TWI611754B - Work vehicle - Google Patents

Description

Work vehicle

The present invention relates to a work vehicle that performs a fertilizer application while detecting field information.

In the conventional work vehicle, there is a technique of increasing or decreasing the amount of fertilizer applied to the fertilizer application device in accordance with the field information such as the fertilizer concentration, the depth of the field, and the water temperature (Patent Document 1).

Patent Document 1 discloses a configuration in which field information such as a fertilizer concentration of a field, a depth of a field, and a water temperature are detected by a field information detecting means, and the amount of fertilization of the fertilizing device is increased or decreased according to the field information.

In order to increase or decrease the amount of fertilization, it is necessary to set the reference fertilization amount as a reference. Therefore, the teaching operation is performed during the first work running, and the reference fertilization amount is calculated based on the detected field information.

Thereby, the amount of fertilization can be increased or decreased at each position, and therefore, growth and development of the seedling due to insufficient fertilizer or excessive fertilizer are prevented.

Prior art literature

Patent Document 1: Japanese Laid-Open Patent Publication No. 2013-146219

However, since the work vehicle of Patent Document 1 performs the teaching work at the time of the first work running, the reference fertilization amount is calculated based on the field information detected during the period, and therefore the first work travel position is the discomfort such as near the Tanabe. When the position of the teaching operation is combined, the calculated amount of the reference fertilizer is not suitable as a reference for the increase or decrease of the amount of fertilizer application, and there is a problem that the amount of fertilizer is excessive/insufficient.

In order to avoid the above problem, it is possible to set the position suitable for the teaching work at the position where the first work travels, but it is necessary to travel at a position that is quite different from the conventional work travel position. Therefore, there is a problem that the work efficiency is lowered.

An object of the present invention is to provide a work vehicle capable of setting a starting position of a teaching operation at an arbitrary position and calculating a reference fertilization amount suitable for increasing or decreasing the amount of fertilization.

The invention of claim 1 is a work vehicle provided with a fertilizer application device (100) and a field information detecting member for detecting field information on the traveling vehicle body (2), and is provided with field information detected based on the field information detecting means. A control device (210) for calculating a fertilization amount, wherein the control device (210) has a teaching function for calculating a reference fertilization amount based on field information in the set work range, and the reference fertilization amount is used as the calculation of the fertilization amount In the reference, a teaching operation unit that starts the operation of the teaching function is provided, and the teaching operation unit is operated, and after the traveling vehicle body (2) travels a predetermined distance, the control device (210) starts to acquire the setting. Field information within the scope of the work.

The invention of claim 2 is a work vehicle in which a field information detecting means for detecting field information is provided on the traveling vehicle body (2), and control for calculating the amount of fertilizer based on the field information detected by the field information detecting means is provided. The device (210) is characterized in that: the control device (210) records the field information, The work vehicle is provided with a shift operating member (900) that performs a shifting operation on the traveling vehicle body (2), and a position detecting member (910) that detects an operating position of the shift operating member (900), and is provided with The job completion icon (860) in which the recording of the field information is completed is performed, and the position detecting means (910) detects that the shift operating member (900) is operated to the predetermined state in the state where the operation end icon (860) is operated. At the time of the position, the control device (210) ends the recording of the field information and transmits the recorded field information to the information terminal (800).

The invention according to claim 1 or 2, wherein the control device (210) is configured to transmit the field information detected by the field information detecting unit to the information terminal (800). A job management application (810) is provided in the information terminal (800), and the job management application (810) generates a job map based on the field information received from the control device (210).

The invention according to claim 1 or 2, wherein the traveling vehicle body (2) is provided with a material conveying device (600) on which a work material is placed and moved, and the field information is provided. The detecting member is configured to detect the depth of the field, and the above-described field information detecting member is disposed below the material conveying device (600).

The work vehicle according to claim 1 or 2, wherein the traveling vehicle body (2) is provided with a traveling wheel (10), and the field information detecting means is configured to detect fertilizer of the field. Concentration, and disposed on the traveling wheel (10), a connecting member (702) is disposed along the axle (10a) of the traveling wheel (10), and the connecting member (702) is upper The detection value of the field information detecting means (700) is transmitted to the control device (210), and an axle cover (10b) is provided at one end of the axle (10a) of the traveling wheel (10) through the axle cover ( 10b) covering the above connecting member (702).

According to the invention of the first aspect, the recording of the amount of fertilizer and the field information is completed in conjunction with the predetermined operation of the shift operating member (900), so that the vehicle body (2) can be reliably fertilized before moving to the next field. The recording of the amount and field information is completed, so the accuracy of the amount of fertilization and field information recorded in the next field is improved.

Further, when the field information is recorded and the work is performed on the same field, the field information can be used as a reference, and the work efficiency is improved.

According to the invention of claim 2, in the state where the job end icon (860) is operated, when the position detecting means (910) detects that the shift operating member (900) is operated to the predetermined position, the amount of fertilizer and the field information are made. The recording is completed, thereby preventing the teaching operation from being stopped due to an erroneous operation, and creating a job map different from the actual one.

According to the invention of claim 3, in addition to the effects of the invention of claim 1 or 2, after the recording of the amount of fertilizer and the field information is completed, the recording is transmitted to the information terminal (800), and a job map is generated, thereby being identical. When the work is performed on the field, the field information can be used as a reference for the work. Therefore, the work efficiency is improved and the amount of fertilizer is stabilized.

According to the invention of claim 4, in addition to the effects of the invention of claim 1 or 2, the material is moved by placing the work material. A first field information detecting device (720) is provided below the feeding device (600), and the space portion on the front side of the body of the traveling vehicle body (2) can be effectively utilized.

Further, since the material transfer device (600) can cover the upper side of the first field information detecting device (720), rainwater or the like is prevented from adhering to the first field information detecting device (720), and the first field information detecting device (720) The detection accuracy is stable.

Further, by providing the axle cover (10b) covering the outer end portion of the axle (10a) and the connecting member (702), it is possible to prevent water or mud from adhering to the connecting member (702) via the axle (10a), and therefore, the second The field information detection device (700) has a stable detection accuracy of the field information.

2‧‧‧Traveling body

3‧‧‧ Lifting linkage device

4‧‧‧ Seedling transplanting department

100‧‧‧ fertilizing device

12‧‧‧Transmission

13‧‧‧Travel gearbox

10a‧‧‧Front axle

10‧‧‧Driving wheel

10C‧‧‧Central pattern bumps

10L‧‧‧left pattern bump

10R‧‧‧Right pattern bumps

15‧‧‧Main frame

18L, 18R‧‧‧ rear wheel gearbox

11‧‧‧ Rear wheel

18b‧‧‧ rear axle

11a‧‧‧Rear wheel lug

11b‧‧‧ wide pattern bumps

20‧‧‧ engine

23‧‧‧HST (Hydraulic Continuously Variable Transmission)

13a‧‧‧Upper cabinet

13b‧‧‧Lower cabinet

13c‧‧‧ main drive shaft

13d‧‧‧suspension spring

14‧‧‧suspension mechanism

25‧‧‧Incorporated clutch housing

30‧‧‧ engine cover

31‧‧‧ Driver's seat

32‧‧‧ engine cover

34‧‧‧Control panel

100‧‧‧ fertilizing device

210‧‧‧Control device

15a‧‧‧Bumper

33‧‧‧fuel tank

35‧‧‧floor pedal

40‧‧‧Uplink

41‧‧‧lower connecting rod

42‧‧‧ linkage frame

43‧‧‧ longitudinal link

44‧‧‧Connected shaft

46‧‧‧lifting cylinder

50‧‧‧Insert transmission box

51‧‧‧ seedling table

51a‧‧‧Miao export

51b‧‧‧Miao conveyor belt

52‧‧‧planting device

52a‧‧‧ insertion tool

55‧‧‧ Grounding parts

56, 57‧‧‧ Side grounding parts

58‧‧‧ Angle Sensor

59‧‧‧ Lift setting dial

61‧‧‧ delivery device

62‧‧‧ fertilizing tube

63‧‧‧ Fertilization guides

64‧‧‧ into the trough

66‧‧‧Blower motor

67‧‧‧Blowers

60L‧‧‧ Left fertilizer hopper

60R‧‧‧right fertilizer hopper

400‧‧‧Send adjustment device

300‧‧‧ Fertilization transmission mechanism

73A‧‧‧First delivery roller

73B‧‧‧Second delivery roller

77‧‧‧Switch gate

69‧‧‧Working switch lever

78‧‧‧Drainage pathway

79‧‧‧Drainage pipe

79a‧‧‧Export

79b‧‧‧Draining tube

27‧‧‧ rotating body

28‧‧‧Rotary body drive shaft

18L‧‧‧ rear wheel gearbox

18b‧‧‧ rear axle

461‧‧‧Send rotating parts

460‧‧‧ Fertilizer clutch mechanism

18R‧‧‧ rear wheel gearbox

24‧‧‧planting clutch

34‧‧‧Detection control panel

34a‧‧‧Steering angle detection unit

38‧‧‧Prepared seedlings

600‧‧‧Material conveying device

601‧‧‧First turning arm

38a‧‧‧Miao frame bracket

602‧‧‧second turning arm

603‧‧‧Material mounting table

720‧‧‧First field information detection unit

700‧‧‧Second field information detection unit

730‧‧‧Temperature detection unit

820‧‧‧First Teaching Operation Department

840‧‧‧Second Teaching Operation Department

Fig. 1A is a side view of the seedling transplanter, and Fig. 1B is a plan view of the seedling transplanter.

