Seedling transplanter
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- ISEKI & CO LTD
- Filing Date
- 2023-12-01
- Publication Date
- 2026-07-31
Smart Images
Figure 0007898075000001 
Figure 0007898075000002 
Figure 0007898075000003
Abstract
Description
Technical Field
[0004] , , , , , , ,
[0005]
[0001] The present invention relates to a seedling transplanter for transplanting seedlings in a field.
Background Art
[0002] Conventionally, as this type of seedling transplanter, for example, those described in Patent Document 1 and Patent Document 2 below are known. This conventional seedling transplanter is configured to drive a seedling planting device for planting seedlings in a field by the power of an internal combustion engine (engine).
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Patent Document 2
Summary of the Invention
Problems to be Solved by the Invention
[0004] By the way, in recent years, in the international trend aiming at the realization of a sustainable society, efforts to reduce the impact on the global environment have been carried out in various industries, and in the agricultural field as well, reduction of exhaust gas has become an issue. However, a configuration in which a seedling planting device is driven by the power of an internal combustion engine (engine) as in the conventional case has led to an increase in exhaust gas. In particular, when slip occurs during traveling, the problem is more prominent. Furthermore, when slip occurs, a problem of disturbance between plants also occurs. Therefore, an object of the present invention is to provide a seedling transplanter that can reduce exhaust gas and also prevent disturbance between plants due to slip.
Means for Solving the Problems
[0005] To achieve the above object, a first invention is A seedling transplanter comprising a vehicle that travels across a field using the power of an internal combustion engine, a positioning device that acquires location information of the vehicle, and a seedling planting device that plants seedlings in the field, The seedling transplanter includes a slip detection means for detecting the slip of the vehicle body, A seedling planting device drive motor that drives the seedling planting device, The seedling planting device is equipped with a power source switching means that allows switching between the power of the internal combustion engine and the power of the seedling planting device drive motor. The slip detection means is configured to detect slip by comparing the actual distance traveled, calculated based on changes in the position information of the vehicle body, with the theoretical distance traveled, calculated from the rotation speed of the vehicle body's wheels. The present invention provides a seedling transplanter characterized in that, when the slip detection means detects slippage, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device.
[0006] According to the first invention described above, when the slip detection means detects slippage, the power source switching means switches from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device, thereby effectively reducing the exhaust gas emissions from the seedling transplanter. In addition, by driving the seedling planting device while disconnected from the power transmission path of the internal combustion engine, uneven spacing between plants can also be effectively prevented.
[0007] The second invention, in addition to the configuration of the first invention, Furthermore, it is equipped with a transmission shaft that transmits power from the internal combustion engine to the seedling planting unit, The system includes an internal combustion engine power disconnection clutch capable of disconnecting and disconnecting power transmission on the aforementioned transmission shaft. The seedling planting device drive motor is configured to rotate the transmission shaft, When the seedling planting device is driven by the power of the seedling planting device drive motor, the power transmission on the transmission shaft is interrupted by the internal combustion engine power disconnection clutch, The output of the seedling planting device drive motor is controlled so that the same rotational power as when the internal combustion engine has driven the actual distance traveled is transmitted from the transmission shaft to the seedling planting device.
[0008] According to the second invention described above, in addition to the effects of the first invention described above, By controlling the output of the seedling planting device drive motor so that the rotational power transmitted from the transmission shaft to the seedling planting device is the same as when the vehicle travels the actual distance using the power of the internal combustion engine, uneven spacing between plants can be effectively prevented. Furthermore, the operator can continue working smoothly without being aware that the power source has been switched from the internal combustion engine to the seedling planting device drive motor.
[0009] The third invention, in addition to the configuration of the second invention described above, The device includes a battery that supplies power to the drive motor of the seedling planting device, The aforementioned seedling planting device drive motor is configured as a motor with a power generation function, and is characterized in that, when the seedling planting device is driven by the power of the internal combustion engine, it receives the rotational power of the transmission shaft, converts it into electricity, and charges the battery.
[0010] According to the third invention described above, in addition to the effects of the second invention described above, The seedling planting device drive motor is configured as a motor with a power generation function, and when the seedling planting device is driven by the power of the internal combustion engine, it receives rotational power from the transmission shaft, converts this into electricity, and charges the battery, thereby improving energy efficiency. This effectively prevents the seedling planting device from stopping due to a dead battery.
[0011] The fourth invention, in addition to the configuration of any of the first to third inventions described above, The seedling planting device is configured to be able to move up and down by the extension and retraction of a hydraulic lifting cylinder. The seedling transplanter comprises a lifting sensitivity adjustment means for adjusting the lifting sensitivity of the seedling planting device, and an automatic planting depth adjustment means that automatically adjusts the planting depth of the seedling planting device in conjunction with the adjustment of the lifting sensitivity. The planting depth automatic adjustment means controls the expansion and contraction of the hydraulic lifting cylinder, and when the lifting sensitivity is adjusted to the side with lower lifting sensitivity by the lifting sensitivity adjustment means, it automatically adjusts to raise the seedling planting device by a predetermined distance, and when the lifting sensitivity is adjusted to the side with higher lifting sensitivity, it automatically adjusts to lower the seedling planting device by a predetermined distance.
[0012] According to the fourth invention above, in addition to the effects of any of the first to third inventions above, the planting depth can be kept well constant before and after the setting change of the lifting sensitivity.
[0013] The fifth invention, in addition to the configuration of any of the first to third inventions above, the seedling planting device includes a planting clutch that turns on and off the drive for each row, and a planting clutch sensor that discriminates the turning on and off of the planting clutch, based on the detection information of the planting clutch sensor, calculates the number of rows being planted during work, and when planting is done in less than half of the number of rows that the seedling planting device can plant, it is configured to switch from the power of the internal combustion engine to the power of the seedling planting device drive motor by the power source switching means.
