CN109197059A - Agriculture working - Google Patents
Agriculture working Download PDFInfo
- Publication number
- CN109197059A CN109197059A CN201711339277.7A CN201711339277A CN109197059A CN 109197059 A CN109197059 A CN 109197059A CN 201711339277 A CN201711339277 A CN 201711339277A CN 109197059 A CN109197059 A CN 109197059A
- Authority
- CN
- China
- Prior art keywords
- agricultural materials
- seedling
- location
- traveling
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- 239000012773 agricultural material Substances 0.000 claims abstract description 79
- 239000003337 fertilizer Substances 0.000 claims description 54
- 239000000463 material Substances 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 11
- 238000003860 storage Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000001105 regulatory effect Effects 0.000 description 8
- 241000196324 Embryophyta Species 0.000 description 7
- 238000002360 preparation method Methods 0.000 description 7
- 238000003306 harvesting Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 5
- 230000036433 growing body Effects 0.000 description 5
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 239000002689 soil Substances 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 241000592344 Spermatophyta Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000005158 plant movement Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 210000000635 valve cell Anatomy 0.000 description 1
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Fertilizing (AREA)
- Guiding Agricultural Machines (AREA)
- Transplanting Machines (AREA)
Abstract
It is preferred that agricultural materials is made to be in the agriculture working of supply state appropriate always for the supply state in field.The agriculture working includes location unit (63), is measured to the position and orientation of car body；Automatic operating control unit (60B), according to the location of driving path and location unit (63) as a result, executing the automatic job traveling control for travelling car body along driving path automatically operation；The agricultural materials for being equipped on car body are supplied to field along with traveling by agricultural materials supply unit；Consumption operational part (60C), finds out the consumption of agricultural materials；And supply amount control unit (60E), supply amount adjustment control is executed, supply amount adjustment control is that the supply amount of the agricultural materials of agricultural materials supply unit is adjusted so that the variable condition of the agricultural materials found out according to the location result of the operation result of consumption operational part (60C) and location unit (63) becomes preset appropriate variable condition.
Description
Technical field
The present invention relates to a kind of agriculture working, which includes location unit, and the location unit is to car body
Position and orientation are measured；And automatic operating control unit, the automatic operating control unit is according to the location of the location unit
As a result executing makes car body along driving path and the automatic job traveling control of automatically operation traveling.
Background technique
Above-mentioned agriculture working can mitigate and take in vehicle by travelling car body automatically operation in driving path
The homework burden of the operator of body.In such agriculture working, make car body automatically operation along operation driving path
When driving, as agricultural materials such as such as seedlings or fertilizer for the supply state in field, by the material of the per unit area in field
Material supply amount is adjusted to carry out operation under the preset supply conditions such as setting value.Also, it is configured to detecting above-mentioned agriculture
With the surplus of material it is fewer than preset threshold value in the case where, after automatically straight-line travelling to field end, in field
Ground end automatically stops, and needs for the agricultural materials such as seedling or fertilizer to be fed to the operation of agriculture working to operator's notice
(for example, referring to patent document 1).
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2008-92818 bulletin
In above-mentioned existing structure, when the surplus of agricultural materials is fewer than preset threshold value, notified to operator
The situation, but the supply state about the agricultural materials along with traveling until terminating operation, are being protected after starting operation
It holds as former state using preset supply conditions.
As a result, agricultural materials (seedling or fertilizer etc.) are possible to the supply state in field to be not at shape appropriate
State, and generate the excessive deficiency of agricultural materials.It is set for example, existing as the use condition of the Expenditure Levels about agricultural materials
The case where condition of mistake, if exist be configured to according to the rotation speed of the wheel of traveling possessed by car body come into
The supply of row agricultural materials, then traveling wheel travels along with car body and slides to keep the actual amount of movement of car body opposite
In the rotation speed of traveling wheel tails off the case where etc..So, if the supply state of agricultural materials is not in suitably
State, then the supply amount that there are agricultural materials generates excessively insufficient or the agricultural materials inside field supply amounts and generates not
Equal situation, there are the harvest yields of the crop in the field to dramatically change etc. disadvantageously.