2A is a schematic front view showing a fertilization transmission mechanism between a fertilizer application device and a rear wheel gear box, FIG. 2B is a left side sectional view of the delivery device, and FIG. 2C is a main part of the fertilizer application device, the fertilizer application transmission mechanism, and the delivery amount adjustment mechanism. Side view, FIG. 2D is a schematic plan view when the fertilizer application device and the driver's seat are viewed from above.

3 is a block diagram showing the control relationship between various sensors and components as control objects.

4 is a flow chart showing control from the start of the teaching work to the start of the variable fertilization work.

FIG. 5 is a flowchart showing the operation acceptance control and the information processing of the control device when the operation work end icon is displayed.

Figure 6A is a running wheel having a pattern bump and a second field information detecting component Fig. 6B is a front view of the running wheel having the pattern bump and the second field information detecting member, and Fig. 6C is a plan view of the running wheel having the pattern bump and the second field information detecting member.

Fig. 7A is a side view of a rear wheel having a pattern bump, and Fig. 7B is a front view of a rear wheel having a pattern bump.

Fig. 8 is a front elevational cross-sectional view showing the main part of the suspension mechanism.

9A is a side view showing a frame and a part of components of a traveling vehicle body, and FIG. 9B is a plan view showing a frame and a part of components of the traveling vehicle body.

Fig. 10 is a plan view showing a hood.

Fig. 11 is a flow chart showing the control of the turning linkage mechanism.

Figure 12A is a side view of a seedling transplanter having a material delivery device, and Figure 12B is a front elevational view of a seedling transplanter having a material delivery device.

Fig. 13A is an enlarged front elevational view of a main portion of a lower casing of the traveling transmission case, and Fig. 13B is an enlarged front view of a main portion of the lower casing of the traveling transmission case.

Fig. 14A is a front elevational view showing a main portion of the terminal accommodating portion, Fig. 14B is a side view of the terminal accommodating portion, Fig. 14C is a plan view of the terminal accommodating portion, and Fig. 14D is a front view of the terminal accommodating portion.

Fig. 15 is a flowchart showing control when the second teaching operation unit is operated during the pre-teaching operation.

FIG. 16 is a flowchart showing control when the second teaching operation unit is operated during the pre-teaching operation.

Fig. 17 is a flowchart showing control for deleting the acquired field information when the second teaching operation unit is operated.

18 is a view showing control when the second teaching operation unit is operated in the teaching work Flow chart.

FIG. 19 is a flowchart showing control for preventing detection of abnormal depth by comparing average depths every predetermined distance.

FIG. 20 is a flowchart showing control for distinguishing a change in an abnormal depth from a change in a normal depth.

21 is a flow chart showing control of obtaining a standard deviation of fertilizer concentration.

FIG. 22 is a flowchart showing control of obtaining the standard deviation of the depth.

23A is an explanatory view showing normal teaching and pre-process running, FIG. 23B is an explanatory view showing a case where the second teaching operation portion is operated in the previous process running, and FIG. 23C is a view showing the operation before the previous process running. The second illustration of the operation of the operation unit.

24A is a view showing a display screen of the information terminal, FIG. 24B is a view showing a display screen of the second teaching operation unit, and FIG. 24C is a view showing a display screen of the manual measurement end icon.

25 is a view showing a display screen of field information in a job.

26 is a view showing a display screen of a job map and a job list.

FIG. 27 is a graph showing detected values at predetermined intervals of the first field information detecting means on the left and right sides.

Hereinafter, the work vehicle of the present invention will be described with reference to the drawings.

In the rice transplanter, the seedling transplanting unit 4 is attached to the rear side of the traveling vehicle body 2 via the lifting link device 3 so as to be movable up and down, and the fertilizer application device 100 is provided on the upper side of the rear portion of the traveling vehicle body 2.

Further, the seedling transplanting unit 4 is an example of a working device, and may be a seeding device that supplies seeds or a tilling rotating body that plows the field.

Regarding the traveling vehicle body 2, a transmission case 12 is provided at the front portion, and the traveling transmission case 13 is provided on the left and right sides of the transmission case 12, respectively, and the front axle 10a protruding from the left and right traveling transmission case 13 is provided with Driving wheel 10.

As shown in FIG. 6A to FIG. 6C, thirty-six central pattern projections 10C are formed on the left and right central portions of the outer peripheral edge portion of the running wheel 10 so as to form one pattern bump every 10 degrees. Eighteen left side lugs 10L and eighteen right side lugs 10R are disposed on the left and right sides of the outer peripheral edge portion of the outer peripheral portion of each of ten, so that one lug is arranged every 20 degrees. The left side pattern stud 10L and the right side pattern protrusion 10R are disposed so as not to be adjacent to each other on the right and left sides of the center block projection 10C.

Thereby, the soil is scraped by the center pattern stud 10C, and the left side lug 10L and the right side lug 10R are alternately scraped, so that the ground contact area of the running wheel 10 is reduced, the soil is not easily attached, and the running wheel 10 is prevented. It is difficult to leave the soil and cause a decrease in driving performance.

Further, a front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and rear wheel gear boxes 18L and 18R are respectively provided on the left and right sides of the rear portion of the main frame 15, and the rear wheels 11 are respectively disposed from the rear wheel. The gearbox 18L, 18R protrudes from the rear axle 18b.

As described in Fig. 7, with respect to the above-described rear wheel 11, eleven sets of rear wheel stud bumps 11a are provided in a group of three in the outer peripheral edge portion, and the sets of the rear wheel stud bumps 11a are provided between each other. A total of eleven wide pattern lugs 11b are formed which are wider than the left and right widths of the rear wheel 11 and the rear wheel stud bump 11a. Further, the rear wheel 11 is larger in diameter than the running wheel 10.

Thus, when the rear wheel 11 rotates, it is grounded every time a predetermined angle is rotated. Since the wide-width lug 11b having a large area is in contact with the ground, it is possible to obtain a propulsive force not lower than the impedance of the ground, and the running property and the fuel efficiency are improved.

The engine 20 is disposed in the main frame 15, and the power of the engine 20 is transmitted to the transmission case 12 via an HST (Hydraulic Continuously Variable Transmission) 23.

As shown in Fig. 8, the left and right travel transmission case 13 is composed of an upper case 13a and a lower case 13b, and the lower case 13b is provided to be rotatable in the left-right direction around the upper case 13a and is slidable up and down. The running wheel 10 is rotatably attached to the outside of the body of the lower casing 13b.

Inside the upper casing 13a and the lower casing 13b, a main transmission shaft 13c is disposed so as to be rotatable and slidable in the vertical direction, and the main transmission shaft 13c is driven to the front axle 10a to which the traveling wheel 10 is mounted. A suspension spring 13d is provided between the upper casing 13a and the lower casing 13b on the outer circumference of the main transmission shaft 13c, and the suspension spring 13d presses the lower casing 13b downward. Further, the main transmission shaft 13c is disposed in an inclined posture toward the outside of the machine body.

The suspension spring 13d is a suspension mechanism 14 in which the suspension spring 13d expands and contracts and moves the lower casing 13b up and down when the running wheel 10 passes over an uneven surface of the ground or an obstacle such as a stone, thereby driving the vehicle body. The front side of the 2 is largely moved up and down, thereby preventing the working device such as the seedling inserting portion 4 attached to the rear portion of the traveling vehicle body 2 from largely leaving the surface of the field or being too close to the surface of the field. Further, when the suspension mechanism 14 functions, the center of the axle of the rear wheel 11 serves as a pivot point.

A part of the power of the above-described gearbox 12 is transmitted to the set The planting clutch housing 25 at the rear of the vehicle body 2 is then transferred to the seedling inserting portion 4 by means of the planting drive shaft 26.

The upper portion of the engine 20 is covered with the engine cover 30, and the driver's seat 31 is provided above the engine cover 30. A hood 32 having various operating mechanisms is provided in front of the driver's seat 31, and a steering wheel 34 for steering the traveling wheel 10 is provided above the hood 32.

Further, as shown in FIG. 9A and FIG. 9B, a control device 210 that controls the operation of the fertilizer application device 100 and the like is housed inside the hood 32, and is located below the control device 210 and on the rear side of the bumper 15a. The fuel tank 33 is provided at the position.

A level bottom plate pedal 35 is provided on the left and right sides of the lower end of the engine cover 30 and the hood 32.

The lift link device 3 is composed of an upper link 40 and left and right lower links 41, and base portions of the upper link 40 and the lower link 41 are rotatably attached to a link frame provided at a rear end portion of the main frame 15. In the 42nd, the vertical link 43 is connected to the front end side of the upper link 40 and the lower link 41. In addition, a connecting shaft 44 that is rotatably supported by the seedling transplanting portion 4 is coupled to the lower end portion of the vertical link 43, and the seedling inserting portion 4 rotates around the connecting shaft 44.

A lift cylinder 46 is provided between the main frame 15 and the upper link 40. When the lift cylinder 46 is expanded and contracted, the upper link 40 is rotated in the vertical direction, and the seed inserting portion 4 is moved up and down.