[0014] According to the fifth invention above, in addition to the effects of any of the first to third inventions above, for the planting operation that can be performed with less power than usual, it can automatically switch to the power of the seedling planting device drive motor, enabling more efficient work. Also, the emission of exhaust gas can be suppressed.
[0015] According to the present invention, it is possible to provide a seedling transplanter that reduces exhaust gas and can also prevent the disturbance between plants due to slip.
Brief Explanation of Drawings
[0016] [Figure 1] FIG. 1 is a left side view of a seedling transplanter according to a preferred embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the same seedling transplanter. [[ID=3色]] [Figure 3] Figure 3 is a schematic side view schematically showing the configuration around the float below the seedling planting device of FIG. 1. [Figure 4] Figure 4 is a transmission diagram of the seedling transplanter of FIG. 1. [Figure 5] Figure 5 is a control block diagram of the control unit of the seedling transplanter in the embodiment of the present invention. [Figure 6] Figure 6 is a flowchart showing the processing procedure of the power source switching process. [Figure 7] Figure 7 is a sectional side view of the main part around the seedling taking adjustment actuator mechanism. [Figure 8] Figure 8 is a perspective view of the slider of the seedling taking adjustment actuator mechanism of FIG. 7.
Embodiments for Carrying Out the Invention
[0017] <1. Overall Configuration of the Seedling Transplanter> Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings. FIG. 1 is a left side view of a seedling transplanter according to a preferred embodiment of the present invention, and FIG. 2 is a plan view of the same seedling transplanter. As shown in FIGS. 1 and 2, the seedling transplanter 1 mounts a seedling planting device 3, which is a kind of working machine, on a traveling vehicle (traveling body) 1a by a lifting link device 2, and a fertilizer applicator 4 is provided. The traveling vehicle 1 is a four-wheel drive vehicle having a pair of left and right front wheels 6, 6 and rear wheels 7, 7 as drive wheels. In this specification, the left and right sides are respectively referred to as the left side and the right side in the forward direction of the seedling transplanter 1, the forward direction is referred to as the front side, and the reverse direction is referred to as the rear side.
[0018] As shown in Figure 1, the main frames 10a and 10b house the transmission case 11 and the engine (internal combustion engine) 12. A hydraulic pump 13 is integrally assembled with the case 11 on the rear side of the transmission case 11, and a steering post 14 protrudes from the front upper part of the transmission case 11. A steering wheel 16 is provided at the upper end of the steering post 14. A step floor 19, which serves as the control floor, is attached to the top of the aircraft, and a cockpit 20 is installed above the engine 12. A gear shift lever (driving control member, HST lever) 17 is provided to the right of the steering wheel 16. A dial switch ds, which is a rotating control member for adjusting the lifting sensitivity of the seedling planting device 3 (described later), is also provided on the steering post 14.
[0019] In front of the cockpit 20, an operation panel (not shown) is provided on the steering post 14. A clutch lever 18 is provided on the right side of the cockpit 20. The front wheels 6,6 are pivotally supported by front wheel support cases 22,22 which are rotatably mounted on the sides of the transmission case 11. The rear wheels 7,7 are pivotally supported via rear wheel support bodies 30 by rear wheel transmission cases 24,24 attached to the left and right ends of the left and right frames 37. The left and right frames 37 are supported at the rear ends of the main frames 10a,10b.
[0020] As shown in Figures 1 and 2, which illustrate a portion of the power transmission mechanism to the rear wheels 7, the rotational power of the engine 12 is transmitted sequentially via pulleys 27, belt 28, and pulley 29 to the input shaft 32a of the hydraulic continuously variable transmission (HST) 31, and then transmitted from the output shaft 32b of the HST 31 into the transmission case 11. The rear ends of the rear output shafts 11a and 11b protrude to the rear of the transmission case 11, and the left and right rear wheel transmission shafts 35 and 35, which transmit power to the rear wheel transmission cases 24 and 24, are connected to these protruding ends. The left and right rear wheel transmission shafts 35 and 35 drive and rotate the left and right rear wheels 7, 7 respectively.
[0021] The seedling planting device 3 is mounted on the traveling vehicle 1 so as to be able to move up and down by a lifting link device 2. The upper end of the piston of a general hydraulic lifting cylinder (lift cylinder) 36 (Figure 1), whose base is rotatably mounted on the traveling vehicle 1a, is connected to the lifting link device 2. Pressurized oil is supplied to and discharged from the lift cylinder 36 via a lifting valve (not shown) by a hydraulic pump 13 provided on the traveling vehicle 1a, causing the piston of the lift cylinder 36 to extend and retract, so that the seedling planting device 3 connected to the lifting link device 2 moves up and down.
[0022] The seedling planting device 3 consists of a planting transmission case 38, which also serves as a frame and is rollably mounted on the rear of the lifting link device 2 via left and right frames 37; a seedling tray (seedling tank) 39 supported by a support member provided on the planting transmission case 38 and reciprocating in the left-right direction of the machine; a seedling planting tool (planting rod) 41 mounted on the rear end of the planting transmission case 38 and planting seedlings one by one into the field from the lower end of the seedling tray 39; and a center float (sensor float) 42 and side floats 43, etc., which are ground leveling bodies mounted on the lower part of the planting transmission case 38, with their rear ends pivotally supported and their front ends swinging up and down. The center float 42 and side floats 43 are provided to level the field and to level the area in front of the field where seedlings will be planted by the seedling planting tool 41.
[0023] The PTO transmission shaft 45 (Figure 1) has universal joints at both ends and is provided to transmit power from the transmission case 11 to the planting transmission case 38 of the seedling planting device 3. The seedling planting device 3 has a four-row configuration and includes a planting transmission case 38 which also serves as the frame, a seedling platform 39 which holds seedlings and reciprocates from side to side to supply seedlings one by one to the seedling outlets 39a (Figure 2) of each row, and a seedling planting tool 41 which plants the seedlings supplied to the seedling outlets 39a into the field.