Summary of the invention
It is therefore preferable that agricultural materials is made to be in supply state appropriate always for the supply state in field.
The feature structure of agriculture working of the invention is that the agriculture working includes
Location unit, the location unit measure the position of car body and orientation；
Automatic operating control unit, the automatic operating control unit is according to preset driving path and the location unit
Location is as a result, execute the automatic job traveling control for travelling car body along the driving path automatically operation；
The agricultural materials for being equipped on car body are supplied to by agricultural materials supply unit, the agricultural materials supply unit along with traveling
Field；
Consumption operational part, the consumption operational part find out the consumption of the agricultural materials consumed along with traveling
Amount；
Variable condition operational part, operation result and the survey of the variable condition operational part according to the consumption operational part
The location result of bit location and the variable condition for finding out the agricultural materials；And
Supply amount control unit, the supply amount control unit execute supply amount adjustment control, and supply amount adjustment control is to institute
The supply amount for stating the agricultural materials of agricultural materials supply unit is adjusted so that being found out by the variable condition operational part
The agricultural materials variable condition become preset appropriate variable condition control.
According to the present invention, since the agricultural materials for being equipped on car body are supplied along with operation traveling by agricultural materials supply unit
It is given to field, therefore the lift-launch amount for being equipped on the agricultural materials of car body is reduced.Therefore, it is found out by consumption operational part along with row
The consumption of agricultural materials consumed by sailing, by variable condition operational part according to the survey of the operation result and location unit of consumption
Position result finds out the variable conditions of agricultural materials.As the variable condition of agricultural materials, such as in the presence of about to the every of field
Unit area has supplied the information etc. of the agricultural materials of which kind of degree.Here, preset driving path can be previously entered
And be stored in storage unit possessed by body, in addition to this, such as the management that can also have from other places is used
Computer etc. sent by wireless communication.
According to the information of the position of car body measured by location unit, it is known that car body actually travel how much.In addition, knowing
Agricultural materials consume the information of which kind of degree.Therefore, known to these information agricultural materials variable condition, such as known to
The per unit area in field has supplied the state of agricultural materials of which kind of degree etc..
Also, supply amount control unit adjusts agricultural materials supply unit for the supply amount of agricultural materials, so that agricultural material
The variable condition of material becomes preset appropriate variable condition.It can be continued for survey of the location unit for car body position
Amount carries out the adjustment of the variable condition of agricultural materials as described above always during car body traveling.That is, if along with vehicle
The traveling of body, the variable condition of agricultural materials then adjust the supply of agricultural materials in the state for being not appropriate variable condition
Amount will not continue unsuitable state to make it appropriate variable condition for a long time.Here, preset appropriate variation
State can be previously entered and be stored in storage unit possessed by body, in addition to this, such as can also be from other fields
In the computer etc. of management that has sent by wireless communication.
Therefore, the measurement result of location unit can be efficiently used, and agricultural materials is made to begin the supply state in field
It is in supply state appropriate eventually.
In the present invention, it is preferred to the agricultural materials are supplied to the fertilizer in field, the appropriate variable condition refers to pair
In the per unit area in field and state that the fertilizer of preset set amount is supplied to.
Keep the growth and development of crop good due to the fertilizer for field supply appropriate amount according to this structure.Cause
This, can increase the harvest yield of the crop in field.
In the present invention, it is preferred to the agricultural materials are the seedlings planted along with traveling in field to field, it is described
Appropriate variable condition refers to the per unit area for field and state that the seedling of preset set amount is planted.
According to this structure, when kind is planted seedlings in field, the amount of seedling corresponding with the field as manipulating object is limited
, still, which can equably be planted in field by the amount of the seedling of the per unit area by managing field.
As a result, good growth and development can be become, harvest yield can be increased.