The seedling transplanting portion 4 is composed of the following parts: a planting transmission case 50, and a seedling loading table 51 which is loaded with the seedlings and reciprocated left and right, and supplies the seedlings one by one to each row of seedling take-out outlets 51a and will A row of seedlings are all taken from the seedlings When the outlet 51a is supplied, the seedling is transferred downward by means of the seedling conveyor 51b, and the planting device 52 is inserted into the field by the seedling tool 52a.

As shown in FIG. 1B, a grounding member 55 and left and right side grounding members 56, 57 are rotatably provided in the lower portion of the seedling inserting portion 4, respectively. When the grounding member 55 and the side grounding members 56, 57 are brought into contact with the surface of the field, the grounding member 55 and the side grounding members 56, 57 flatten the seedling insertion position.

As shown in FIG. 3, an angle sensor 58 is provided at the above-described grounding member 55, and the angle sensor 58 detects the amount of rotation of the grounding member 55 based on the change in the depth of the field. When the angle sensor 58 detects an angle change, the control device 210 determines that the depth of the field has changed, and adjusts the working height of the working device such as the seedling transplanting portion 4 to an appropriate height in accordance with the detected angle. The lift cylinder 46 is expanded and contracted, and the working height of the seedling inserting portion 4 is automatically adjusted.

The detection value of the angle sensor 58 is set to 0 degree when the grounding member 55 is brought into contact with the field surface in a substantially horizontal posture. When the detection value is in the upward direction, the control device 210 determines that the field depth is shallow and the seed insertion is performed. The interval between the planting portion 4 and the surface of the field is narrowed, so that the seedling inserting portion 4 is raised by contracting the lifting cylinder 46, preventing the planting depth from being too deep.

On the other hand, when the detected value is in the downward direction, the control device 210 determines that the depth of the field becomes deeper and the interval between the seedling transplanting portion 4 and the surface of the field becomes larger, thereby causing the seedling insertion portion by elongating the lift cylinder 46. 4 drop to prevent the depth of planting of the seedlings too shallow.

Further, in order to change the angle of the angle sensor 58 that expands and contracts the lift cylinder 46, as shown in FIG. 10, an elevation setting dial 59 is provided on the upper portion of the hood 32. When the lift setting dial 59 is pushed in one direction, the angle at which the lift cylinder 46 expands and contracts is increased, and when the lift setting dial 59 is moved in the other direction, the angle at which the lift cylinder 46 expands and contracts is reduced.

As shown in FIG. 1 and FIG. 2A to FIG. 2D, the above-described fertilizer application device 100 is configured to feed the fertilizer remaining in the fertilizer hopper by a predetermined amount by means of the delivery device 61 provided in each of the insertion rows, and use the fertilizer application tube 62. The fertilizer is moved to the fertilizer guides 63 provided on the left and right sides of the respective grounding members 55, 56, 57, and moved to the front side of the fertilizer guiding member 63 and the grooved body is formed in the vicinity of the side portion of the seedling row. 64 in the fertilization tank.

Further, the conveying air generated by the air blower 67 driven by the blower motor 66 is blown into the fertilizing pipe 62 via the air duct 68, and the fertilizer in the fertilizing pipe 62 is conveyed.

Further, the fertilizer hopper is disposed such that the left fertilizer hopper 60L and the right fertilizer hopper 60R are separated by a constant gap, and the delivery amount adjusting device 400 is provided below the right and left central portions of the right fertilizer hopper 60R. As shown in FIG. 2D, the delivery amount adjusting device 400 is provided at a distance from the right rear side of the engine cover 30.

As shown in FIGS. 2A to 2D, the above-described delivery amount adjusting device 400 is a mechanism that adjusts the amount of fertilization to be sent from the delivery device 61 by the driving force transmitted through the fertilization transmission mechanism 300.

When the delivery amount adjustment device 400 is disposed below the left and right center portions of the right fertilizer hopper 60R, the delivery amount adjustment device 400 becomes Since the arrangement of the fertilizers to the left and right fertilizer hoppers 60L and 60R is replenished, the work efficiency is improved.

In addition, since the right and left fertilizer hoppers 60L and 60R are not inclined, the left and right fertilizer hoppers 60L and 60R are tilted rearward when the fertilizer is discharged, and the remaining fertilizer can be quickly discharged.

As a mechanism for taking out the fertilizer remaining in the left and right fertilizer hoppers 60L, 60R, as shown in FIGS. 2A to 2D, above the first delivery roller 73A and the second delivery roller 73B, and at each of the delivery devices 61 At the rear position, a switching gate 77 is provided to be opened and closed, and the switching gate 77 is opened and closed in accordance with the operation of the work switching lever 69. When the work switching lever 69 is operated to the fertilizer application side, each of the switching gates 77 is closed, and when the operation is performed to the discharge side, each of the switching gates 77 is opened, and the fertilizer can be moved to the discharge passage 78. The discharge passage 78 is inclined downward toward the rear of the body.

In the lower portion of the rear side of the left and right fertilizer hoppers 60L and 60R, a discharge duct 79 that moves the fertilizer discharged from the discharge passage 78 to the discharge port 79a is disposed in the left-right direction. The one end portion of the discharge duct 79 is connected to the blower 67, and when the operation switching lever 69 is operated to the fertilizer application side, the conveying air is blown into the air duct 67, and when the operation is performed to the discharge side, the conveying air is blown. Into the discharge pipe 79.

According to the above, when the work switching lever 69 is operated to the discharge side to open the switching gate 77, the fertilizer is moved to the discharge duct 79 through the respective discharge passages 78, and the fertilizer is blown by the conveying wind blown into the discharge duct 79. It is conveyed and discharged to the discharge port 79a. When the mesh-shaped discharge pipe 79b is provided to suppress the diffusion of the fertilizer at the discharge port 79a, the spread of the fertilizer is prevented.

In order to stabilize the depth of planting of the seedlings, a grounding rotating body 27 for flattening the unevenness of the surface of the field is provided in the lower portion of the seedling inserting portion 4. As shown in FIG. 9A and FIG. 9B, the grading body 27 is rotated by receiving a driving force from the rotator shaft 28, and the rotator shaft 28 is disposed inside the body of the left and right rear wheel gearbox 18L and is later than The axle 18b is located on the upper side of the body.

Further, by arranging the rotating body transmission shaft 28 at a position above the rear side of the rear axle 18b, the surface of the field can be largely separated, and the dirt adhering to the rear wheel 11 can be prevented from adhering.

Further, by providing the rotating body transmission shaft 28 at the rear wheel gear case 18L, the grounding rotating body 27 can be driven using the driving force to the rear wheel 11, and therefore, the number of parts is reduced and the structure is simplified.

On the other hand, as shown in FIG. 2A, FIG. 9A and FIG. 9B, on the inside of the body of the rear wheel gear case 18R on the left and right sides and on the front side of the rear axle 18b on the front side of the body, the feeding rotary member 461 and The fertilizer application clutch mechanism 460 transmits the rotation member 461 to the fertilizer application mechanism 300 of the above-described fertilizer application device 100, and the fertilizer application clutch mechanism 460 cuts/connects the transmission to the delivery rotation member 461.

By the transmission of the rotation member 461 provided in the rear wheel gear case 18R to the fertilizer application mechanism 300, the driving force of the rear wheel 11 can be used to operate the fertilizer application device 100. Therefore, it is not necessary to separately configure the transmission path to the fertilizer application device 100. A reduction in the number of components and a simplification of the structure are achieved.

Further, by driving the driving force of the fertilizer application device 100 from the rear wheel gear case 18R, the first delivery roller 73A and the second delivery roller 73B rotate in conjunction with the traveling speed, thereby preventing the supply from being excessive due to the supply interval of the fertilizer. The position where the fertilizer is not supplied and the position where the fertilizer is excessively supplied due to the supply interval being too small.

Further, as shown in FIG. 3, the traveling vehicle body 2 is provided with right and left rear wheel rotation sensors 11a for detecting the rotation of the right and left rear wheels 11, and the control device 210 is configured to rotate according to the rear wheel. The detected value of the sensor 11a is used to calculate the traveling speed, and it is possible to determine whether it is the work travel (straight travel) or the turn travel based on the difference between the left and right detected values.

When turning on the side of the field, it is necessary to raise the working device such as the seedling transplanting portion 4 to leave the surface of the field, and it is necessary to cut off the working clutch such as the planting clutch 24 during the ascent and stop the working device during the turning. Further, it is necessary to perform the lowering operation of the working device and the connection operation of the working clutch after the turning.

In order to perform this operation succinctly at the time of turning, as shown in FIGS. 3 and 11, a steering angle detecting member 34a that detects an operation angle of the steering wheel 34 is provided, and when the steering angle detecting member 34a detects a predetermined angle, the control device 210 causes the lift cylinder 46 to contract, thereby raising the seedling transplanting portion 4 and causing the planting clutch 24 to be in a cut-off state. At the same time, the recording of the rotational speeds of the left and right rear wheel rotation sensors 11a is started. Further, the side clutch mechanism (not shown) in the transmission case 12 is turned off in conjunction with the operation of the steering wheel 34, and the transmission to the rear wheel 11 on the inside of the turn is cut. Therefore, the outside of the turn and the inside of the turn are cut. The rotation speed of the rear wheel rotation sensor 11a produces a difference, thereby determining the turning direction.