[0024] As shown in Figure 1, a rotor 70a is positioned in front of the center float 42, and this rotor 70a is positioned in front of the rotor 70b located in front of the side float 43. Power is transmitted to the rotor 70a from a gear in the rear wheel transmission case 24 of the rear wheel 7 via a transmission shaft 25, and power is transmitted to the rotor 70b from a pair of chains (not shown) in a pair of left and right chain cases 71, 71, which in turn receive power from the drive shafts (not shown) of both rotors 70a and 70a, respectively. These rotors 70a and 70b function as a land leveling device for leveling fields.
[0025] The fertilizer applicator 4 dispenses a fixed amount of fertilizer from the fertilizer tank 67 downwards by the fertilizer dispensing unit 68, and the dispensed fertilizer is transported by the blower 69 through the fertilizer hose 62 to the fertilizer guide 80. The fertilizer is then dropped into a fertilizer furrow formed near the side of the seedling planting row by a furrowing body 82 located in front of the fertilizer guide 80. The amount of fertilizer applied can be adjusted by controlling the fertilizer amount adjustment motor 68a that drives the fertilizer dispensing unit 68. The pedal 86 (Figure 2) can operate both the main clutch and the left and right rear wheel brake devices (not shown), and is located on the lower right side of the steering wheel 16. When this pedal 86 is pressed, the main clutch is disengaged, followed by the left and right rear wheel brakes, and the machine stops.
[0026] Furthermore, a front arm (ridge-crossing handle) 88 is supported at the front of the machine. The front arm 88 can be operated by the operator by grasping it, which prevents the front end of the vehicle 1 from lifting too high when crossing a ridge or other step, or conversely, assists in directing the front end upward at the initial stage of crossing the ridge. A center mascot 89 is detachably attached to the front arm 88 from its tip, allowing the front arm 88 and the center mascot 89 to be integrated. The center mascot 89 is also equipped with a lamp 89a as an example of an indicator. The lamp 89a lights up green when planting is taking place and red when planting is not taking place. It is also possible to provide multiple lamps 89a, each of which can be used to indicate seedling depletion, battery V depletion (described later), or whether the battery is charging or supplying power. For example, the indicator can be configured so that a green light blinks while charging, a green light stays on when charging is complete, and a red light blinks in all other cases (e.g., errors). It is also possible to configure the lamp to light up when plants are planted and turn off when plants are not planted. Additionally, side markers 44 are provided on both sides of the front of the step floor 19.
[0027] The rear wheel transmission case 24 of the rear wheel 7 is attached to both the left and right ends of the left and right frames 37 and pivotally supported by the rear wheel support 30. The rotation of the rear wheel transmission case 24 causes the axle 23 of the rear wheel 7 to move up and down together with the rear wheel transmission case 24. Power is transmitted to the rear wheel transmission case 24 from the transmission case 11 via the left and right rear wheel transmission shafts 35.
[0028] An antenna frame 90 is provided at the front of the vehicle body 1a, and a positioning device 91 for acquiring position information of the seedling transplanter 1 (specifically, the vehicle body 1a) is provided supported on the upper part of this antenna frame 90. This positioning device 91 is equipped with a receiving antenna that receives radio waves from GNSS satellites and measures position information (including, for example, latitude and longitude information) indicating the current position of the seedling transplanter 1. Furthermore, the positioning device 91 is configured to include an inertial measurement module that detects the tilt and acceleration of the three axes of the vehicle body. The position information measured by the positioning device 91 is transmitted to the control unit C, which will be described later (see Figure 5).
[0029] <2. Configuration around the float> Here, Figure 3 is a schematic side view illustrating the configuration around the float below the seedling planting device 3. Note that the seedling platform 39 is omitted from the illustration in Figure 3. As shown in Figure 3, each float 42 and 43 has a float pivot point 42a located at its rear that is connected to each planting transmission case 38 so that its vertical position can be changed. Therefore, when an operator manually moves the planting depth adjustment lever 150 to a desired position (position for setting shallow, standard, deep, etc.) before starting work, the float pivot point 42a moves vertically (see arrow A in Figure 3) relative to each planting transmission case 38 in conjunction with this movement. This changes the first distance Hu, which is the vertical distance between the center of the pivot axis 41a of the seedling planting tool (planting rod) 41 and the field surface S (see Figure 3) where the back surfaces of each float 42 and 43 come into contact, allowing for manual adjustment of the planting depth.
[0030] Furthermore, as described above, each float 42, 43 has a first distance Hu determined by the operator setting the desired depth by operating the planting depth adjustment lever 150 before starting work. Thereafter, each float 42, 43 is mounted so as to slide across the field surface S during planting work, with the float pivot point 42a as the pivot axis, that its front end moves up and down in accordance with the unevenness of the field surface S.
[0031] Furthermore, the vertical movement of the front end of the center float 42 during planting is detected by a float vertical movement detection sensor 42s (for example, a potentiometer) (see Figure 5) provided on the support frame 120. Based on the detection result, the hydraulic lifting cylinder 36 is extended or retracted by a control command from the control unit C to raise or lower the seedling planting device 3, thereby maintaining a constant planting depth for the seedlings. The float vertical movement detection sensor 42s is capable of detecting the amount of rotation of the center float 42.
[0032] Furthermore, the above-described leveling device has a rotor support arm 162 whose front end 162a supports the rotors 70a and 70b, and whose rear end 162b is connected to the support frame 120 so as to be slidable in the vertical direction (see arrow B in Figure 3). The rear end 162b of the rotor support arm 162 is configured to slide in the vertical direction (see arrow B in Figure 3) by the rotation of the leveling device lifting motor 170 (see Figure 3).