In the present invention, it is preferred to include specific less important work place in the driving path, in the specific auxiliary
In the vehicle-mounted object that operating location changes the agricultural materials and lift-launch amount along with traveling except the agricultural materials with
At least one of outer vehicle-mounted object carries out less important work.
According to this structure, car body carries out automatic job traveling along driving path, supplies agricultural materials to field, works as car body
When reaching less important work place, automatic operating control unit identifies the situation, therefore the situation can be notified to operator.And
And in less important work place, it is able to carry out less important work of agricultural materials, such as the replenishment operation of agricultural materials etc..
Agricultural materials can also be removed in less important work place, the vehicle-mounted object changed for lift-launch amount along with traveling
Vehicle-mounted object in addition carries out less important work.For example, if it is the agriculture working for carrying out harvesting crops along with traveling, it can be auxiliary
Help operating location that the crop harvested is discharged to ground upside.
Therefore, according to this structure, car body automatically operation can be made to travel in the state of via less important work place, energy
Enough realize the raising of operating efficiency.
In the present invention, it is preferred to setting can be changed to the less important work place.
According to this structure, due to can be according to the actual conditions in the field as manipulating object or difference of crop species etc.
It changes less important work place, therefore can make in the auxiliary that the opportunity appropriate being consistent with actual conditions carries out agricultural materials
Industry, such as the replenishment operation of agricultural materials.
In the present invention, it is preferred to which the vehicle-mounted object other than the agricultural materials is the crop being harvested along with traveling.
It is not etc. that the recycling for terminating to carry out harvested crop again to the operation traveling in field is made according to this structure
Industry, even if the traveling midway of the operation driving path in field, can also recycle harvested crop.
Detailed description of the invention
Fig. 1 is the whole side view of Sulky rice transplanter.
Fig. 2 is the approximate vertical view for showing steering structure etc..
Fig. 3 is the block diagram for showing control structure.
Fig. 4 is the figure for showing seedling withdrawal amount regulating mechanism and sendout regulating mechanism.
Fig. 5 is the vertical view in less important work place of the driving path for showing the Operation Van in field and less important work etc.
Figure.
Fig. 6 is the top view for showing movement routine of car body of less important work automatically moved under control etc..
Symbol description
4,5 agricultural materials supply unit
60B automatic operating control unit
60C consumption operational part
60D variable condition operational part
60E supply amount control unit
63 location units
P0 less important work place
Q driving path
Specific embodiment
Hereinafter, with reference to the accompanying drawings to the embodiment for the Sulky rice transplanter for applying the present invention to an example as Operation Van into
Row explanation.
In the present embodiment, direction shown in Fig. 1, the label F recorded in 2 is on front side of body, Fig. 1, the mark recorded in 2
Direction shown in number B is on rear side of body.Direction shown in the label U recorded in Fig. 1 is direction shown in label D on the upside of body
It is on the downside of body.In addition, direction shown in the label R recorded in Fig. 2 is right side of machine body, direction shown in label L is a body left side
Side.
As shown in Figure 1, the Sulky rice transplanter illustrated in present embodiment includes the traveling of ride-type and four-wheel drive form
Car body 1；In a manner of it can go up and down shake with the link mechanism 2 of the parallel―ordinal shift form of the back hitch of running vehicle body 1；It is right
Link mechanism 2 carries out the lift cylinder 3 of the fluid pressure type of wobble drive；In a manner of it can rise and fall with the rear end of link mechanism 2
The seedling-planting apparatus 4 of connection；And the fertilizer apparatus 5 etc. of seedling-planting apparatus 4 is transitioned into from the rear end of running vehicle body 1.Pass through
The valve cell 3A of electric control carries out the supply and discharge of the pressure oil of lift cylinder 3.
