting cylinder 21. The hydraulic control valve 72 controls the power steering mechanism 23. The planting clutch operating solenoid 73 operates the planting clutch 24.

[0062] The side clutch solenoid 74 operates the side clutch 25, which switches the power transmission state to the rear wheels 12 (see Figure 1). The HST motor 75 changes the tilt angle of the HST swash plate by changing the rotation angle of the HST trunnion. The steering motor 76 steers the front wheels 11 (see Figure 1), which are the steering wheels. The steering motor 76 is the motor that drives the handle 22, which adjusts the amount of steering (also called "steering angle" or "turning angle") of the front wheels 11. The line marking marker lifting motor 77 raises and lowers the line marking marker.

[0063] The differential lock switching motor 78 is a motor that switches the operation and deactivation of the differential lock mechanism (hereinafter referred to as the "differential lock mechanism") 79, which rotates the left and right wheels (for example, the left and right front wheels 11) at the same rotational speed. When the differential lock mechanism 79 is in the "on" state, it is possible to force four-wheel drive (4WD mode), and the left and right driving wheels rotate at the same rotational speed.

[0064] Furthermore, the control unit 100 is connected to a rear wheel rotation speed sensor 80, a steering amount sensor 81, a tilt sensor 82, and the like. Two rear wheel rotation speed sensors 80 are provided, one for each of the left and right rear wheels 12, and each detects the rotation speed of the left and right rear wheels 12.

[0065] The steering amount sensor 81 detects the rotation of the steering wheel 22, i.e., the amount of steering of the front wheels 11. The steering amount sensor 81 is mounted, for example, on an axis connected to the pitman arm. The tilt sensor 82 detects the tilt angle (e.g., roll angle and / or pitch angle), which is the inclination of the vehicle body 2 (seedling transplanter 1).

[0066] Furthermore, the control unit 100 receives signals as operation signals from, for example, the main speed shift lever 30, the sub-speed shift lever 31, the seedling planting unit lifting switch 83, the line drawing marker automatic lifting switch 84, the automatic rotation switching switch 85, and the mode switching switch 86.

[0067] The seedling planting unit lifting switch 83 is a switch that switches the seedling planting unit 3 up and down. The seedling planting unit lifting switch 83 can be changed to an "up" or "down" position. When the seedling planting unit lifting switch 83 is in the "up" position, the seedling planting unit 3 rises to a predetermined non-working position, and the planting device 36 (see Figure 1) stops, resulting in a non-working state (seedling planting unit 3 in the "off" state). When the seedling planting unit lifting switch 83 is in the "down" position, the seedling planting unit 3 lowers to a predetermined working position, and the planting device 36 operates, resulting in a working state (seedling planting unit 3 in the "on" state). In other words, the seedling planting unit lifting switch 83 is a switch that can detect the working state of the seedling planting unit 3.

[0068] The automatic line marking marker lifting switch 84 is a switch that toggles whether or not to automatically raise and lower the line marking marker in conjunction with the steering amount of the steering wheel 22 (i.e., the steering amount of the front wheels 11). When the automatic line marking marker lifting switch 84 is "ON", control is performed to automatically raise and lower the line marking marker in conjunction with the steering amount. On the other hand, when the automatic line marking marker lifting switch 84 is "OFF", control is not performed to automatically raise and lower the line marking marker in conjunction with the steering amount.

[0069] The automatic turning switch 85 is a switch that enables or disables automatic turning when the operator manually controls the seedling transplanter 1. When the automatic turning switch 85 is "ON", automatic turning is enabled. When the automatic turning switch 85 is "OFF", automatic turning is disabled. The mode switch 86 is a switch that enables or disables autonomous driving of the seedling transplanter 1.

[0070] The control unit 100 may also be connected to an azimuth sensor (not shown). The azimuth sensor detects, for example, the absolute azimuth angle of the aircraft's direction of travel (for example, "north" is 0° (360°), "east" is 90°, "south" is 180°, and "west" is 270°). The azimuth sensor detects the absolute azimuth angle at regular intervals and transmits the detected absolute azimuth angle to the control unit 100.

[0071] The control unit 100 controls the steering wheel 22 via the steering motor 66 based on the detection result of the steering amount sensor 81. While controlling the steering wheel 22, the control unit 100 performs straight-line control and turning control of the seedling transplanter 1 based on the current position P of the seedling transplanter 1 acquired by the positioning device 150.