[0033] Furthermore, the vertical position (height) of the lower surface of each leveling rotor 161a, 161b, relative to a predetermined position of the support frame 120 before the start of work and during planting work, can be determined by a leveling device height detection sensor 183 (for example, a potentiometer) (see Figure 4) provided on the support frame 120 detecting the vertical position of the rear end portion 162b of the leveling device 160 (see Figure 3).
[0034] On the other hand, since the front end of the planting transmission case 38 is firmly connected and fixed to the lower end of the support frame 120, the support frame 120 and the planting transmission case 38 can be considered as structurally integrated. By appropriately considering the positional relationship between the two, it is possible to set the predetermined position of the support frame 120 to the pivot axis 41a of the planting transmission case 38, which is integrally connected to the support frame 120 (see Figure 3).
[0035] <3. Power transmission configuration> Figure 4 is a transmission line diagram of the seedling transplanter shown in Figure 1. In Figure 4, a drive transmission device 101 is provided inside the transmission case 11. The drive transmission device 101 comprises a hydraulic continuously variable transmission (HST) 31, a sub-transmission device 102, and a front wheel switching mechanism 103. The rotational power of the engine 12 of the seedling transplanter in this embodiment is shifted (increased or decreased) by the drive transmission device 101 and transmitted to the front wheels 6, rear wheels 7, and PTO shaft 45.
[0036] The drive transmission device 101 transmits the rotational power generated by the engine 12 to the rear wheels 7 after it has been shifted by the hydraulic continuously variable transmission 31 and the auxiliary transmission 102. The rear wheels 7 are driven by the transmitted power. The drive transmission device 101 can also transmit the power generated by the engine 12 and shifted by the hydraulic continuously variable transmission 31 and the auxiliary transmission 102 to the front wheels 6 via the front wheel switching mechanism 103. Therefore, in the seedling transplanter 1 of this embodiment, when the front wheel switching mechanism 103 transmits power, all four wheels, the front wheels 6 and the rear wheels 7, are driven by the rotational power transmitted from the engine 12. When the front wheel switching mechanism 103 cuts off the transmission of power, only the rear wheels 7 are driven by the rotational power transmitted from the engine 12. Therefore, in the seedling transplanter of this embodiment, it is possible to switch between a four-wheel drive state in which the rotational power of the engine 12 is transmitted to all four wheels 6 and 7, and a two-wheel drive state in which it is transmitted only to the two rear wheels 7.
[0037] Furthermore, in the drive transmission device 101, the rotational power of the output shaft of the engine 12 is input to the input shaft 106 of the transmission case 11 via the main clutch 104, which is engaged and disengaged by the clutch pedal 86. The rotation of the input shaft 106 is shifted by the transmission gears 107 and 108 and transmitted to the input shaft 32a of the HST 31. Thus, the rotational power of the engine 12 is input to the HST 31.
[0038] Furthermore, the seedling transplanter 1 is equipped with an automatic steering function that automatically steers the steering wheel 16. The steering actuator 16a (see Figure 5) related to this automatic steering function is configured to automatically operate the steering wheel 16 to maintain the vehicle body 1a in a straight line or to make it turn. Specifically, the steering actuator 16a has a steering motor (not shown) that rotates the steering wheel 16 by automatically applying an arbitrary rotational force to the steering wheel 16, and a steering potentiometer 16s that detects the rotation angle (steering angle) of the steering wheel 16.
[0039] In the pressure-type continuously variable transmission 31, when the movable swash plate 48 is tilted to the side shown in Figure 4 relative to the neutral position, the power of the engine 12 is output as a force that moves the vehicle body 1a forward. On the other hand, when the movable swash plate 48 is tilted to the opposite side from the side shown in Figure 4 relative to the neutral position, the rotation of the hydraulic motor 49 is in the opposite direction to the hydraulic pump 47, and the power of the engine 12 is output as a force that moves the vehicle body 1a backward.
[0040] The rotation of the pump output shaft 51 is taken out of the transmission case 11 via a clutch (not shown) on the PTO shaft 45 and transmits power to the seedling planting device 3. In addition, the motor output shaft 32b of the hydraulic motor 49 drives the front wheels 6 and rear wheels 7 via the auxiliary transmission 102 described above.
[0041] In Figure 4, the rotation of the pump output shaft 51 is transmitted from the PTO first intermediate shaft 54 to the PTO second intermediate shaft 55 via the PTO forward / reverse clutch 53. The power transmitted to the PTO second intermediate shaft 55 is finally taken out of the transmission case 11 by the PTO shaft (working device transmission member) 45 via the planting clutch 56 to drive the seedling planting device (working device) 3. The planting clutch 56 is operated by a motor or the like (not shown) to connect and disconnect the power transmission (engagement and disengagement of the clutch). In this embodiment, a planting clutch sensor 56s is placed near the PTO shaft 45 to detect the rotation of the PTO shaft 45 and determine whether the planting clutch 56 is engaged or disengaged.
[0042] Here, the second intermediate shaft 55, which is an intermediate shaft that transmits the power of the engine 12 to the PTO shaft 45, is equipped with an engine power disconnection clutch 12k that is switched on and off (transmits power when on and disconnects power when off) by the control of the control unit C described later. In addition, a seedling planting device drive motor 3m is provided that rotates the second intermediate shaft 55 by electric drive and supplies power to the seedling planting device 3. This seedling planting device drive motor 3m is a motor with a power generation function that has an inverter as a power conversion device and is wired to a battery V, which is a means of power storage. This seedling planting device drive motor 3m is located downstream of the engine power disconnection clutch 12k in the power transmission path, and when the engine power disconnection clutch 12k is in the off state (disconnected state), it can rotate the second intermediate shaft 55 (downstream of the power transmission path) by power supplied from the battery V and supply power to the seedling planting device 3 in place of the engine 12. Furthermore, when the engine-powered engagement clutch 12k is engaged (connected), it receives rotational power from the second intermediate shaft 55 (in other words, power from the engine 12), converts this into electricity, and charges the battery V. The battery V can also be charged by connecting it to an external power source.