Further, when the rotation pulse of the rear wheel rotation sensor 11a on the inside of the turn reaches a predetermined value, the control device 210 elongates the lift cylinder 46 to lower the seedling insertion portion 4. Further, when the rotation pulse after the seedling insertion portion 4 has descended reaches a predetermined value, the control device 210 brings the planting clutch 24 into a connected state. thus, It constitutes the turning linkage control.

According to the above, the lifting and lowering of the seedling insertion portion 4 and the connection/cutting operation of the planting clutch 24 can be performed only by the operation of the operation panel 34 during the turning, so that the operator can concentrate on the turning operation and the operability is improved.

Further, since the lowering of the seedling insertion portion 4 and the connection operation of the planting clutch 24 are automatically performed in accordance with the rotation pulse of the rear wheel rotation sensor 11a, the start position of the planting operation and the end of the planting operation can be completed. Position alignment and improved job accuracy.

Further, the above-described turning interlock control can be connected/disconnected by the interlocking connection/disconnection switch 36 provided in the hood 32.

Further, on the front portion of the traveling vehicle body 2, left and right preliminary seedling frames 38 on which the seedlings for replenishment are placed are provided. A material conveying device 600 is provided on either one of the right and left sides or both of the left and right preliminary seedling frames 38. The material conveying device 600 is independently rotated with respect to the preliminary seedling frame 38, and a working material such as a fertilizer bag is loaded and This work material moves to the side of the traveling vehicle body 2.

As shown in FIG. 12A and FIG. 12B, the material conveying device 600 is composed of a first rotating arm 601 which is rotatably disposed on the seedling frame bracket 38a, and a second rotating arm 602 which is rotatably disposed. On the first rotating arm 601; and a material mounting table 603, which is rotatably disposed at an end of the second rotating arm 602. Further, the seedling frame holder 38a is provided with a locking device that restricts the rotation of the first rotating arm 601, and the first rotating arm is provided with a locking device that restricts the rotation of the second rotating arm 602.

When the material conveying device 600 described above is used, when the first rotating arm 601 and the second rotating arm 602 are rotated to protrude toward the front side of the body, the material is placed Since the table 603 protrudes toward the front side of the vehicle body than the traveling body 2, the work material can be loaded from the outside of the field. When the first turning arm 601 is rotated toward the rear of the body in this state, the material placing table 603 protrudes toward the side of the body so as to draw an arc, and moves to the upper side of the traveling vehicle body 2. At this time, since the material mounting table 603 is close to the left and right fertilizer hoppers 60L, 60R and the upper part of the seedling transplanting portion 4, when the fertilizer or the seedling is replenished, the distance moved by the fertilizer bag and the seedling is shortened, thereby reducing Labor, and work efficiency is improved.

On the other hand, when the material conveying device 600 is housed, the first turning arm 601 is rotated toward the rear of the body, and the second turning arm 602 is rotated toward the front side of the body. Thereby, since the material mounting table 603 is located below the preliminary seedling frame 38, the material conveying device 600 such as during storage is prevented from protruding toward the outside of the machine body or the front side of the machine body, and the material conveying device 600 is prevented from being damaged due to contact with the surroundings. .

Further, when the material conveying device 600 is provided on the right and left sides, the auxiliary placing table 610 on which the working material and the seedling are placed is provided at the lower portion of the preliminary seedling frame 38 on the opposite side.

As shown in FIG. 1A and FIG. 1B, on the left and right sides of the front side of the traveling vehicle body 2, and at the position on the rear side of the machine body than the left and right preparatory seedling frames 38, left and right wire drawing marks 16 are provided, respectively. The mark 16 is used to form a guide line as a reference for straight running in the field.

Further, depending on the soil quality of the field, there is a case where the guide line formed by the left and right pull marks 16 disappears immediately. At this time, the left and right side marks 19 provided at positions closer to the rear side of the body of the left and right pull marks 16 are moved toward the outside of the body, so that the side marks 19 are positioned above the planted seedlings. Thereby, the planting operation corresponding to the planting position of the previous work row can be performed.

A second field information detecting unit 700 that detects the fertilizer concentration of the field is provided on each of the left and right running wheels 10 described above.

The second field information detecting member 700 is an annular electrode plate, and is disposed at the inner side or the outer side of the body of the traveling wheel 10 and close to the outer peripheral edge portion of the soil or the water.

In Figs. 13A and 13B, the second field information detecting unit 700 and the structure for transmitting the fertilizer concentration detected by the second field information detecting unit 700 are shown. The lower casing 13b of the travel transmission case 13 is composed of a transmission member casing 13ba having a bevel gear 13e for rotating the main transmission shaft 13c and the front axle 10a, and a detecting member casing 13bb having a built-in transmission The connection member 702 and the transmission member 701 of the fertilizer concentration detected by the second field information detecting unit 700. The front axle 10a penetrates the transmission member casing 13ba and the detection component casing 13bb and protrudes to the outside of the machine body, and the traveling wheel 10 to which the second field information detecting member 700 is attached is provided at the protruding portion of the front axle 10a.

The connecting member 702 connected to the second field information detecting member 700 is bent in the axle cover 10b provided at the center portion of the traveling wheel 10, and is connected to the transmitting member 701 along the posture of the front axle 10a. The detection value is transmitted from the transmission member 701 to the control device 210 via the cable 703 attached to the detection component housing 13bb.

In order to prevent the lower portion of the main transmission shaft 13c and the bevel gear 13e from being worn or sintered, a lubricant is required. However, when the lubricant comes into contact with the transmission member 701 or the connection member 702, it affects the electrification property, and it becomes impossible to transmit an accurate fertilizer concentration to the control device 210.

In order to prevent this, the lower casing 13b is constituted by the transmission member casing 13ba and the detecting member casing 13bb, and the front axle 10a is mounted by means of the sealed bearing 10d, whereby the lubricating oil enters the transmission component casing 13ba. It does not enter the detection component housing 13bb. Further, a seal bearing 10d is provided at a position outside the body of the front axle 10a through the detection component casing 13bb to prevent water or mud from the field from entering the detection component casing 13bb from the front axle 10a.

According to the above, it is possible to prevent abrasion or sintering of the main propeller shaft 13c and the bevel gear 13e, and accurately transmit the detected value of the second field information detecting member 700, and therefore, it is possible to prevent the deterioration of durability and accurately calculate the amount of fertilization.

Further, by covering the end portion of the front axle 10a with the axle cover 10b, it is possible to prevent water or mud from coming into contact with the connecting portion of the connecting member 702. Therefore, the detected value of the second field information detecting member 700 is accurately transmitted and accurately calculated. The amount of fertilizer applied.

When the second field information detecting unit 700 is energized, the resistance is changed due to the concentration of the fertilizer contained in the soil and the water between the left and right of the traveling wheel 10, and the electric resistance is used as a signal of the fertilizer concentration at the point to the control device 210. send. In a state where the fertilizer concentration is high, the electric resistance becomes low, and the electric resistance becomes high in a state where the fertilizer concentration is low. Further, the second field information detecting unit 700 may be disposed on the left and right rear wheels 11.

Further, as shown in FIG. 1 and FIG. 12B, the left and right seedling frame holders 38a that support the left and right preliminary seedling frames 38 are respectively provided with mounting arms 721 that protrude to the front side, and the front end portions of the left and right mounting arms 721 are provided. Set separately There is a first field information detecting unit 720 that detects the depth of the field. The first field information detecting unit 720 measures the depth from the water surface or the soil surface, and the measured depth of the place is transmitted to the control device 210. The control device 210 corrects the fertilizer concentration detected by the second field information detecting unit 700 in accordance with the depth of the place.

The material conveying device 600 is rotatably provided at a lower portion of the preliminary seedling frame 38. However, when the material conveying device 600 is protruded toward the front side of the body, since the first field information detecting member 720 is located within the rotation range, the material exists. The conveying device 600 deforms the posture of the first field information detecting unit 720 so that the depth cannot be accurately detected or the first field information detecting unit 720 is broken.

In order to prevent this, a rotation restricting member 605 that restricts the rotation of the material conveying device 600 to the material conveying device 600 is provided at the front end portion of the first rotating arm 601 in the accommodated state. When rotated, the material conveying device 600 does not rotate to a position in contact with the first field information detecting member 720.

Further, since the first field information detecting unit 720 cannot detect the accurate depth when water or soil adheres to the lower detecting surface, the erroneous depth may be transmitted to the control device 210, and therefore, the first field information detection is performed. The member 720 is disposed at a height that is not reachable by water or mud brought up by the left and right running wheels 10, for example, at a position of 700 mm or more from the ground contact surface.

Further, in order to prevent the first field information detecting member 720 from being positioned directly above the traveling wheel 10 in a plan view, the mounting arm 721 is disposed outside the body of the seedling frame holder 38a, and the first field information is detected. The member 720 is disposed outside the body of the outer side of the body of the traveling wheel 10 at a position of 200 mm or more and at a position on the front side of the body that is 50 mm or more from the front end portion of the traveling wheel 10.

According to the above, it is possible to prevent water or mud from adhering to the first field information detecting member 720, and therefore, the control device 210 is prevented from calculating an erroneous amount of fertilizer application because the depth of the field is not accurately detected.

Since the fertilizer supplied from the above-described fertilizer application device 100 is supplied to the fertilizer application tank through the fertilizer application tube 62, a time difference occurs in the process from the delivery to the arrival. By providing the second field information detecting unit 700 and the first field information detecting unit 720 on the front side of the traveling vehicle body 2, it is possible to detect the fertilizer concentration and depth of the field first, and therefore, even if the delivery amount adjusting device 400 and the control device 210 calculate The amount of fertilizer applied takes time correspondingly, and the fertilizer sent after the change can be supplied to an appropriate position.