[0072] As described above, the control unit 100 controls the application of rotational power to the feed drive shaft 421 of the feed section 42 in the fertilizer applicator 40 from at least one of the first drive source 51 (rear wheel gear case 16) and the second drive source 52. In this case, the first drive source 51 functions as the main drive source for the feed drive shaft 421. The second drive source 52 functions as an auxiliary drive source that drives the feed drive shaft 421 together with the first drive source 51. That is, the second drive source 52 acts as an assist motor to auxiliaryly drive the feed drive shaft 421.

[0073] With this configuration, rotational power can be supplied to the dispensing drive shaft 421 of the dispensing unit 42 that dispenses the material M by two drive sources. Therefore, even when a large load is generated on the dispensing drive shaft 421, such as when the dispensing unit 42 is started or when the fertilizer M becomes clogged, the dispensing unit 42 can be driven appropriately. Furthermore, the first drive source 51 can be used as the main drive source, and the motor that becomes the second drive source 52 can be used as an auxiliary drive source (assist motor). This reduces the burden on the first drive source 51, which is the main drive source, and makes it possible to miniaturize the first drive source 51.

[0074] Furthermore, when the feed unit 42 starts to drive, the control unit 100 stops only the assist motor that becomes the second drive source 52 after the feed unit 42 has started to drive and the load has decreased to a certain level. Also, if the assist motor that becomes the second drive source 52 stops abnormally, the control unit 100 stops the machine, emits a warning sound, or displays a warning on the display unit. In addition, when the feed unit 42 starts to drive, if the first drive source 51 is the drive motor 511, the control unit 100 rotates the drive motor 511 by a predetermined angle in the opposite direction before starting to drive it.

[0075] The control unit 100 detects the slip of the rear wheel 12 (see Figure 1). By detecting the slip of the rear wheel 12 (see Figure 1), the control unit 100 detects the slip of the seedling transplanter 1. In this case, the control unit 100 detects the slip of the rear wheel 12 (i.e., the seedling transplanter 1) based on the detection result of the rear wheel rotation speed sensor 80.

[0076] When the control unit 100 detects slippage, it switches the supply of rotational power to the feed drive shaft 421 from the rear wheel gear case 16 to the second drive source 52. In other words, under normal conditions, rotational power is supplied to the feed drive shaft 421 from the rear wheel gear case 16, and in the event of slippage, rotational power is supplied to the feed drive shaft 421 from the second drive source 52.

[0077] With this configuration, under normal conditions, rotational power is supplied to the feed drive shaft 421 from the existing drive source, the rear wheel gear case 16. During slippage, rotational power is supplied to the feed drive shaft 421 from a motor that acts as a second drive source 52. This allows for more precise control of the fertilizer M supply during slippage. As a result, uneven supply of fertilizer M can be suppressed, leading to more uniform crop growth and reduced wasteful supply of fertilizer M. Furthermore, since constant motor drive is not required, the motor (assist motor) that acts as the second drive source 52 can be miniaturized.

[0078] When switching from the first drive source 51 (rear wheel gear case 16) to the second drive source 52, a predetermined handover time is set to eliminate any period during which the feed unit 42 is not driven. During the handover time, rotational power is supplied to the feed drive shaft 421 from both the first drive source 51 and the second drive source 52. Once the handover time has elapsed, the first drive source 51 is stopped, and rotational power is supplied only from the second drive source 52.

[0079] The control unit 100 calculates the travel speed of the seedling transplanter 1 as it travels within the field F (hereinafter referred to as the "first travel speed") based on the current position P of the seedling transplanter 1 acquired by the positioning device 150. The control unit 100 also calculates the travel speed of the seedling transplanter 1 as it travels within the field F (hereinafter referred to as the "second travel speed") based on the detection result of the rear wheel rotation speed sensor 80. The control unit 100 then detects slippage of the rear wheels 12 (seedling transplanter 1) by comparing the first travel speed and the second travel speed acquired by the positioning device 150.

[0080] If the control unit 100 detects slippage, it applies rotational power from the second drive source 52 to the feed drive shaft 421 as described above. If the control unit 100 does not detect slippage, it applies rotational power from the first drive source 51, i.e., from the rear wheel gear case 16.

[0081] With this configuration, slip detection can be specifically realized, and when slip occurs, rotational power is applied from the motor (assist motor), which becomes the second drive source 52, to the feed drive shaft 421, enabling more precise control of the amount of fertilizer M supplied during slip. As a result, for example, uneven supply of fertilizer M can be suppressed, uniform crop growth can be achieved, and the wasteful supply of fertilizer M can be reduced.