[0043] Thus, while the planting clutch 56 switches the drive of the seedling planting device 3 on and off, the engine power disconnection clutch 12k is located upstream of the planting clutch 56 in the transmission path, and therefore performs the function of switching the power supply source to the seedling planting device 3 (disconnecting the seedling planting device 3 from the power transmission path of the engine 12).
[0044] <4. Control System Configuration> Figure 5 is a control block diagram of the control unit C of the seedling transplanter 1 in an embodiment of the present invention. The control unit C controls various devices of the seedling transplanter 1 and includes a CPU (not shown), ROM, RAM, and memory for storing various data. The CPU reads programs and data stored in the ROM, RAM, and memory and executes various processes to realize the various functional units shown in the figure. The memory also stores setting values for the control amounts of various mechanisms such as the seedling planting device 3 and the fertilizer application device 4. The control unit C can read the setting values stored in the memory in response to a request from a portable information terminal T (described later), transmit information about these setting values via the wireless communication unit t2, and display the setting values of the various mechanisms on the portable information terminal T.
[0045] The control unit C is configured to acquire position information of the seedling transplanter 1 from the positioning device 91 at predetermined time intervals and store the position information in memory along with the time information at which the position information was received. As a result, the control unit C can read the time information and position information stored in memory and calculate the actual travel distance of the seedling transplanter 1 (hereinafter referred to as "actual travel distance") based on the position information (changes) from the difference in the position of the seedling transplanter 1 over a predetermined time. At the same time, it can also calculate the actual travel speed of the seedling transplanter 1 (hereinafter referred to as "actual speed") based on the position information from the calculated actual travel distance and travel time information.
[0046] The steering potentiometer 16s detects the steering angle of the steering wheel 16, and the lever potentiometer 17s detects the operation of the gear shift lever 17. The detected information is then output to the control unit C. This allows the control unit C to obtain information regarding the steering angle of the steering wheel 16 and the operating position of the gear shift lever 17.
[0047] The rear wheel rotation sensor 7s detects the rotation speed of the left and right rear wheels 7 and the left and right drive shafts (not shown) connected to them, and outputs this information to the control unit C. The rear wheel rotation sensor 7s also functions as a vehicle speed sensor to detect vehicle speed. The control unit C is configured to acquire information regarding the rotation speed of the rear wheels 7 from the rear wheel rotation sensor 7s and store this information in memory along with time (or time of day) information. Furthermore, the control unit C is configured to calculate the theoretical travel distance of the seedling transplanter 1 in a predetermined time (hereinafter referred to as "theoretical travel distance") by integrating the rotation speed and the size of the rear wheels 7, which are stored in memory along with the information regarding the rotation speed of the rear wheels 24 stored in memory. At the same time, the control unit C can calculate the theoretical travel speed of the seedling transplanter 1 (hereinafter referred to as "theoretical speed") from the calculated theoretical travel distance and travel time information.
[0048] The control unit C can calculate a slip ratio, which indicates the degree of slippage of the vehicle body 1a of the seedling transplanter 1 during seedling planting, from the calculated actual travel distance and theoretical travel distance. The slip ratio is defined by a calculation formula expressed as "{1-(Lr / Lf)}*100[%]" with the cumulative symbol "*", where Lr is the actual travel distance and Lf is the theoretical travel distance in a predetermined time t. The larger the slip ratio value, i.e., the closer it is to 100%, the greater the degree of slippage, and the smaller the slip ratio value, i.e., the closer it is to 0%, the smaller the degree of slippage.
[0049] In other words, the larger the slip ratio, the more the distance traveled by the vehicle body 1a relative to the rotational speed of the wheels (rear wheels 7, 7 in this embodiment) decreases due to slippage, resulting in a narrower actual spacing between seedlings than the planting interval based on the theoretical speed. The smaller the slip ratio, the closer the actual spacing between seedlings will be to the planting interval based on the theoretical speed. Note that the above method for calculating the slip ratio is just one example, and it is also possible to calculate the slip ratio by comparing the actual speed with the theoretical speed.
[0050] Furthermore, the input side of the control unit C is connected to a float vertical movement detection sensor 42s, a battery level detection sensor Vs that detects the remaining battery level of the battery V, and a dial switch ds, making it possible to acquire detection information and operation information from these devices.
[0051] The control unit C is configured to control the hydraulic continuously variable transmission 31 via the HST servo motor 31a. This allows for control of the vehicle speed of the traveling vehicle 1a. The control unit C is also capable of controlling the raising and lowering of the seedling planting device 3 via the hydraulic lifting cylinder 36. It is also connected to the planting clutch 56, allowing for control of the on / off switching of power transmission to the seedling planting device 3, thereby controlling the execution and stopping of the seedling planting operation. Furthermore, it is connected to the fertilizer amount adjustment motor 68a of the fertilizer applicator 4, thereby controlling the amount of fertilizer applied by driving the fertilizer dispensing unit 68. In addition, a lamp 89a is connected to the output side of the control unit C, and is configured to control the on / off switching of the lamp.
[0052] Furthermore, an engine power disconnection clutch 12k is connected to the output side of the control unit C. As described above, this engine power disconnection clutch 12k is a clutch that can disconnect and reconnect the power transmission of the engine 12 to the seedling planting device 3. The control unit C is configured to switch (disconnect and reconnect) the presence or absence of power transmission from the engine 12 to the seedling planting device 3 by controlling this engine power disconnection clutch 12k.