When the depth of the field detected by the first field information detecting unit 720 described above is used for the correction of the fertilizer concentration at each position, there is an automatic adjustment of the minute amount of fertilization frequently, so that the amount of fertilization at each position becomes inappropriate. Case. In order to prevent this, the average value is calculated based on the depth (for example, 20 times of data) of the plurality of positions detected by the first field information detecting unit 720 within the predetermined time. However, when detecting the depths of a plurality of positions, when a large value and a small value deviating from the average value are mixed, the calculated average value does not correspond to the actual depth.

As shown in FIG. 19, the control device 210 is configured to acquire the first average depth D1 which is initially obtained after the first teaching operation unit 820 or the second teaching operation unit 840 is operated or after the operation clutch is connected, and is obtained next. Second The average depth D2 is compared. If the difference between the first average depth D1 and the second average depth D2 is lower than a predetermined value (for example, 10 cm), it is determined that the second average depth D2 is a normal change, and the second average depth D2 is obtained. And compare it with the third average depth D3 obtained next.

On the other hand, when the difference between the first average depth D1 and the second average depth D2 is equal to or greater than a predetermined value, it is determined that the abnormality change is detected, and the second average depth D2 is replaced with the first average depth D1. Then, the first average depth D1 after the replacement is compared with the third average depth D3 obtained next, and if the difference is lower than the predetermined value, the third average depth D3 is obtained, and the next xth average depth is obtained. Dx compares, and if the difference is above a predetermined value, the third average depth D3 is replaced with the first average depth D1, and the replaced first average depth D1 is compared with the next xth average depth Dx.

Thereby, the change in depth different from the actual field is recorded in the control device 210, and it can be prevented from being used for the calculation of the soil fertility, and therefore, the amount of fertilization becomes appropriate, and the seedling caused by the excessive/deficient fertilizer is prevented. The growth is poor and the yield and quality of the harvest are prevented from decreasing.

However, depending on the field, there is a case where the depth of the field can be largely changed. When the above average depth is compared on the field, the average depth obtained after the depth is largely changed is excluded, and the average before the depth change is excluded. The depth is recorded. Thus, the detected depth is different from the actual depth of the field, and the wrong reference fertilization amount and soil fertility are calculated, and an appropriate amount of fertilizer supply cannot be performed.

In order to prevent the above problem, as shown in FIG. 20, the first average depth D1 and the second average depth D2 are compared, and the difference between the average depths is When the value is above the value, the second average depth D2 is replaced with the first average depth D1, and the second average depth D2 is first recorded. Then, comparing the first average depth D1 with the subsequent xth average depth Dx, when it is continuously replaced with the first average depth D1 for a predetermined number of times (for example, five times) or for a predetermined time (for example, one second), The second average depth D2 is not erroneously detected as an unreasonable change, and it is determined that the depth actually changes greatly, and the second average depth D2 is obtained, and the xth average depth Dx and the second average depth D2 obtained next are performed. Comparison.

Thereby, it is prevented that the reference fertilization amount and the soil fertility are calculated based on the erroneous depth when there is a large depth change, and therefore, the application amount is appropriately optimized.

At this time, as shown in FIGS. 27A and 27B, the depths for calculating the average depth are sequentially arranged, and the plurality of depths of the upper and lower bits are eliminated according to the calculation of the average value, for example, two depths are removed from the upper and lower bits. (DMax1, DMax2, DMin1, DMin2). By eliminating the values near the maximum and minimum values of the plurality of depths, it is possible to prevent the average depth from becoming deeper than the actual depth or shallower than the actual depth, and therefore, the amount of the reference fertilization calculated based on the teaching operation and the field-based information The soil fertility becomes suitable for the actual field, and therefore, the appropriate amount of fertilization is further realized.

In particular, when an extremely deep or extremely shallow depth is detected due to erroneous detection by the first field information detecting part 720, the difference between the average depth and the actual depth becomes large, and the reference fertilization amount and soil fertility become inappropriate values. Therefore, the fertilization accuracy is improved by eliminating multiple depths of the upper and lower positions.

Driving through the fertilization transmission mechanism 300 corresponding to the driving speed The supply speed of the fertilizer of the above-described fertilizer application device 100 is changed by the power. However, even at the highest speed, the timing at which the fertilizer is discharged from the fertilizer application guide 63 is not late.

At this time, the maximum traveling speed of the traveling vehicle body 2 is 1.8 m/sec, and the time for the fertilizer sent from the fertilizer application device 100 to reach the fertilizer application guide 63 is 1.3 seconds, assuming that the installation position of the first field information detecting unit 720 is The distance of the fertilizer application guide 63 is 2,500 mm, and even at the highest speed, the fertilizer is supplied to a desired position.

The soil surface has a deeper soil content, and the content of the fertilizer tends to increase. Therefore, there is a case where the fertilizer concentration based on the electric resistance of the second field information detecting member 700 is different from the actual fertilizer concentration. In order to prevent the amount of fertilizer from being different from the amount actually required, the soil fertility is calculated based on the detected fertilizer concentration and depth. The soil fertility is calculated by the fertilizer concentration/depth, and the delivery amount adjusting device 400 operates in accordance with the soil fertility, and the amount of fertilization is changed.

In addition, when the amount of energization of the second field information detecting unit 700 is drastically lowered and the depth detected by the first field information detecting unit 720 is sharply deepened, the second field information detecting unit 700 is outside the field and The air is in contact, and the first field information detecting unit 720 detects the ground surface instead of the water surface, and therefore determines that the work on the field is over.

Further, a temperature detecting member 730 that measures the temperature of water or soil is provided at the rear end portion of the grounding member 55, and the temperature measured by the temperature detecting member 730 is transmitted to the control device 210. Since the temperature causes the easiness of the flow of electricity to vary, the control device 210 corrects the fertilizer concentration based on the detected temperature. The standard temperature is preset in the control device 210, if it is higher than the standard The high temperature at which the quasi-temperature is high is corrected so as to increase the concentration of the fertilizer, and if it is at a low temperature, it is corrected so as to lower the concentration of the fertilizer, and if it is the same as the standard temperature, the correction of the fertilizer concentration is not performed.

Further, a GPS receiver 710 is provided in front of the operation panel 34 at a position on the left and right central portions of the hood 32, and a signal received by the GPS receiver 710 is transmitted to the control device 210.

According to the above, when the traveling vehicle body 2 is driven to detect the soil fertility at each position of the field, the following so-called variable fertilization operation can be performed: increasing or decreasing the amount of fertilization of the fertilizing device 100 at each position or maintaining the current The amount of fertilizer applied is supplied to the appropriate amount of fertilizer required for the growth of the seedlings at each position, thereby preventing the occurrence of the following problems: the growth rate of the seedlings is disordered due to the excessive/deficient fertilizer, and the efficiency of the topdressing and harvesting operations as a post process The quality of the harvested material at the portion where the appropriate work is not performed at an appropriate time is reduced.

The amount of fertilizer applied to each location of the field is combined with the coordinate information obtained by the GPS receiver 710. By recording the coordinate information and the amount of fertilization at each position in combination, when the work is performed next time in the same field, it is possible to prepare the fertilizer based on the recording or adjust the working time, thereby preventing the excessive/deficient fertilizer, and The work can be performed under the same working conditions as the last time, and the work efficiency and the fertilization precision are improved.

As shown in FIG. 3, the coordinate information described above and the amount of fertilization amount at each position are transmitted to the information terminal 800 via a transceiver (not shown) provided in the control device 210, and are recorded in the storage device of the information terminal 800. in. Further, the job management application 810 is pre-installed in the information terminal 800, and the input information is systematically and visually summarized. The management application 810 generates stored location coordinate information, second field information detected after the teaching operation, a database of the amount of fertilizer applied to each location, and a job map.

The job management application 810 can operate the information terminal 800, and can call the job data and the job map, exchange information with the control device 210, and the like.

However, since the conditions such as the concentration and depth of the fertilizer are different depending on the field, it is necessary to determine the amount of fertilizer applied as a reference in order to perform the variable fertilization operation.

In order to calculate the amount of the base fertilization, it is necessary to perform the teaching operation of the field information, that is, the fertilizer concentration, the depth, and the water temperature, in the predetermined section of the work field before starting the variable fertilization operation.

The start icon 820a embedded in the work management application 810 or the start switch 820b provided in the hood 32 is operated, and when it is detected that the traveling vehicle body 2 has traveled a predetermined distance from the point, the teaching operation is started.

As shown in FIG. 4, FIG. 15, FIG. 16, and FIG. 24A, the first teaching operation unit 820 of the work management application 810 is operated to start when the traveling vehicle body 2 is detected to travel a predetermined distance from the point. Teaching homework. The moving distance of the traveling vehicle body 2 described above is calculated based on the detected value of the rear wheel rotation sensor 11a. Then, when the control panel 34 is operated in the turning start direction, it is determined that the work travel is performed by one step, and the first moving distance is recorded. Further, when the steering wheel 34 is operated in the turning end direction, the measurement of the moving distance of the next working process is started, and then when the steering wheel 34 is operated in the turning start direction, the second moving distance is recorded.