[0082] Here, the autonomous operation of the seedling transplanter 1, which is a work vehicle, will be described with reference to Figures 6 and 7. Figures 6 and 7 are explanatory diagrams of the autonomous operation of the work vehicle (seedling transplanter 1) equipped with the work device 40 according to the embodiment. The seedling transplanter 1 is capable of autonomous operation while repeatedly performing automatic straight-line movement and automatic turning as described above, through the control of each part by the control unit 100.

[0083] As shown in Figure 6, when the seedling transplanter 1 receives a work instruction for a predetermined field F, it performs autonomous work in this field F based on its current position P obtained by the positioning device 150 (see Figure 1). First, the seedling transplanter 1 travels along the periphery of the field F to perform a first step (teaching step) to acquire the shape of the field F where it will work.

[0084] Next, the seedling transplanter 1 performs a second process (automatic reciprocating process) in which it travels in a work area AW within field F, repeatedly moving straight and turning. In the second process, the seedling transplanter 1 performs tasks such as planting seedlings in field F or supplying fertilizer M to field F.

[0085] Next, the seedling transplanter 1 performs a third process (automatic inner circumference process) in which it travels along the outer perimeter of the work area AW and the inner circumference of the field F. In the third process, the seedling transplanter 1 also performs tasks such as planting seedlings in the field F or supplying fertilizer M to the field F.

[0086] Next, the seedling transplanter 1 performs the fourth step (finishing step) by traveling around the inner circumference of field F, thus completing the work in field F. In the first and fourth steps, an operator (worker) is on board the seedling transplanter 1 and operates the machine.

[0087] When the seedling transplanter 1 is supplying fertilizer M to field F, it selects and executes one of the following: conventional supply operation, map-linked supply operation, or real-time sensing supply operation.

[0088] In conventional supply operations, fertilizer M is supplied to field F at a predetermined fixed supply amount. In map-linked supply operations, map data provided by an information provision system is used. In map-linked supply operations, fertilizer M is supplied to field F while controlling the supply amount based on fertilizer M supply amount information for each divided plot. In real-time sensing supply operations, fertilizer M is supplied to field F while controlling the supply amount based on information about field F, such as the depth and fertility of field F, obtained from depth sensors and fertility sensors while the seedling transplanter 1 is running.

[0089] In the case of a map-linked supply operation, the control unit 100 applies rotational power from the rear wheel gear case 16 (see Figure 1), which is the first drive source 51, to the feed drive shaft 421 (see Figure 3) of the feed unit 42.

[0090] With this configuration, in the case of map-linked supply operations, the amount of fertilizer M supplied is synchronized with the movement of the seedling transplanter 1 by applying rotational power from the existing drive source, the rear wheel gear case 16, rather than from the motor which becomes the second drive source 52.

[0091] If the control unit 100 determines that the current position P of the seedling transplanter 1, acquired by the positioning device 150, is outside the field F, it applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the feed drive shaft 421 of the feed unit 42. In this case, the control unit 100 does not apply rotational power from the second drive source 52 to the feed drive shaft 421 of the feed unit 42.

[0092] With this configuration, even if the current position P of the seedling transplanter 1 is outside of field F, that is, even if it is in another field F where there is no work instruction value defined when performing map-linked supply work, the fertilizer M supply work can be performed. Furthermore, in this case, by providing rotational power from the existing drive source, the rear wheel gear case 16, the amount of fertilizer M supplied is linked to the movement of the seedling transplanter 1.

[0093] In the case of map-linked supply operations or real-time sensing supply operations, the control unit 100 applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the dispensing drive shaft 421 of the dispensing unit 42 if the amount of fertilizer M dispensed by the dispensing unit 42 is large. Also, in the case of map-linked supply operations or real-time sensing supply operations, the control unit 100 applies rotational power from the second drive source 52 to the dispensing drive shaft 421 of the dispensing unit 42 if the amount of fertilizer M dispensed by the dispensing unit 42 is small.

[0094] With this configuration, an inexpensive motor with a relatively low output can be used as the motor (assist motor) that serves as the second drive source 52. Furthermore, when the amount of fertilizer M dispensed by the dispensing unit 42 is small, that is, when precision is required in the amount of fertilizer M dispensed, the dispensing unit 42 can be appropriately driven by motor drive.

[0095] In the case of map-linked supply operations or real-time sensing supply operations, the control unit 100 applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the feed drive shaft 421 of the feed unit 42 if the rotational power applied to the feed drive shaft 421 of the feed unit 42 exceeds a predetermined level. In addition, in the case of map-linked supply operations or real-time sensing supply operations, the control unit 100 applies rotational power from the second drive source 52 to the feed drive shaft 421 if the rotational power applied to the feed drive shaft 421 falls below a predetermined level.