[0053] Furthermore, the seedling planting device drive motor 3m is connected to the output side of the control unit C. As described above, the seedling planting device drive motor 3m is a motor with a power generation function that can supply power to the seedling planting device 3 in place of the engine 12. When the engine power disengagement clutch 12k is in the disengaged (disconnected) state, the control unit C controls this seedling planting device drive motor 3m and drives it with the power of the battery V, supplying power to the seedling planting device 3 in place of the engine 12. This effectively reduces the exhaust gas emissions from the seedling transplanter 1.
[0054] Here, when the control unit C has the seedling planting device drive motor 3m supply power to the seedling planting device 3 in place of the engine 12, it controls the rotational speed per unit time of the second intermediate shaft 55, that is, the rotational power output to the PTO shaft 45, based on the actual travel speed of the seedling transplanter 1. More specifically, at predetermined time intervals, the control unit C calculates the actual travel speed of the seedling transplanter 1 based on the position information of the positioning device 91, and controls the output of the seedling planting device drive motor 3m so that the rotational speed per unit time of the second intermediate shaft 55, that is, the rotational power output to the PTO shaft 45, is the same as when the machine is traveling at the actual travel speed using the engine 12 without slippage. In other words, the control unit C controls the output of the seedling planting device drive motor 3m so that it transmits rotational power from the transmission shaft (second intermediate shaft 55) that transmits power from the engine 12 to the seedling planting device 3, similar to the rotational power transmitted when the vehicle travels the actual distance (or travels at the actual speed) using the power of the engine 12. As a result, when slip occurs, the same rotational power as when the vehicle travels at the actual speed without slip (powered by the engine 12) is (simulated) output to the PTO shaft 45. Consequently, uneven spacing of seedlings in the seedling planting device 3 caused by slip can be effectively prevented. By controlling the output of the seedling planting device drive motor, uneven spacing can be effectively prevented. Furthermore, the operator can continue working smoothly without being aware that the power source has been switched from the internal combustion engine 12 to the seedling planting device drive motor 3m.
[0055] The communication controller t1 controls the wireless communication unit 83 and acts as an intermediary for wireless communication between the mobile information terminal T and the positioning device 91 in accordance with a predetermined protocol.
[0056] The wireless communication unit 83 is a unit that performs wireless communication with the wireless communication unit (not shown) and positioning device 91 of the portable information terminal T, and transmits and receives predetermined data via a built-in antenna (not shown). This allows the control unit C to transmit information such as the calculated slip rate and other information necessary for the operation to the portable information terminal T.
[0057] Here, the portable information terminal T functions as a user interface and is an information terminal that can be carried by the worker U, equipped with input / output means such as a display, touch panel, and speaker. The portable information terminal B is, for example, a tablet or smartphone, and can be used by the worker near the field while checking the work status. In addition, by performing input operations on the portable information terminal T, the worker can remotely make the necessary settings for the seedling transplanter 1 and check various work-related information (setting information, work progress information, etc.) obtained from the control unit C on a display means such as a display. Furthermore, by performing predetermined operations, it is possible to send various instructions to the seedling transplanter 1, such as starting or pausing automatic driving or ending work.
[0058] The control unit C includes, as functional units, an automatic driving means c1, a slip detection means c2, a power source switching means c3, and a lifting / lowering sensitivity adjustment means c5.
[0059] The automatic driving means c1 is a program that performs the function of automatically driving the seedling transplanter 1 along a predetermined driving path based on position information acquired from the positioning device 91 during operation, and controls the steering actuator 16a to automatically steer the steering wheel 16.
[0060] The slip detection means c2 is a program that performs the function of detecting slippage while the seedling transplanter 1 is running. Here, "detecting slippage" means, more specifically, that the slip rate calculated at predetermined time intervals exceeds a predetermined threshold. In this embodiment, as an example, when the slip rate exceeds 17%, the slip detection means c2 is configured to detect slippage (in other words, to determine that slippage has occurred) while the seedling transplanter 1 is running.
[0061] <5. Power source switching process> Next, the power source switching means c3 will be described. The power source switching means c3 is a program that performs the function of switching the power source of the seedling planting device 3. When the operation of the seedling transplanter 1 begins, it executes a power source switching process to switch the power source of the seedling planting device 3. The power source switching process will now be explained with reference to Figure 6.
[0062] Figure 6 is a flowchart showing the processing procedure for power source switching. When the power source switching process is initiated, the power source switching means c3 first sets the power source for the seedling planting device 3 to the engine 12 (step #1). That is, it sets the engine power engagement clutch 12k to the engaged state (connected state). As a result, the seedling planting device 3 is driven by the power of the engine 12.
[0063] Next, the power source switching means c3 monitors whether slip is detected by the slip detection means c2 while the seedling planting device 3 is being driven by the engine 12 (step #2). If slip is detected (Y in step #2), information regarding the current battery level is obtained from the battery level sensor Vs, and if the battery level is above a predetermined value (Y in step #3), the power source for the seedling planting device 3 is changed to the seedling planting device drive motor 3m (step #4). That is, the engine power engagement clutch 12k is turned off (disconnected), and the seedling planting device 3 is driven by the power of the seedling planting device drive motor 3m instead of the power of the engine 12.
[0064] The power source switching means c3 switches the power source to the seedling planting device drive motor 3m and maintains the state of switching the power source to the seedling planting device drive motor 3m until slip is no longer detected (N in step #2) or the battery level falls below a predetermined value (N in step #3). On the other hand, when the slip is eliminated or the battery level falls below a predetermined value, the power source is switched to the engine 12 (step #1). With the above configuration, by switching the power source to the seedling planting device drive motor 3m in the event of slip detection, it is possible to prevent uneven spacing between plants, and when the battery level is insufficient to drive the seedling planting device 3 with the seedling planting device drive motor 3m, the power source is not switched to the device drive motor 3m. This allows the battery V to be charged by the power of the engine 12, and effectively prevents the situation in which the battery V runs out of charge and the driving of the seedling planting device 3 stops.