Here, the control device 210 compares the first moving distance and the second moving distance, and if the difference in the moving distance does not reach the set value, it is determined that the work is running. When the difference in the moving distance is equal to or greater than the set value, the first moving distance obtained first is discarded, and the third moving distance and the second moving distance obtained in the next step are compared.

When it is determined that the vehicle is traveling while the vehicle is traveling, when the rear wheel rotation sensor 11a detects that the predetermined distance has elapsed, the teaching operation is started, and the detected fertilizer concentration, field depth, and water temperature are first. The field information is recorded in combination with the GPS position information to the recording area of the control device 210. When the first moving distance or the second moving distance or the average distance of the two is moved, or when the steering wheel 34 is operated in the turning start direction, the teaching operation ends, and the control device 210 determines the first field according to the detection. The standard deviation of the information is used to calculate the baseline fertilization amount.

Then, the control device 210 determines the increase/decrease or maintenance of the amount of fertilizer application based on the detected first field information and the reference fertilization amount, and causes the delivery amount adjusting device 400 to operate to adjust the amount of fertilizer application. Thereby, it is realized that an appropriate amount of fertilizer is supplied to a required place, and the growth of all the seedlings is made uniform, and the work time of the subsequent process is optimized and the quality of the harvested product is improved.

Since the teaching is started by moving from a position after a predetermined distance, specifically, from a position near the edge of the field where the difference in fertilizer concentration or depth is large, rather than starting teaching immediately after turning, the standard deviation is not easily increased. Therefore, the accuracy of the baseline fertilization amount is improved.

The teaching operation described above is started after the first teaching operation unit 820 is operated, and when the traveling vehicle body 2 moves a predetermined distance twice, that is, after the round trip of. However, when the operation of the first teaching operation portion 820 is performed before moving to the planting start position of the seedling, a difference is generated between the first traveling distance and the second traveling distance, and the third traveling distance is not detected. The teaching operation is not started, and the section where the variable fertilization operation cannot be performed becomes longer.

In order to prevent such a problem, a planting connection/disconnection sensor 25a is provided at the planting clutch housing 25, wherein the planting clutch housing 25 is connected/disconnected from the transmission case 12 to the seedling inserting portion 4. The drive transmission/cut sensor 25a detects the connection/disconnection of the planting clutch, operates the first teaching operation portion 820 described above, and the insertion connection/cut sensor 25a detects the insertion. The position at which the plant clutch is connected is set as the starting point of the first moving distance.

Thereby, the fertilization reference amount can be calculated based on the field information of the planting site of the seedling, and therefore, the start of the variable fertilization operation becomes early, and the amount of fertilization is stabilized.

As shown in FIG. 23A, it is necessary to move the traveling vehicle body 2 at a predetermined distance at least three times in the teaching work, and variable fertilization is not performed during this period.

In order to end the teaching operation without moving the three processes, as shown in FIGS. 24A to 24C and FIG. 25, the mode switching icon 830 is set in the above-described job management application 810. When the mode switching icon 830 is operated, the second teaching operation portion 840 is displayed. When the second teaching operation unit 840 is operated, the reference fertilization amount is calculated based on the field information detected from here to the above-described steering angle detecting member 34a being operated in the turning direction.

As shown in FIG. 18, it is possible to configure the operation of the second teaching operation unit 840 to be ignored when the teaching operation is already performed when the second teaching operation unit 840 is operated.

Thereby, it is possible to prevent the second teaching operation unit 840 from being operated due to an erroneous operation, and the teaching work is completed in the middle. Therefore, the field information is reliably obtained, and the accuracy of the reference fertilization amount is improved.

On the other hand, as shown in FIG. 17, when the second teaching operation unit 840 is operated during the teaching operation, the field information acquired thereby is discarded, and the second teaching operation unit is operated from the beginning. The position of 840 is to the position where the operation is next, or the teaching operation is performed from the position where the second teaching operation unit 840 is first operated to the turning start position.

When the teaching operation is started by the operation of the second teaching operation unit 840, the amount of application of the fertilizer application device 100 does not change until the second teaching operation unit 840 is operated again.

Thereby, it is possible to obtain the field information of the position where only the teaching work is performed. Therefore, the calculation of the reference amount of the basic fertilizer is realized, and the growth of the seedling due to the excessive/deficient fertilizer and the yield and quality of the harvest are prevented. reduce.

Further, as shown in FIG. 23B and FIG. 23C, it is possible to start the teaching operation when the second teaching operation unit 840 is operated even during the running of the first step or the running of the second step. In this case, even if the steering wheel 34 is turned after the running in the first step or the second step, the teaching operation is not performed again, and the calculation of the reference fertilization amount is prevented after the start of the variable fertilization. The appropriate amount of fertilization.

Further, as shown in FIG. 24C, the manual measurement end icon 850 is set in the job management application 810, and is configured to discard the field information of the record when the manual measurement end icon 850 is operated and re-teaching In the work, the field information recorded when the operator erroneously operates the second teaching operation unit 840 can be discarded. Therefore, the required field information and the unnecessary field information are prevented from being mixed, and the accuracy of the reference fertilization amount is improved.

When the field is a quadrilateral, the start condition of the teaching operation described above is applied without any problem. However, when the field is a deformed field having a circular arc portion or an inclined side portion, it is easy to cause a difference between the moving distances of the respective steps. Value, there is a case where the teaching work cannot be started.

In order to cope with the work in the deformed field, the control device 210 is configured to calculate the moving distance of the traveling vehicle body 2 based on the position coordinates of the traveling vehicle body 2 obtained by the GPS receiver 710, and to travel a predetermined distance, for example, to return to the work line. When the distance between the GPS coordinates of the traveling vehicle body 2 and the GPS coordinates when the first teaching operation unit 820 or the second teaching operation unit 840 is operated is within a predetermined distance (for example, approximately 3 m to 5 m), It is determined that the work in the second step is performed without problems, and when the predetermined distance is advanced after the turn, the acquired field information is started.

According to the above, even in the work of the deformed field, the teaching operation can be started when the vehicle is turned after two steps, so that a certain amount of fertilizer can be continuously supplied to prevent the fertilizer concentration from being generated at each position in the field. Over/under.

The plurality of field information recorded in the control device 210, that is, the fertilizer concentration and depth differ depending on each position of the field. It is necessary to change the amount of fertilizer application in accordance with the standard deviation of the average of these field information, so that the amount of fertilizer supply in the field is uniformized.

However, in fields with small standard deviations, when based on field information When the amount of fertilization is changed one by one, the delivery amount adjusting device 400 frequently moves in order to minutely switch the amount of fertilization. Therefore, there is a switching signal of the next fertilization amount transmitted from the control device 210 during the switching of the amount of fertilization, and the amount of fertilization becomes The amount of demand actually needed.

In order to prevent this, as shown in FIG. 21 and FIG. 22, when the standard deviation is not less than the set value, the set value is used as the standard deviation.

Thereby, it is possible to prevent the delivery amount adjusting device 400 from being excessively operated, and therefore, it is possible to prevent the amount of fertilization which is different from the amount of fertilization actually required, thereby preventing the disorder and harvest of the growth of the seedling due to the excessive/deficient fertilizer. The yield and quality of the material are reduced.

When the seedling operation on one field is completed and the work end drawing 860 of the work management application 810 is operated, the field information, the reference amount of fertilizer, the work area, and the amount of fertilizer applied to each position are saved. In the recording device of the control device 210 and the information terminal 800. Further, the field information, the work area, and the reference fertilization amount remaining in the storage area of the control device 210 are deleted. However, regarding the work area and the reference fertilization amount, even if the key is closed, they are held in the storage area and are called again by the key opening.

Further, when the work end icon 860 is erroneously operated in the middle of the work, the work area and the reference fertilization amount are deleted in the middle of the work, and the teaching work needs to be performed again.

In order to prevent this, as shown in FIGS. 3 and 5, an auxiliary shift switching member 900 is provided, and by shifting a gear transmission mechanism (not shown) in the transmission case 12, the sub-shift switching member 900 causes the traveling vehicle body 2 to be driven. "Working speed" when the driving drive is working in the field and when moving on the road The "moving speed" is switched, and an operation position detecting section 910 is provided, which detects the operating position of the sub-shifting switching section 900.

Further, when the operation position detecting means 910 detects that the sub-shift switching member 900 is operated to the "moving speed", when the job ending icon 860 is operated, it is considered that the work on the field is ended. . Further, it may be configured such that the work end icon 860 is operated in advance, and when the rear sub-transmission switching member 900 is operated to the "moving speed", the work is completed.

In addition, since the sub-transmission transmission mechanism is basically not operated in the field to the "moving speed", it is most suitable as a reference for the end of the work.

According to the above, it is possible to prevent the field information of one field from being divided and obtained due to the erroneous operation. Therefore, the number of job maps is prevented from increasing, and the ease of making the work plan is prevented from being impaired.

Further, when the sub-shift switching member 900 is moved to the next field, the operation is completed when the sub-shift switching member 900 is "moving speed", thereby preventing the second field information detecting means 700 and the second field information detecting means 210 from being acquired by the control device 210 during the movement. The detection value of the field information detecting unit 720 prevents the unnecessary information from being mixed in the work of the next field.

Even if the key is closed, by calling the work area and the reference fertilization amount held in the storage area at the start of the work, it is not necessary to perform the teaching work again after the key is turned on, and the work efficiency and the fertilization accuracy are improved.