[0096] With this configuration, an inexpensive motor with a relatively low output can be used as the motor (assist motor) that serves as the second drive source 52. Furthermore, if the rotational power applied to the dispensing drive shaft 421 exceeds a predetermined level, such as at the start of dispensing fertilizer M, the dispensing unit 42 can be appropriately driven by applying rotational power from the rear wheel gear case 16.

[0097] In the case of map-linked supply operations or real-time sensing supply operations, if the positioning device 150 cannot acquire the current position P of the seedling transplanter 1, the control unit 100 applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the feed drive shaft 421. In addition, in the case of map-linked supply operations or real-time sensing supply operations, if the seedling transplanter 1 is located outside the field F due to a false detection by the positioning device 150 or the like, the control unit 100 also applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the feed drive shaft 421.

[0098] With this configuration, if the current position P of the seedling transplanter 1 cannot be obtained due to loss of radio waves or other reasons during map-linked supply work or real-time sensing supply work, the supply of fertilizer M can be continued by switching from map-linked supply work or real-time sensing supply work to conventional supply work and applying rotational power from the rear wheel gear case 16, which is the first drive source 51. Also, if the seedling transplanter 1 is located outside the field F due to false detection, the supply of fertilizer M can be continued by switching from map-linked supply work or real-time sensing supply work to conventional supply work and applying rotational power from the rear wheel gear case 16, which is the first drive source 51.

[0099] In the seedling transplanter 1, the control unit 100 automatically reduces the amount of fertilizer M when the front wheels 11 (see Figure 1) are lifted off the ground (i.e., when the field F is deeper) based on the tilt sensor 82 (see Figure 5). This reduces crop lodging.

[0100] Furthermore, in the seedling transplanter 1, the control unit 100 automatically increases the amount of fertilizer M in the shaded areas if there are areas shaded by obstacles around the field F in the image acquired by GPS or the like. This helps to suppress variations in crop growth.

[0101] Furthermore, in the seedling transplanter 1, the control unit 100 automatically reduces the amount of fertilizer M when it detects slippage of the rear wheels 12. This reduces crop lodging.

[0102] Furthermore, in the seedling transplanter 1, the control unit 100 automatically reduces the amount of fertilizer M during the third process (automatic inner circumference process) because the field F becomes deeper. This reduces crop lodging.

[0103] Furthermore, in the seedling transplanter 1, the control unit 100 automatically controls the reduction of fertilizer M during the first process (teaching process) and the fourth process (finishing process). By reducing the amount of fertilizer while the operator (worker) is on board during the first process (teaching process) and the fourth process (finishing process), crop lodging can be further reduced.

[0104] Furthermore, as shown in Figure 7, in the seedling transplanter 1, the control unit 100 automatically reduces the amount of fertilizer M at the position where a turn occurs within the field F. This reduces lodging of crops.

[0105] Furthermore, as shown in Figure 7, in the seedling transplanter 1, the control unit 100 automatically reduces the amount of fertilizer M when the seedling transplanter 1 plants seedlings in steps S1, S2, and S3, which are in a direction perpendicular to the direction of travel in the work area AW for tilling and puddling. By performing fertilizer reduction control in conjunction with seedling planting in this way, crop lodging can be reduced.

[0106] Furthermore, in the seedling transplanter 1, the control unit 100 acquires the field reference value for variable rate fertilization during the execution of the first process (teaching process). In this case, the control unit 100 uses the average value of the depth and fertility of field F along the teaching route as the field reference value. By acquiring the field reference value together with the teaching in this way, the effort required to acquire them separately can be eliminated, and the impact on automatic operation can be reduced.

[0107] Furthermore, in the seedling transplanter 1, when the control unit 100 acquires field reference values ​​for variable rate fertilization during the execution of the first process (teaching process), it uses the average values ​​of the depth and fertility of field F at each intermediate position along the teaching route as the field reference values. The soil quality may differ between the center of field F and the edges of the ridges and corners of field F, but by using the average values ​​of the depth and fertility of field F at intermediate positions along the teaching route as the field reference values, appropriate field reference values ​​can be obtained.

[0108] Furthermore, in the seedling transplanter 1, when the control unit 100 acquires the field standard value for variable rate fertilization during the execution of the first process (teaching process), it uses the average value of the teaching route as described above, and depending on the usage scenario, it multiplies it by a coefficient that represents the difference between the edge of the ridge or the corner of field F and the center of field F to obtain the field standard value.