[0065] <6. Configuration related to automatic adjustment of planting depth> Returning to Figure 5, the control unit C is equipped with a lifting sensitivity adjustment means c4 for adjusting the lifting sensitivity of the seedling planting device 3. This lifting sensitivity, also called hydraulic sensitivity, indicates the sensitivity to unevenness in the field with respect to the lifting control of the seedling planting device 3. As described above, the center float 42 is configured to detect the amount of rotation of the center float 42 due to unevenness in the field surface and the lifting of the seedling planting device 3 by a float vertical movement detection sensor 42s that detects the rotation angle. When the detection by this float vertical movement detection sensor 42s exceeds a set angle in either the positive or negative direction, an electromagnetic valve (not shown) is controlled to extend or retract the lifting hydraulic cylinder 36, changing the planting height of the seedling planting device 3 and maintaining the seedling planting depth as set.
[0066] The control unit C acquires operation information from the dial switch ds, and the lifting sensitivity adjustment means c4 adjusts the lifting sensitivity of the seedling planting device 3 by performing a predetermined process based on the acquired operation information. For example, the lifting sensitivity can be selected from "normal," "sensitive," and "insensitive." Here, when the posture of the seedling transplanter 1 is tilted downwards, the center float 42 tends to lift off the field surface, so the operator can adjust the lifting sensitivity to "insensitive" by operating the dial switch ds to lower the lifting sensitivity. As a result, the control unit C (lifting sensitivity adjustment means c4) extends or retracts the lifting hydraulic cylinder 36 only when the float vertical movement detection sensor 42s detects a larger amount of rotation (than the standard setting value for lifting sensitivity "normal"), thereby changing the planting height of the seedling planting device 3. As a result, even if the center float 42 rotates slightly when it leaves the field surface, the planting height of the seedling planting device 3 is not changed, thus preventing disturbances in the planting depth. Furthermore, when the field has significant unevenness or is hard, it is desirable to set the elevation sensitivity to "insensitive".
[0067] On the other hand, when the seedling transplanter 1 is in an upward-sloping position, the center float 42 remains in contact with the field surface, so the operator can adjust the lifting sensitivity to "sensitive" by operating the dial switch ds to increase the lifting sensitivity. As a result, when the float vertical movement detection sensor 42s detects a rotation amount smaller than the standard setting value for lifting sensitivity "normal", the control unit C (lifting sensitivity adjustment means c4) extends or retracts the lifting hydraulic cylinder 36, changing the planting height of the seedling planting device 3. As a result, even if the center float 42 rotates even slightly while forcibly leveling small unevenness, the planting height of the planting device 3 is changed, thus preventing the planting depth from becoming uneven by ignoring areas where the planting depth should change. It is desirable to set the lifting sensitivity to "sensitive" when the unevenness of the field is small or when the field is soft.
[0068] Here, as shown in Figure 5, the control unit C is equipped with an automatic planting depth adjustment means c5. This automatic planting depth adjustment means c5 works in conjunction with the adjustment of the lifting sensitivity to automatically adjust the planting depth of the seedling planting device 3. More specifically, when the lifting sensitivity is set to "insensitive" by the lifting sensitivity adjustment means c4, the automatic planting depth adjustment means c5 controls the lifting hydraulic cylinder 36 and adjusts it to raise the seedling planting device 3 by a predetermined distance compared to when the lifting sensitivity is set to "normal". In other words, when the lifting sensitivity is set to "insensitive", the responsiveness to the convex parts of the field is relatively reduced compared to when the lifting sensitivity is set to "normal", making it easier for the seedling planting device 3 to descend, and the planting depth is more likely to be deeper than the set depth. Therefore, by automatically adjusting to raise the seedling planting device 3 by a predetermined distance, the planting depth can be kept consistently good before and after changing the lifting sensitivity setting.
[0069] On the other hand, the automatic planting depth adjustment means c5 controls the lifting hydraulic cylinder 36 when the lifting sensitivity is set to "sensitive" by the lifting sensitivity adjustment means c4, and adjusts it to lower the seedling planting device 3 by a predetermined distance compared to when the lifting sensitivity is set to "normal". In other words, when the lifting sensitivity is set to "sensitive", the responsiveness to the convex parts of the field is relatively increased compared to when the lifting sensitivity is set to "normal", making it easier for the seedling planting device 3 to rise, and the planting depth tends to be shallower than the set depth. Therefore, by automatically adjusting to lower the seedling planting device 3 by a predetermined distance, the planting depth can be kept consistently good before and after changing the lifting sensitivity setting.
[0070] <7. Configuration of the seedling planting adjustment actuator mechanism> Next, the seedling picking adjustment actuator mechanism adjusts the amount of seedlings dispensed by the seedling planting tool 41. This will be explained. Figure 7 is a cross-sectional side view of the main parts around the seedling adjustment actuator mechanism, and Figure 8 is a perspective view of the slider of the seedling adjustment actuator mechanism in Figure 7. For the basic configuration of this seedling adjustment actuator mechanism 181, please refer to, for example, Japanese Patent Application Publication No. 2017-136009.
[0071] As shown in Figure 7, the seedling picking adjustment actuator mechanism 181 of this embodiment has bellows boots 172a and 172b, which are covering members with bellows-shaped inner walls, positioned above and below the feed screw 172. These bellows boots 172a and 172b serve to prevent the grease nipples injected above and below the slider 183 from leaking out. Furthermore, through holes 190a, 190b, and 190c are formed at the top, middle, and bottom of the shaft of the feed screw 172, respectively, and these through holes 190a, 190b, and 190c are connected by a roughly cylindrical cavity 190d formed inside the shaft of the feed screw 172.