Further, it is not necessary to prevent the engine 20 from being placed on the work vehicle without stopping in order to prevent the work area and the amount of application of the fertilizer from being deleted, thereby preventing unnecessary work. The consumption of fuel and the discharge of exhaust gases.

Further, when the job end icon 860 shown in FIG. 24C is operated, the work area and the amount of application are deleted. Therefore, when the work is performed on a different field, the amount of the reference fertilization obtained by the teaching operation becomes an accurate amount. The amount of fertilization at the time of variable fertilization operation is optimized.

In addition, when the first teaching operation unit 820 is operated, not only when the first teaching operation unit 820 is operated, but also the reference area of the work area and the reference fertilization amount is deleted from the storage area, and the teaching operation can be reliably removed before the teaching operation. The work area and the amount of application remaining in the storage area due to any malfunction are further optimized for the amount of fertilizer applied during the variable fertilization operation.

The information terminal 800 is placed on the traveling vehicle body 2 during work, displays the change of the acquired second field information, or calls the recorded data to perform the setting operation on the vehicle body 2 side. Conventionally, the information terminal 800 is placed in a free space such as the floor board 35 or the reserve frame 38 without the loading unit of the information terminal 800.

Therefore, it is necessary to take the information terminal 800 while observing the display information of the information terminal 800 and performing the operation, and there is a problem that the work efficiency is lowered. Further, there is a possibility that the information terminal 800 falls from the traveling body 2 to the field.

Further, the information terminal 800 has a touch panel type display portion, and when the operator's hand is dirty, the touch panel is difficult to accept the operation due to dirt, and the operability is remarkably lowered.

In order to solve this problem, as shown in FIGS. 14A to 14D, the terminal housing portion 801 is provided on the left and right sides of the preparation frame 38 on the hood 32 side. The terminal accommodating portion 801 is provided before and after the accommodating portion plate 802 The heat radiating plate 803 on the left and right sides of the accommodating portion plate 802 and the display plate 804 and the bottom plate 805 on the left and right sides of the accommodating portion plate 802 that are provided in the front and rear constitute a hollow box shape. In addition, the upper side is set to be in an open state in order to allow the information terminal 800 to enter and exit.

The heat dissipation plate 803 is configured to cut out a plurality of heat dissipation windows 803b... to cool the information terminal 800. Further, a slit is formed in the display panel 804, and the display content can be visually confirmed, wherein the slit does not block the display portion of the information terminal 800, and is a size that does not allow the information terminal 800 to fall out.

Further, front and rear cushion bodies 802a and 802a that are in close contact with the front and rear storage unit plates 802 are provided, and a cable protection buffer body 806a is provided on the side where the charging cable 806 is provided. The cable protection buffer body 806a is provided. A cutout portion through which the end portion of the charging cable 806 passes is formed, and the charging cable 806 is connected to the information terminal 800 through a space portion between the front and rear buffer body 802a and the cable protection buffer 806a.

Further, a charging hole portion (not shown) is formed in the bottom plate 805, and a bottom buffer body 805a is provided, wherein the charging hole portion passes through a charging cable 806 for charging the information terminal 800, and the bottom buffer body The 805a is formed with a slit that avoids the charging hole portion.

Further, the information terminal 800 is placed in the terminal storage unit 801, and a cover buffer 807 is provided on the upper portion of the information terminal 800. A handle 807a is provided on the cover cushion body 807 so as to be detachable.

Further, in the lower portion of the heat dissipation plate 803 and the display panel 804, hook pins 803a, 804a are respectively provided in the front-rear direction, and the transparent cover 808 which covers the slits of the heat dissipation plate 803 and the display panel 804 across the hanging pins 803a, 804a is Set to handle freely.

Further, the front and rear cushion body 802a, the bottom cushion body 805a, the cable protection cushion body 806a, and the cover cushion body 807 are configured to be waterproof, and the water is not in contact with the information terminal 800 even in rainy weather.

According to the above, it is possible to prevent the information terminal 800 from being damaged by impact or water and preventing it from falling from the traveling body 2, thereby preventing the information terminal 800 from being damaged.

In the job map created by the job management application 810, the fertilizer concentration, the depth, the temperature, the amount of fertilizer applied, and the like are recorded for each GPS position coordinate. When the first teaching operation unit 820 is operated, the movement is also performed. The information of the part where the work is not actually performed when the work start position is reached or when the work is interrupted in the next step. When the work is performed at the place later, the information is repeatedly acquired, and thus the work map may become inferior in visibility.

In order to prevent this, after the first teaching operation unit 820 is operated, even if the information obtained when the planting connection/disconnection sensor 25a detects the cutting of the planting clutch is obtained, it is not recorded. In the recording device of the control device 210 or the information terminal, it is not reflected on the job map.

As a result, each piece of information at the time of the work is used for the generation of the work map, and the visibility of the work map is improved, and it is easy to grasp the work content, and it is easy to prepare the work plan for the next time.

Further, even if the planting connection/disconnection sensor 25a detects the planting clutch connection, it is possible to determine that the operation is interrupted when the rear wheel rotation sensor 11a does not detect the movement of the traveling vehicle body 2, Even if the information in the stop is obtained, it will not be recorded in the control device 210 and the information terminal. The recording device is not reflected on the job map.

Thereby, it is prevented that a plurality of pieces of information are displayed at the stop position on the job map, the job map visibility is improved, and it becomes easy to grasp the job contents.

Further, in the work map, at a position where the first teaching operation portion 820 is operated or at a position where the initial insertion/disconnection sensor 25a detects that the planting clutch is turned on, a circular mark or a star is marked. Mark, etc., indicating that this is the job start position.

Thereby, it is possible to easily grasp at which position in the field the work is started, and therefore work efficiency is improved, and misreading of the work map is prevented.

After the teaching operation, the operation of the information terminal 800 is hardly performed until the operation operation end icon 860 is performed. Therefore, when the teaching operation is completed, the work information display 870 such as the depth, the soil fertility, and the amount of fertilizer is switched on the display screen of the information terminal shown in FIG.

Regarding the job information display 870, each piece of information for a predetermined time (for example, 3 minutes to 5 minutes) is displayed in a numerical value, a histogram, or a graph. Specifically, the amount of application is shown by a numerical value (unit: kg / predetermined area) 871, and the depth is displayed in a graph 872 and a histogram (unit: cm) 873 showing a change in a predetermined time, respectively, and is columnar. Figure (unit: mS/cm) 874 to show the fertilizer concentration.

Further, in the graph 872 of the depth, the depth average value 875 obtained during the teaching operation is displayed in a horizontal line, so that the depth of the current work position can be grasped.

Thereby, the operator can grasp the information of the field during the work, and adjust the steering and traveling speed of the traveling vehicle body 2 based on the information of the field to realize the driving. The stability of the seedlings is prevented from being disturbed by the planting position and the fertilization position, and the work accuracy is improved.

As shown in FIGS. 24A to 24C and FIG. 25, a map display icon 880 for calling a job map recorded in the information terminal 800 is provided in the above-described job management application 810. When the map display icon is displayed, a wide area map is displayed, on which the current position icon 882, the number of the order in which the position corresponding to each job map is recorded, or the mark 883 indicating the position of the map is displayed. Or coloring the position corresponding to the job map. Further, when the mark 883 or the like at the position is operated, the corresponding job map and the job library are displayed on the screen.

Thereby, the operator can find the job map to be confirmed on the map, and therefore, the time for finding the job map is shortened, and the work efficiency is improved.

In addition, in the work map, for example, when the reference point (the work start position, the coordinates of the field entrance and exit, etc.) is a radius of 5 m to store a field corresponding to another work map, as shown in FIG. The job list 881 showing the date and time of each job is displayed, and the required job map is selected based on the list.

When the field for generating the job map is approached, the number and the mark displayed on the map become difficult to operate and it is easy to operate by mistake. Therefore, by displaying the additional work list 881, the erroneous operation becomes less likely to occur, and the work efficiency is improved.

Alternatively, it may be configured to automatically enlarge a part of the map displayed on the screen so that the interval between the number and the mark is sufficiently wide.

When the work is performed on the field having the work database of the information terminal 800 and the result of the previous work is good, in order to be the same as the last time The job is performed under the condition, and the past information icon 890 for transmitting each piece of information from the information terminal 800 to the control device 210 is set in the job management application 810.

When the past information icon 890 is operated in a state in which the job map is called, the past information of the field is displayed on the screen, and whether or not the information is transmitted to the control device 210 on the side of the traveling vehicle body 2 is selected. The delivery icon 891 displays, and when transmission is selected, the control device 210 performs a variable fertilization operation based on the received data.

As a result, it is possible to easily reproduce a set value that can give a good result. Therefore, it is possible to transfer work skills to different operators and achieve uniform work.

During the period from the operation of the first teaching operation unit 820 until the operation completion icon 860 is operated, when the key is turned off and the engine 20 is stopped, the second field information detecting unit 700 and the first field information detecting unit 720 are stopped. Since the temperature detecting means 730 and the control means 210 are energized, short-distance communication with the information terminal 800 is also stopped. Thereafter, when the key is turned on, the engine 20 is started, and the power is turned on again, the information terminal 800 performs short-range wireless communication to automatically connect the communication state with the control device 210.

Next, the configuration of each part of the fertilizer application device 100 will be further described.