The left and right that running vehicle body 1 has the front-wheel 6A of the left and right that can be turned to as mobile devices 6 and cannot turn to
Rear-wheel 6B.In the front of running vehicle body 1 equipped with engine 7, the power from engine 7 via fluid pressure type variable speed
Transmission mechanism (not shown) in device 8 and gearbox body 9 is fed into front-wheel 6A and rear-wheel 6B, on the other hand, from starting
The power of machine 7 discontinuously passes to seedling-planting apparatus 4 via plantation clutch 10 (referring to Fig. 3) freely, and via apply fertilizer from
Clutch 11 (referring to Fig. 3) and discontinuously pass to fertilizer apparatus 5 freely.As shown in figure 3, passing through the dynamic of first clutch motor 12
It opposes and plants the progress on-off line operation of clutch 10.On-off is carried out to fertilising clutch 11 by the movement of second clutch motor 13
Operation.
Seedling-planting apparatus 4 is configured to 8 rows plantation form, the growing body with site preparation hull 14, seedling carrying base 15 and 8 rows
16 etc..Site preparation hull 14 slides on the mud face in paddy field along with the traveling of the running vehicle body 1 in the state of its ground connection, thus
The mud faces such as predetermined position are planted to seed and carry out site preparation.Seedling carrying base 15 is formed to the blanket seedling of 8 rows of mounting.Seedling carrying base 15 according to
Constant stroke corresponding with the left and right width of blanket seedling moves back and forth in the lateral direction, whenever seedling carrying base 15 reaches the row of left and right
When Cheng Duan, each blanket of the longitudinal feed mechanism 17 according to the spacing of regulation on the lower end length feed seedling carrying base 15 of seedling carrying base 15
Seedling.8 growing bodies 16 use rotatably, according in the ranks corresponding constant interval configures in the lateral direction with plantation.Also,
Each growing body 16 takes out a young plant from the lower end for each blanket seedling for being positioned in seedling carrying base 15 by the power from running vehicle body 1
And it is planted in the soil portion after site preparation.It, can be from being positioned in seedling carrying base 15 as a result, under the action state of seedling-planting apparatus 4
Blanket seedling takes out seedling and is planted in the soil portion in paddy field.
There is the seedling withdrawal amount regulating mechanism 18 that the seedling withdrawal amount of growing body 16 is adjusted in seedling-planting apparatus 4.
It takes out a young plant as shown in figure 4, growing body 16 passes through seedling outlet and plants, seedling outlet is formed under seedling carrying base 15
End carries out the guide rail 15a of sliding guidance.By making seedling carrying base 15 and carrying out the guide rail 15a of sliding guidance to the lower end of seedling carrying base 15
It vertically carries out position change and seedling withdrawal amount is adjusted.
If addition explanation, as shown in figure 4, seedling withdrawal amount regulating mechanism 18 is included for making seedling carrying base 15 and the edge guide rail 15a
The actuator for carrying out position change up and down is the seedling withdrawal amount adjusting motor 19 for having deceleration mechanism；And it is taken with the seedling is set to
Output adjusts the sector gear 20 of the pinion gear engagement of the output shaft of motor 19.Seedling withdrawal amount regulating mechanism 18 also includes insertion
To the supporting arm 21 of the front of guide rail 15a；And the support shaft 22 of the supporting arm 21 is supported in a swingable manner.Supporting arm
21 are carried out in conjunction with connecting rod with sector gear 20 by link arm 23.It is provided in the rotation axis 24 of sector gear 20 to sector gear
The seedling that 20 rotational angle (seedling withdrawal amount) is detected takes out quantity sensor 25.Seedling carrying base 15 and guide rail 15a are taken out by seedling
Amount adjusts motor 19 and ramps up side movement to the driving in a direction, and seedling carrying base 15 and guide rail 15a are adjusted by seedling withdrawal amount
Motor 19 is moved to the driving in another direction to decline side.It is changed by moving up and down for seedling carrying base 15 and guide rail 15a
Seedling withdrawal amount.