[0109] Furthermore, in the seedling transplanter 1, when the control unit 100 acquires field reference values ​​for variable rate fertilization during the execution of the first process (teaching process), it uses the average value of the teaching route as described above, while reducing the influence (weight) of data acquired at the starting position and turning position, which tend to be singular points in the data.

[0110] Furthermore, in the seedling transplanter 1, when the control unit 100 acquires the field standard value for variable rate fertilization during the execution of the first process (teaching process), it uses the average value of the teaching route as described above, and corrects it if there is a large difference between this value and the data acquired when driving through the center of field F after automatic driving has started.

[0111] In this case, if the control unit 100 does not detect slippage during conventional supply operations, it applies rotational power from the rear wheel gear case 16, which is the first drive source 51, to the feed drive shaft 421 of the feed unit 42. Also, if the control unit 100 detects slippage during conventional supply operations, it applies rotational power from the second drive source 52 to the feed drive shaft 421 of the feed unit 42.

[0112] Furthermore, in the case of a map-linked supply operation, if the control unit 100 does not detect slippage, it selects either the rear wheel gear case 16, which is the first drive source 51, or the second drive source 52, and applies rotational power from the rear wheel gear case 16 or the second drive source 52 to the feed drive shaft 421 of the feed unit 42. Also, in the case of a map-linked supply operation, if the control unit 100 detects slippage, it applies rotational power from the second drive source 52 to the feed drive shaft 421 of the feed unit 42.

[0113] Furthermore, in the case of a real-time sensing type supply operation, if the control unit 100 does not detect slip, it selects either the rear wheel gear case 16, which is the first drive source 51, or the second drive source 52, and applies rotational power from the rear wheel gear case 16 or the second drive source 52 to the feed drive shaft 421 of the feed unit 42. Also, in the case of a map-linked type supply operation, if the control unit 100 detects slip, it applies rotational power from the second drive source 52 to the feed drive shaft 421 of the feed unit 42.

[0114] With this configuration, in conventional supply operations, rotational power is normally supplied to the feed drive shaft 421 from the existing drive source, the rear wheel gear case 16, and in the event of slippage, rotational power is supplied to the feed drive shaft 421 from the motor (assist motor) which becomes the second drive source 52, thereby enabling more precise control of the amount of fertilizer M supplied during slippage. Furthermore, in map-linked supply operations or real-time sensing supply operations, the rear wheel gear case 16 which becomes the first drive source 51 and the motor which becomes the second drive source 52 are switched, and rotational power is supplied to the feed drive shaft 421 from either one of them, and in the event of slippage, rotational power is supplied to the feed drive shaft 421 from the motor (assist motor) which becomes the second drive source 52, thereby enabling more precise control of the amount of fertilizer M supplied during slippage. As a result, for example, uneven supply of fertilizer M can be suppressed, uniform crop growth can be achieved, and the wasteful supply of fertilizer M can be reduced. Furthermore, since constant motor drive is not required, it becomes possible to miniaturize the motor (assist motor) that serves as the second drive source 52.

[0115] In a fertilizer applicator 40 that can switch between a rear wheel gear case 16 which serves as the first drive source 51 and a motor which serves as the second drive source 52, the second drive source 52 can be used not only to provide rotational power to the feed drive shaft 421 but also to generate electricity. In this case, the second drive source 52 stores electricity while the first drive source 51 is supplying rotational power to the feed drive shaft 421. In this way, the fertilizer supply operation can be performed by generating electricity with the second drive source 52, thereby realizing a hybrid system.

[0116] Furthermore, the status of the second drive source 52, whether it is generating power or driving, may be indicated, for example, on a display unit around the handle 22. Also, the status of the feed unit 42, whether it is driven by the rear wheel gear case 16 or by a motor, may be indicated, for example, on a display unit around the handle 22.

[0117] Furthermore, the seedling transplanter 1 basically performs the supply of fertilizer M using a map-linked supply system. Even when the seedling transplanter 1 is performing a map-linked supply system, the control unit 100 adjusts the amount of fertilizer M supplied based on information about field F (depth and fertility of field F) obtained through a real-time sensing supply system.

[0118] With this configuration, in the case of map-linked supply operations, the amount of fertilizer M supplied can be adjusted using field F information used in real-time sensing supply operations, thereby enabling automatic reduction of fertilizer and mitigating crop lodging and other problems.

[0119] The following work apparatus 40 is realized by the embodiments described above.