As shown in FIG. 2A to FIG. 2D, the right fertilizer hopper 60R and the left fertilizer hopper 60R are provided with a lid 60a that can be opened and closed at the upper portion. Further, a funnel-shaped flow lower portion 60b having a number of application rows is formed in a lower portion of the right fertilizer hopper 60R, and a lower portion of the flow lower portion 60b is connected to an upper end of each of the delivery devices 61.

As shown in FIG. 2B, the delivery device 61 has a fertilizer to be sent downward. The first delivery roller 73A and the second delivery roller 73B are taken out. The first delivery roller 73A and the second delivery roller 73B are rotating bodies in which the concave portion 74 is formed on the outer peripheral portion, and are respectively fitted to the square shaft portion 75a of the delivery shaft 75 in the left-right direction so as to be rotatable integrally.

Further, a frame-shaped gate case 80 is provided between the lower portion of the lower flow portion 60b and the delivery device 61, and a plate-shaped fertilization gate is slidably provided in the shutter hole 80a formed in the gate case 80. 81.

When the fertilization gate 81 is slid and the drop restricting portion 81c faces the lower portion 60b, it is possible to prevent the fertilizer from accumulating in the delivery device 61 when moving to the working field, thereby preventing the fertilizer from becoming a block in the delivery device 61. There is no case where a predetermined amount of fertilizer is supplied to the first delivery roller 73A and the second delivery roller 73B.

In addition, when the clogging of the fertilizer is generated in the delivery device 61 and the maintenance work is required, the fertilizer gate can be used to restrict the fall of the fertilizer. Therefore, the fertilizer can remain in the state of the left fertilizer hopper 60L and the right fertilizer hopper 60R. The rearward rotation enables efficient maintenance work and shortens the work time.

In addition, the first delivery roller 73A and the second delivery roller 73B are rotated in the direction of the arrow in FIG. 2B, and the fertilizer which is dropped from the left fertilizer hopper 60L and the right fertilizer hopper 60R is sent downward in a state of being stored in the concave portion 74. The fertilizer sent from the first delivery roller 73A and the second delivery roller 73B is discharged from the discharge port 61a at the lower end.

A connection pipe (not shown) is connected to the discharge port 61a of the delivery device 61, and the distal end portion of the connection tube is inserted and connected to the space in the front-rear direction. The rear side portion of the air duct 68 communicates with the discharge port 61a of the delivery device 61.

On the other hand, the left end portion of the air duct 68 is connected to the air blower 67 via a switching pipe (not shown), and the air blown by the air blower 67 passes through the air duct 68 through the discharge port 61a of the delivery device 61. At the time, the fertilizer is blown into the side of the fertilizer application tube 62 while being entangled.

Further, a brush 76 is detachably provided inside the delivery device 61, and the brush 76 is in contact with the outer circumferential surface of the first delivery roller 73A and the second delivery roller 73B on the side (front side) on which the concave portion 74 moves downward. By the brush 76, the fertilizer is accommodated in the concave portion 74 of the first delivery roller 73A and the second delivery roller 73B in the flattened state, and the amount of fertilizer delivered based on the first delivery roller 73A and the second delivery roller 73B is maintained. Be sure.

Further, the fertilization transmission mechanism 300 is configured by a fertilization transmission drive lever 462 provided with a transmission driving force from the delivery rotation member 461 of the rear wheel gear case 18R on the left and right sides, and is disposed in the left-right direction. The transmission drive lever 462 changes the transmission direction of the driving force to the relay lever 463 in the front-rear direction of the machine body, and a swing connection plate 464 is disposed between the fertilization transmission drive lever 462 and the relay lever 463, and the swing connection plate 464 and the above-described fertilization The up-and-down movement of the transmission drive lever 462 is interlocked with the swing connection fulcrum pin 464a as a fulcrum and the front and rear end portions in the up-and-down direction, and the other end portion of the relay lever 463 is disposed with a sub-drive lever 465, which will be disposed. The driving force is transmitted to the delivery rotating member 467.

The sub-drive rod 465 is disposed below the rear side of the body of the right fertilizer hopper 60R, and a rear end portion of the feed rotary member 467 is coupled to the upper end portion of the sub-drive rod 465, and the feed rotation member 467 is driven in accordance with the amount of application. The above-described delivery shaft 75 is rotated. Further, the distal end portion of the delivery rotating member 467 and the delivery shaft 75 are coupled by a fertilization driving arm 468.

In order to perform the variable fertilization operation based on the signal transmitted from the control device 210, as shown in FIGS. 2C and 2D, the delivery amount adjustment device 400 that can be rotated in the forward/reverse direction is disposed at a position closer to the front side of the body than the delivery rotation member 467. Further, the feed amount adjusting device 410 is rotatably provided with the adjustment moving shaft 420, and is provided with a ball nut 430 that is screwed in the front-rear direction of the body in a spiral groove formed on the adjustment moving shaft 420, A stroke sensor 440 that detects the amount of forward and backward movement of the ball nut 430 is provided, and the above-described feed rotation support shaft 469 is provided at the ball nut 430.

The delivery amount adjusting device 400 is covered by the cover 400a so that the upper end surface of the cover 400a is located below the body of the fertilization gate 81, and is provided in the vicinity of the right and left central portions of the right fertilizer hopper 60R. Specifically, it is disposed in a space portion between the left and right of the delivery devices 61 and 61 and the lower portions 60b and 60b of the second and third rows from the right end of the body.

Further, the delivery amount adjusting device 400 is disposed above the air duct 68 and at a position rearward of the right rear end portion of the engine cover 30 on the right side of the body, wherein the air duct 68 supplies fertilizer to the fertilizing tube. 62 moving conveyor winds pass. Further, the front end portion of the cover 400a protrudes toward the front side of the body than the front end portion of the air duct 68.

Further, the feed rotation support shaft 469 is disposed closer to the upper side than the upper and lower center portions of the ball nut 430, and is biased with respect to the adjustment movement shaft 420 when viewed from the side, and is located closer to the adjustment movement shaft 420. The position above.

According to the above, the delivery amount adjusting device 400 does not interfere with the opening and closing of the fertilizing shutter 81. Therefore, when the fertilizing shutter 81 is in the working state, work such as attaching and detaching members is not required, and work efficiency is improved.

Further, by positioning the adjustment movement shaft 420 at a position lower than the delivery rotation support shaft 469 on the lower side of the machine body, the delivery amount adjusting device 400 as a weight can be disposed at a position close to the lower side of the machine body, thereby realizing a low center of gravity of the living body. The driving posture is stable, and the planting accuracy and fertilization precision of the seedlings are improved.

Further, by providing the delivery amount adjusting device 400 above the air duct 68 and behind the engine cover 30, a space portion for performing the maintenance operation of the delivery amount adjusting device 400 and the adjustment moving shaft 420 is formed around the working position. Therefore, the efficiency of maintenance work is improved.

Further, the cover 400a of the delivery amount adjusting device 400 protrudes toward the front side of the body than the front end portion of the air duct 68, thereby preventing the operator from stepping on the air duct 68 and stably supplying the fertilizer corresponding to the amount of application.

Claims (5)

A work vehicle provided with a field information detecting means for detecting field information on a traveling vehicle body (2), and a control device (210) for calculating a fertilizer amount based on field information detected by the field information detecting means is provided. The control device (210) has a teaching function for calculating a reference fertilization amount based on field information in the set work range, and the reference fertilization amount is set as a calculation standard of the fertilization amount, and the teaching function is set to start working. The teaching operation unit operates the teaching operation unit, and after the traveling vehicle body (2) has traveled a predetermined distance, the control device (210) starts acquiring field information in the set work range. A work vehicle provided with a field information detecting means for detecting field information on a traveling vehicle body (2), and a control device (210) for calculating a fertilizer amount based on field information detected by the field information detecting means is provided. The control device (210) records the field information, and the work vehicle is provided with a shift operating member (900) that performs a shifting operation on the traveling vehicle body (2), and is provided with an operation for detecting the shift operating member (900). The position detecting means (910) of the position is provided with a job end icon (860) for ending the recording of the field information, and in the state where the job ending icon (860) is operated, the position detecting means (910) When detecting that the shift operating member (900) is operated to a predetermined position, the control device (210) ends the recording of the field information. And the recorded field information is sent to the information terminal (800). The work vehicle according to claim 1 or 2, wherein the control device (210) is configured to transmit the field information detected by the field information detecting means to the information terminal (800) at the information terminal ( A job management application (810) is provided in 800), and the job management application (810) generates a job map based on the field information received from the control device (210). The work vehicle according to claim 1 or 2, wherein the traveling vehicle body (2) is provided with a material conveying device (600) on which a work material is placed and moved, and the field information detecting member is configured as The depth of the field is detected, and the above-described field information detecting means is disposed below the material conveying device (600). The work vehicle according to claim 1 or 2, wherein the traveling vehicle body (2) is provided with a traveling wheel (10), and the field information detecting means is configured to detect a fertilizer concentration of the field, and is disposed at A connecting member (702) is provided along the axle (10a) of the traveling wheel (10) on the traveling wheel (10), and the connecting member (702) transmits the detected value of the field information detecting unit (700) to the control. The device (210) is provided with an axle cover (10b) at one end of the axle (10a) of the traveling wheel (10), and the connecting member (702) is covered by the axle cover (10b).