As shown in Figure 1, in seedling carrying base 15, in order to differentiate that blanket seedling whether there is, and in the upper position of seedling carrying base 15
No sensor S1 is deposited with top, in lower position there is lower part to deposit no sensor S2.No sensor S2 is deposited for notifying in lower part
Alarm when surplus corresponding to blanket seedling reduces.No sensor S1 is deposited for measuring the blanket for being positioned in seedling carrying base 15 in top
The number of seedling.No sensor S1 is deposited on top and lower part is deposited no sensor S2 and is made of the sensor of contact.
It is soft that fertilizer apparatus 5 includes laterally longer hopper 26, delivering mechanism 27, DYN dynamic air blower 28, multiple fertilisings
Make ditch device 30 etc. possessed by pipe 29 and each row.Hopper 26 stores granular or powdery fertilizer.Delivering mechanism 27
It is acted by the power transmitted via fertilising clutch 11, sends out the fertilizer of 2 rows according to the amount of regulation from hopper 26.Air blast
Machine 28 is acted by the electric power from the battery (not shown) for being equipped on running vehicle body 1, and generation will pass through each delivering mechanism
The conveying wind that the mud face in 27 fertilizer sent out towards field is conveyed.The fertilizer that each fertilising hose 29 will be conveyed by conveying wind
Material, which is directed to, each makees ditch device 30.Respectively make ditch device 30 and is provided to each site preparation hull 14.Also, respectively make ditch device 30 and each site preparation hull 14
Go up and down together, and each site preparation hull 14 ground connection operation when driving, paddy field soil portion formed fertilising slot and fertilizer is drawn
It leads in fertilising slot.
Fertilizer apparatus 5 can by power discontinuously fertilising clutch 11 intermittent operation and air blower 28 it is interrupted
It operates and is switched to and the fertilizer for being stored in hopper 26 is supplied to the action state in field according to the amount of regulation and stops supply
Non-action status.
There is the sendout tune that adjustment can be changed to the sendout of the fertilizer of delivering mechanism 27 in fertilizer apparatus 5
Save mechanism 31.As shown in figure 4, sendout regulating mechanism 31 has, helical axis 33, fertilizer adjust motor 34 and position detection passes
Sensor 35 etc., wherein the adjusting body 32 that helical axis 33 is used in the sendout for adjusting delivering mechanism 27 shifts, and fertilizer adjusts motor
34 rotate helical axis 33 along forward and reverse via gear, and 35 pairs of position-detection sensor adjusting bodies 32 are based on helical axis 33
It is detected the shift position of rotation.
Having in fertilizer apparatus 5 can be to the weight sensor 36 that the weight for the fertilizer for being stored in hopper 26 is measured.
Although it has not been described in detail, but use following structure: hopper 26 in a manner of end micro-shifting is dynamic upwards can be supported, by weight
Quantity sensor 36 measures the weight of hopper 26 and the fertilizer for being stored in inside to merge.
As shown in Figure 1, portion side has Drive Section 40 to running vehicle body 1 behind.Drive Section 40 includes the side of front-wheel steer
To disk 41；It is able to carry out the main shift lever 42 of the setting change of engine speed and the variable speed operation of stepless speed change device 8；It can
Carry out the secondary gear lever 43 of the variable speed operation of secondary speed-changing device；It is able to carry out the descending operation and action state of seedling-planting apparatus 4
Switching etc. the first operating stick 45 and the second operating stick 46；It shows various information and notifies to the liquid crystal display formula of operator
Display unit 47 (referring to Fig. 3)；And driver's seat 48 of operator etc..
Main shift lever 42 is in the adjacent outfit in the left of steering wheel 41.Main shift lever 42 using can forward and backward and left and right
The swinging operation formula that direction is swung, is connected in the operating shaft (not shown) of stepless speed change device 8.Main shift lever 42 is single by braking
The holding of first (not shown) acts on and is formed in the speed change position of neutral position, gears more than advance of the neutral position on front side of car body
It sets, each shift position of gear more than retrogressing of the neutral position on rear side of car body.