[0120] (1) A work device 40 for supplying materials M to a field F in a work vehicle 1 that travels within a field F while performing work by driving the rear wheels 12, the work device 40 comprising: a storage section 41 for storing materials M; a dispensing section 42 having a dispensing drive shaft 421 that dispenses a predetermined amount of materials M from the storage section 41 by the rotation of the dispensing drive shaft 421; a first drive source 51 capable of supplying rotational power to the dispensing drive shaft 421; a second drive source 52 which is a motor capable of supplying rotational power to the dispensing drive shaft 421; and a control unit 100 that controls the supply of rotational power to the dispensing drive shaft 421 from at least one of the first drive source 51 and the second drive source 52.

[0121] With this type of work device 40, rotational power can be supplied to the feed drive shaft 421 of the feed unit 42 that feeds out the material M by two drive sources, the first drive source 51 and the second drive source 52. Therefore, even when a large load is generated on the feed drive shaft 421, such as when the feed unit 42 is started to run or when the material M jams, the feed unit 42 can be driven appropriately. Furthermore, the first drive source 51 can be used as the main drive source, and the motor that becomes the second drive source 52 can be used as an auxiliary drive source (assist motor). This reduces the load on the first drive source 51, which is the main drive source, and makes it possible to miniaturize the first drive source 51.

[0122] (2) In the above (1), the work vehicle 1 has a rear wheel gear case 16 that applies driving force to the rear wheels 12, the first drive source 51 is the rear wheel gear case 16, the feed drive shaft 421 rotates by the rotational power applied from the rear wheel gear case 16, and the control unit 100 detects slip of the rear wheels 12, and when slip of the rear wheels 12 is detected, switches the application of rotational power to the feed drive shaft 421 from the rear wheel gear case 16 to the second drive source 52, the work device 40.

[0123] With this type of work device 40, in addition to the effects of (1) above, under normal conditions, rotational power is supplied to the feed drive shaft 421 from the existing drive source, the rear wheel gear case 16, and under slip conditions, rotational power is supplied to the feed drive shaft 421 from a motor that becomes a second drive source 52, thereby enabling more precise control of the amount of material M supplied under slip conditions. As a result, for example, uneven supply of material M can be suppressed, enabling uniform crop growth and reducing the wasteful supply of material M. Furthermore, since constant motor drive is not required, the motor (assist motor) that becomes the second drive source 52 can be made smaller.

[0124] (3) In the above (2), the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, and the control unit 100 calculates a first travel speed of the work vehicle 1 based on the current position P of the work vehicle 1 acquired by the positioning device 150, calculates a second travel speed of the work vehicle 1 from the rotation speed of the rear wheels 12, and detects slip of the rear wheels 12 by comparing the first travel speed and the second travel speed, and if no slip of the rear wheels 12 is detected, rotational power is supplied from the rear wheel gear case 16, the work device 40.

[0125] With this type of work device 40, in addition to the effects described in (2) above, it is possible to specifically detect slippage. When slippage occurs, rotational power is applied from the motor (assist motor), which becomes the second drive source 52, to the feed drive shaft 421, enabling more precise control of the amount of material M supplied during slippage. This makes it possible to suppress uneven supply of material M, for example, thereby achieving uniform crop growth and reducing the wasteful supply of material M.

[0126] (4) In any of (1) to (3) above, the work vehicle 1 has a rear wheel gear case 16 that provides driving force to the rear wheels 12, the first drive source 51 is the rear wheel gear case 16, the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, the work vehicle 1 performs material supply work including a conventional supply work that supplies material M to field F at a predetermined fixed supply amount and a map-linked supply work that controls the amount of material M supplied to field F based on supply amount information of material M for each divided section, and the control unit 100 provides rotational power from the rear wheel gear case 16 in the case of the map-linked supply work, the work device 40.

[0127] With this type of work device 40, in addition to any of the effects of (1) to (3) above, in the case of map-linked supply work, the amount of material M supplied is linked to the movement of the work vehicle 1 by providing rotational power from the existing drive source, the rear wheel gear case 16, rather than the motor which becomes the second drive source 52.

[0128] (5) In the above (4), the work vehicle 1 performs a supply operation of materials M, which further includes a real-time sensing method that controls the amount of materials M supplied to field F based on information about field F obtained while the work vehicle 1 is in motion, and the control unit 100 determines that the current position P of the work vehicle 1, obtained by the positioning device 150, is outside of field F, and applies rotational power from the rear wheel gear case 16, but does not apply rotational power from the second drive source 52 to the feed drive shaft 421, the work device 40.