[0072] Furthermore, as shown in Figure 8, the slider 183 has a substantially cylindrical shape, and a grease nipple injection hole 183a is provided within its peripheral wall. A grease nipple discharge hole 183b extending vertically is provided, communicating with the grease nipple injection hole 183a. This allows the operator to easily inject grease nipples through the nipple grease injection hole 183a. The grease nipples injected from the grease nipple injection hole 183a enter the shaft of the feed screw 172 through the upper through hole 190a, pass through the cavity 190d, and are discharged from the intermediate through hole 190b. This allows for good circulation of the injected grease nipples.
[0073] <8. Other (Variations, etc.)> The embodiments of the present invention have been described above. The present invention is not limited to the embodiments described above. It goes without saying that modifications can be made as appropriate within the scope of the technical idea.
[0074] When the number of rows to be planted is changed during operation by switching the planting clutch 56 on and off (for example, by operating a gear shift lever 17 or the like), the control unit C acquires detection information from the planting clutch sensor 56s, which determines whether the planting clutch 56 is on or off, and calculates the number of rows to be planted during operation based on the detection information from the planting clutch sensor 56s. If the number of rows to be planted is less than half of the number of rows that the seedling planting device 3 can plant (the setting information is stored in the control unit C in advance) (for example, 2 rows or less if planting 4 rows), the control unit C may be configured to automatically switch from the power of the engine 12 to the power of the seedling planting device drive motor 3m. This makes it possible to work more efficiently by automatically switching to the power of the seedling planting device drive motor 3m for planting work that can be performed with less power than usual.
[0075] In a motor-driven seedling planting device 3, a sensor for detecting the height of seedlings on a seedling mat is provided on the seedling tray 39, and the control unit C is configured to acquire the detected value from the sensor. Furthermore, the detected seedling height information may be made available for confirmation via a portable information terminal T. In a motor-driven seedling planting tool (planting rod) 41, the tip of the seedling planting tool (planting rod) 41 can be configured to rotate at a constant speed during the (quick) section from when it enters the soil until it is withdrawn. When a planting target is recognized while acquiring position information using a positioning device 91, the planting position and the quick start position will actually be different, so the target position can be corrected according to the direction of travel. For example, the quick start can be configured to begin 2 centimeters before the target. In a direct seeding machine equipped with a GNSS sensor, the seeding rate of the direct seeding machine can be electrically adjusted based on position information from the GNSS sensor. [Explanation of symbols]
[0076] 1 Seedling transplanter 1a Running vehicle 3 Seedling planting device (work machine) 3m seedling planting device drive motor 6, 7 Running wheels 12. Engine (Internal Combustion Engine) 12k Engine Power Disconnection Clutch (Internal Combustion Engine Power Disconnection Clutch) 16 Steering Wheel 17. Gear shift lever 31 Hydraulic continuously variable transmission 36 Hydraulic Lifting Cylinder 45 PTO transmission shaft (work equipment transmission component) 56 Planting clutch 91 Positioning device 101 Travel transmission device C control section DS dial switch V Battery
Claims
1. A seedling transplanter comprising a vehicle that travels across a field using the power of an internal combustion engine, a positioning device that acquires location information of the vehicle, and a seedling planting device that plants seedlings in the field, The seedling transplanter includes a slip detection means for detecting the slip of the vehicle body, A seedling planting device drive motor that drives the seedling planting device, The seedling planting device is equipped with a power source switching means that can switch between the power of the internal combustion engine and the power of the seedling planting device drive motor. The slip detection means is configured to detect slip by comparing the actual distance traveled, calculated based on changes in the position information of the vehicle body, with the theoretical distance traveled, calculated from the rotation speed of the vehicle body's wheels. When the slip detection means detects slippage, the power source switching means is configured to switch from the power of the internal combustion engine to the power of the seedling planting device drive motor to drive the seedling planting device. Furthermore, it is equipped with a transmission shaft that transmits power from the internal combustion engine to the seedling planting device, The system includes an internal combustion engine power disconnection clutch capable of disconnecting and disconnecting power transmission on the aforementioned transmission shaft. The seedling planting device drive motor is configured to rotate the transmission shaft, When the seedling planting device is driven by the power of the seedling planting device drive motor, the power transmission on the transmission shaft is interrupted by the internal combustion engine power disconnection clutch, The output of the seedling planting device drive motor is controlled so that the same rotational power as when traveling the actual distance using the power of the internal combustion engine is transmitted from the transmission shaft to the seedling planting device. The device includes a battery that supplies power to the drive motor of the seedling planting device, The seedling transplanter is characterized in that the seedling planting device drive motor is configured as a motor with a power generation function, and when the seedling planting device is driven by the power of the internal combustion engine, it receives the rotational power of the transmission shaft, converts it into electricity, and charges the battery.
2. The seedling planting device is configured to be able to move up and down by the extension and retraction of a hydraulic lifting cylinder. The seedling transplanter comprises a lifting sensitivity adjustment means for adjusting the lifting sensitivity of the seedling planting device, and an automatic planting depth adjustment means that automatically adjusts the planting depth of the seedling planting device in conjunction with the adjustment of the lifting sensitivity. The seedling transplanter according to claim 1, characterized in that the automatic planting depth adjustment means controls the extension and retraction of the hydraulic lifting cylinder, and when the lifting sensitivity adjustment means is adjusted to the lower side, it automatically adjusts to raise the seedling planting device by a predetermined distance, and when the lifting sensitivity is adjusted to the higher side, it automatically adjusts to lower the seedling planting device by a predetermined distance.
3. The seedling planting device includes a planting clutch that turns the drive on and off for each row, and a planting clutch sensor that determines whether the planting clutch is on or off. The seedling transplanter according to claim 1, characterized in that, based on the detection information of the planting clutch sensor, the number of rows to be planted during operation is calculated, and if the number of rows planted is less than half of the number of rows that the seedling planting device can plant, the power source switching means is configured to switch from the power of the internal combustion engine to the power of the seedling planting device drive motor.