First operating stick 45 is using the shake that can switch to each operating position such as plantation, decline, neutrality, rising, automatic
Formula, in the adjacent outfit in the right of driver's seat 48.Second operating stick 46 uses the neutral recovery-type for the formula that fluctuates, in steering wheel 41
The adjacent outfit in lower right.The raising and lowering of second operating stick 46 instruction seedling-planting apparatus 4.
Link as shown in Fig. 2, steering wheel 41 is interlocked via the front-wheel 6A of such as flowering structure and left and right: via steering shaft 49 and side
To the tooth sector 50 of 41 unitary rotation of disk；The sector gear 51 for engaging and interlocking with tooth sector 50；With sector gear 51 1
The turning member 52 that body is swung；And it is across the steering cross of the left and right of the motion arm 53 of the front-wheel 6A of turning member 52 and left and right
Pull rod 54 etc..
The machine that there is running vehicle body 1 operation with steering wheel 41 intermittent operation is linkedly carried out to the side clutch 55 of left and right
Structure.That is, there is the left and right of the motion arm 57 for the side clutch 55 for linking turning member 52 and left and right in a manner of it can interlock
Coupling bar 58.The coupling bar 58 of left and right has at the position that couple with motion arm 57 to the work angle θ of turning member 52 and a left side
The long hole 58a that the relationship of the intermittent operation of right side clutch 55 is set.
By above-mentioned structure, the front-wheel 6A of left and right is according to the rotation operating quantity of steering wheel 41 and from straight position to revolution
Directional steering.If turning member 52 uses the swing angle smaller than the second set angle θ b, side clutch 55 maintains connection
State, when turning member 52 is using the swing angle bigger than the second set angle θ b, the side clutch 55 in left side is switched to
Dissengaged positions.On the other hand, the side clutch 55 on right side maintains connection status.Thereby, it is possible to obtain on the inside of being located at turn around
The transmission of rear-wheel 6B in left side be cut off and the radius of gyration of running vehicle body 1 becomes smaller the small turn state in a left side.Turning member 52
Swinging operation in addition to manually to steering wheel 41 rotation operation other than, also carried out by steering motor 59 as aftermentioned.
There is the steering angle sensor 56 detected to angle of oscillation (steering angle) in the swinging axle of turning member 52.
There is the control device 60 for executing various controls in running vehicle body 1.Control device 60 has microcomputer.Control
Device 60 plants dress to the lifting action of seedling-planting apparatus 4 and seed according to the instruction of the first operating stick 45 and the second operating stick 46
Set 4 and the action state of fertilizer apparatus 5 controlled.
As shown in figure 3, steering shaft 49 can be turned to via gear mechanism 61 (referring to Fig. 2) by including in running vehicle body 1
Component 52 carries out the steering motor 59 of rotation operation；It is able to carry out the DYN dynamic variable speed driver of main shift lever 42 being automatically brought into operation
62；And to the location unit 63 etc. that the position of running vehicle body 1 and orientation are measured.In addition, operational mode can be selected by having
The auto switching of the hand of the manual operation mode of formula and the automatic operating mode of the aftermentioned automatic job traveling control of execution
Switch 64.The automatic on/off switch 64 in a manner of finger manipulation can be arranged near the grip part of main shift lever 42.
Location unit 63 has Satellite Navigation Set 65, and the Satellite Navigation Set 65 is using as Global Navigation Satellite System
Well known GPS (the Global Positioning of an example of (GNSS:Global Navigation Satellite System)
System: global positioning system) position of running vehicle body 1 and orientation are measured.As using GPS positioning method,
Using the RTK-GPS of the location applied to moving body (Real Time Kinematic GPS: dynamic in real time in present embodiment
Global positioning system).
Satellite Navigation Set 65 has the antenna element 66 of satellite navigation, and the antenna element 66 of the satellite navigation receives
The electric wave sent from GPS satellite (not shown) and the location number sent from the base station (not shown) that known location is arranged in
According to.Base station is sent to Satellite Navigation Set 65 for location data obtained from the electric wave from GPS satellite are received.Satellite navigation
Device 65 finds out row according to the obtained location data of electric wave from GPS satellite and the location data from base station are received
Sail the position and orientation of car body 1.