[0129] With this type of work device 40, in addition to the effects described in (4) above, the supply of materials M can be performed even if the current position P of the work vehicle 1 is outside of field F, that is, even in other fields F where there are no work instruction values ​​defined when performing map-linked supply work. Furthermore, in this case, by providing rotational power from the existing drive source, the rear wheel gear case 16, the amount of materials M supplied is linked to the movement of the work vehicle 1.

[0130] (6) In the above (5), the control unit 100 provides rotational power from the rear wheel gear case 16 when the amount of material M dispensed by the dispensing unit 42 is large, and provides rotational power from the second drive source 52 when the amount of material M dispensed by the dispensing unit 42 is small, in the case of a map-linked supply operation or a real-time sensing supply operation, the work device 40.

[0131] With this type of work device 40, in addition to the effects described in (5) above, an inexpensive motor with a lower output can be used as the motor that serves as the second drive source 52. Furthermore, when the amount of material M dispensed by the dispensing unit 42 is small, that is, when precision is required in the amount of material M dispensed, the dispensing unit 42 can be appropriately driven by motor drive.

[0132] (7) In the above (5), the control unit 100 provides, in the case of a map-linked supply operation or a real-time sensing supply operation, the rotational power supplied to the feed drive shaft 421 is supplied from the rear wheel gear case 16 if the rotational power supplied to the feed drive shaft 421 is above a predetermined level, and the rotational power supplied to the second drive source 52 if the rotational power supplied to the feed drive shaft 421 is below a predetermined level, for the work device 40.

[0133] With this type of work device 40, in addition to the effects of (5) above, an inexpensive motor with a lower output can be used as the motor that serves as the second drive source 52. Furthermore, for example, when the rotational power applied to the feed drive shaft 421, such as at the start of material M feeding, exceeds a predetermined level, the feeding unit 42 can be appropriately driven by applying rotational power from the rear wheel gear case 16.

[0134] (8) In the case of a map-linked supply operation or a real-time sensing supply operation, if the positioning device 150 cannot acquire the current position P of the work vehicle 1 or if the work vehicle 1 is located outside the field F due to false detection, the control unit 100 will provide rotational power from the rear wheel gear case 16, and the work vehicle 1 will perform the supply operation of materials M by conventional supply operation, the work device 40.

[0135] With such a work device 40, in addition to the effects of (5) above, in the case of map-linked supply work or real-time sensing supply work, if the current position P of the work vehicle 1 cannot be obtained due to loss of radio waves or the work vehicle 1 is located outside the field F due to false detection, the supply work of materials M can be continued by switching from map-linked supply work or real-time sensing supply work to conventional supply work and applying rotational power from the rear wheel gear case 16.

[0136] (9) In any of (1) to (8) above, the work vehicle 1 has a rear wheel gear case 16 that provides driving force to the rear wheels 12, the first drive source 51 is the rear wheel gear case 16, and the second drive source 52 is used to provide rotational power to the feed drive shaft 421 and can also be used for power generation, and when rotational power is provided from the first drive source 51 to the feed drive shaft 421, it stores energy for power generation, the work device 40.

[0137] With such a work device, in addition to any of the effects described in (1) to (8) above, the supply of materials M can be performed by generating electricity from the second drive source 52, thereby realizing hybridization.

[0138] (10) In (9) above, the work vehicle 1 has a positioning device 150 that acquires the current position P of the work vehicle 1, the positioning device 150 further acquires the first travel speed of the work vehicle 1, and the first drive source 51 is a work vehicle 1 that performs conventional supply work in which materials are supplied to the field at a predetermined fixed supply amount, a map-linked supply work that controls the amount of material M supplied to the field F based on the supply amount information of material M for each divided section, and the field obtained while the work vehicle 1 is traveling The supply operation of material M includes a real-time sensing method that controls the amount of material M supplied to field F based on information from F. The control unit 100 calculates a first travel speed of the work vehicle 1 based on the current position P of the work vehicle 1 acquired by the positioning device 150, calculates a second travel speed of the work vehicle 1 from the rotation speed of the rear wheels 12, and detects slip of the rear wheels 12 by comparing the first travel speed and the second travel speed. In the case of conventional supply operations, the slip of the rear wheels 12 If no slip is detected, rotational power is applied from the rear wheel gear case 16 to the feed drive shaft 421. If slip of the rear wheel 12 is detected, rotational power is applied from the second drive source 52 to the feed drive shaft 421. In the case of map-linked supply operation, if slip of the rear wheel 12 is not detected, either the rear wheel gear case 16 or the second drive source 52 is selected to apply rotational power from the rear wheel gear case 16 or the second drive source 52 to the feed drive shaft 421. If slip of the rear wheel 12 is detected, rotational power is applied from the second drive source 52 to the feed drive shaft 421. In the case of a real-time sensing type supply operation, if slip of the rear wheel 12 is not detected, either the rear wheel gear case 16 or the second drive source 52 is selected to apply rotational power from the rear wheel gear case 16 or the second drive source 52 to the feed drive shaft 421. If slip of the rear wheel 12 is detected, rotational power is applied from the second drive source 52 to the feed drive shaft 421.