Antenna element 66 is provided in the left and right central portion of the upper end in preliminary seedling frame 67, so that from GPS satellite
The receiving sensitivity of electric wave is higher.Therefore, the position and orientation of the running vehicle body 1 determined using GPS include because along with row
Sail location error caused by the positional shift of the antenna element 66 of deflection, pitching or the inclination of car body 1.
Therefore, there is inertia measuring device (IMU:Inertial Measurement in the inside of antenna element 66
Unit) to be able to carry out the correction for eliminating above-mentioned location error, which has the gyroscope (not shown) of 3 axis
It is measured with the acceleration transducer (not shown) in 3 directions come yaw angle, pitch angle, the angle of heel etc. to running vehicle body 1.
As shown in figure 3, control device 60 includes storage unit 60A, storage unit 60A is written with the field for indicating to be previously set
Driving path Q and the diagram data of less important work place P0 etc. in ground etc.；Automatic operating control unit 60B, automatic operating control
Portion 60B carries out the automatic operating of car body according to the location result of driving path Q and location unit 63 in operation driving path Qa；
And consumption operational part 60C, consumption operational part 60C find out an example as the agricultural materials changed along with traveling
Blanket seedling and fertilizer consumption.Control device 60 also includes variable condition operational part 60D, variable condition operational part 60D
The variation shape of blanket seedling and fertilizer is found out according to the location result of the operation result of consumption operational part 60C and location unit 63
State；And supply amount control unit 60E, the supply amount control unit 60E execute supply amount adjustment control, supply amount adjustment control is
To the seedling-planting apparatus 4 as agricultural materials supply unit for the supply amount of blanket seedling and applying as agricultural materials supply unit
Fertile device 5 is adjusted the supply amount of fertilizer so that by the variable condition operational part 60D blanket seedling found out and fertilizer
The variable condition of lift-launch amount becomes the control of preset appropriate variable condition.It is fitted in addition, automatic operating control unit 60B has
Locality controls the various control programs of movement etc. of variable speed driver 62 and steering motor 59 etc..
As shown in figure 5, including multiple linear operation driving path Qa, Duo Geyi in the driving path Q in the field
Dynamic driving path Qb, multiple operations start place P1, less important work place P0 and multiple operation end place P2 etc..Auxiliary is made
Industry place P0 is to be appropriate for travelling to lift-launch amount along with car body and agricultural materials (blanket seedling and the fertilizer) of variation is relevant
The specific place of less important work.Specifically, less important work is the replenishment operation of any one of blanket seedling and fertilizer.Auxiliary
Operating location P0, in the place adjacent with the discrepancy path Qz relative to field, is placed by specific at the P0 of the less important work place
Prepared seedling and fertilizer, and the less important work person for carrying out less important work awaits orders in less important work place P0.
Automated location is set in the first operating stick 45 and is selected automatically by the manual operation of automatic on/off switch 64
In the case where operation mode, automatic operating control unit 60B execution makes running vehicle body 1 according to operation driving path Qa automatically operation
The automatic job of traveling travels control.
Hereinafter, being illustrated to the control action under the automatic job traveling control of automatic operating control unit 60B.
Automatic job traveling control in, firstly, according to the information of driving path Q and the location result of location unit 63 come
The operation for determining whether running vehicle body 1 is moved in initial operation driving path Qa starts place P1.When running vehicle body 1 is mobile
Start to carry out automatic operating when starting place P1 to operation.