[0139] With such a work device, in addition to the effects of (9) above, in conventional supply operations, rotational power is normally supplied to the feed drive shaft 421 from the existing drive source, the rear wheel gear case 16, and in the event of slippage, rotational power is supplied to the feed drive shaft 421 from the motor (assist motor) which becomes the second drive source 52, thereby enabling more precise control of the amount of material M supplied during slippage. Furthermore, in map-linked supply operations or real-time sensing supply operations, rotational power is normally supplied to the feed drive shaft 421 from either the rear wheel gear case 16 or the second drive source 52, and in the event of slippage, rotational power is supplied to the feed drive shaft 421 from the motor (assist motor) which becomes the second drive source 52, thereby enabling more precise control of the amount of material M supplied during slippage. As a result, for example, uneven supply of material M can be suppressed, uniform crop growth can be achieved, and the wasteful supply of material M can be reduced. Furthermore, since constant motor drive is not required, it becomes possible to miniaturize the motor (assist motor) that serves as the second drive source 52.

[0140] (11) In any of (1) to (10) above, the work vehicle 1 performs material supply work including a map-linked supply operation that controls the amount of material M supplied to field F based on material supply amount information for each divided section, and a real-time sensing supply operation that controls the amount of material M supplied to field F from information of field F obtained while the work vehicle 1 is driving, the work vehicle 1 performs material supply work based on the map-linked supply operation, and the control unit 100 adjusts the amount of material M supplied based on information of field F obtained by the real-time sensing supply operation, even in the case of the map-linked supply operation, the work device 40.

[0141] With such a work device, in addition to any of the effects (1) to (10) above, in the case of map-linked supply operations, the amount of material M supplied is adjusted using field F information used in real-time sensing supply operations. For example, if material M is fertilizer, automatic reduction of fertilizer can be achieved, which can reduce crop lodging and other problems.

[0142] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of Symbols]

[0143] 1. Work vehicle (seedling transplanter) 12 Rear wheels 16 Rear wheel gear case 40 Work equipment (fertilizer application equipment) 41 Storage section (hopper) 42. Dispensing section 421 Feed drive shaft 51 First drive source 52 Second drive source (assist motor) 100 Control Unit 150 Positioning devices Field F M Materials (fertilizer) P Current position

Claims

1. A work device for supplying materials to a field in a work vehicle that operates while traveling within the field, A storage section for storing the aforementioned materials, A dispensing unit having a dispensing drive shaft, which dispenses a predetermined amount of the material from the storage unit by the rotation of the dispensing drive shaft, A first drive source that provides rotational power to the aforementioned feed drive shaft, A second drive source that outputs a driving force from a power source different from the first drive source and imparts rotational power to the feed drive shaft, The first drive source and the second drive source can be switched individually, and the control unit controls the application of rotational power from both drive sources to the feed drive shaft. Equipped with, The work vehicle performs material supply operations that include a map-linked supply operation that controls the amount of material supplied to the field based on material supply quantity information for each divided section, and a real-time sensing supply operation that controls the amount of material supplied to the field based on field information obtained while the work vehicle is in motion. The aforementioned work vehicle performs the supply of materials based on the map-linked supply operation, The control unit is characterized in that, even in the case of the map-linked supply operation, it adjusts the amount of material supplied based on the field information obtained from the real-time sensing supply operation.

2. The work device according to claim 1, characterized in that, if the current position of the work vehicle is outside the field and it is determined to be another field for which there are no work instruction values ​​defined when performing the map-linked supply operation, rotational power is applied from the first drive source to the feed drive shaft, and rotational power is not applied from the second drive source to the feed drive shaft.

3. The aforementioned work vehicle has a rear wheel gear case that provides driving force to the rear wheels, The first drive source is the rear wheel gear case, The aforementioned feed drive shaft rotates due to the rotational power supplied from the rear wheel gear case. The work apparatus according to claim 1 or 2, characterized in that the control unit detects slippage of the rear wheel, and when slippage of the rear wheel is detected, switches the supply of rotational power to the feed drive shaft from the rear wheel gear case to the second drive source.

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