In automatic operating, according to the diagram data and location unit 63 of the expression driving path Q being stored in storage unit 60A
Location as a result, whether being in the permission model of operation driving path Qa come the current location and present orientation for determining running vehicle body 1
In enclosing, and determine whether running vehicle body 1 is moved to operation end place P2.In traveling on operation driving path Qa,
Either in the current location and present orientation of running vehicle body 1 or both sides are in outside the allowed band of operation driving path Qa
In the case where, carry out the orbit correction being restored in allowed band processing.In orbit correction processing, to the dynamic of variable speed driver 62
It is used as to be controlled such that the speed that speed is reduced to orbit correction from the speed of usual traveling.Also, to steering motor 59
Movement controlled to correct from the offset of operation driving path Qa.Then, when detect running vehicle body 1 current location and
When present orientation is restored in the allowed band of operation driving path Qa, speed is controlled such that the movement of variable speed driver 62
The speed of usual traveling is risen to from the speed of orbit correction.
When running vehicle body 1 is moved to operation end place P2, terminate the automatic operating in operation driving path Qa.Certainly
After dynamic operating, in without transporting automatically during the operation that running vehicle body 1 is moved to the stroke of next time starts place P1
The standby mode turned, starts automatic operating when running vehicle body 1 is moved to when operation starts place P1.Hereinafter, as repeating certainly
Dynamic operating.
Consumption operational part 60C is configured to pass through counting using number to consumed blanket seedling for blanket seedling
And find out the consumption of seedling.Specifically, what consumption operational part 60C was calculated according to the location result by location unit 63
It carried out the data of the operating range of plantation operation, taken out the inspection of every 1 plant of the seedling withdrawal amount detected of quantity sensor 25 by seedling
Measured data and the length feed number of longitudinal feed mechanism 17 etc., the actual use to blanket seedling used in per unit area
Number is counted.It is provided with the length feed switch 69 that the case where being acted to longitudinal feed mechanism 17 is detected,
The information input is to control device 60.The investment number for being positioned in the blanket seedling of seedling carrying base 15 is configured to be to deposit no sensing on top
Accumulation calculates obtained from the number of blanket seedling when device S1 detects blanket seedling every time.In addition, being configured to change and plantation
In the case where the lateral feed of the corresponding seedling carrying base 15 in interval of the seed plant movement of mechanism 16, the cross can be further added
The actual use number of blanket seedling is counted to the information of the amount of feeding.
Consumption operational part 60C is configured to the progress calculated for fertilizer according to the location result by location unit 63
The data of the operating range of fertilising operation, the measurement result of the weight sensor 36 measured to the weight of hopper 26, are asked
The consumption of fertilizer used in per unit area out.
Supply amount control unit 60E is according to the consumption of the data, fertilizer of the consumption of the seedling found out by consumption operational part 60C
The data of amount and the location of location unit 63 are as a result, execute sending for the seedling withdrawal amount, fertilizer apparatus 5 for adjusting seedling-planting apparatus 4
The supply amount of output adjusts control, so that the variable condition of seedling or fertilizer becomes preset appropriate variable condition.
As appropriate variable condition the per unit area for field and the information of the set amount of preset fertilizer
And for field per unit area and the information of the set amount of preset seedling, be preset and be stored in storage unit
60A。
If addition explanation, supply amount control unit 60E are deposited when no sensor S1 detects blanket seedling on top to investment every time
Number to the blanket seedling of seedling carrying base 15 is counted, and deposits no sensing to top when loading multiple in 1 mounting surface
Mounting number in the state of device S1 detection is counted.By the number of blanket seedling that loads like this with by consumption operation
The ratio for the actual use number that portion 60C is found out and find out seedling consumption rate.
Also, the movement of seedling withdrawal amount regulating mechanism 18 is controlled in such a way that change adjusts seedling withdrawal amount, so that
Obtaining such seedling consumption rate becomes according to appropriate situation in field preset target consumption rate.Seedling consumption rate becomes mesh
The state of mark consumption rate is equivalent to appropriate variable condition, specifically, being known as the per unit area relative to field and setting in advance
The state that the seedling of fixed amount is planted.If addition explanation, amount and the seedling withdrawal amount of the seedling that the per unit area in field is planted
Corresponding relationship is maintained as diagram data, so that seedling withdrawal amount is adjusted motor 19 and is acted so that seedling takes out the inspection of quantity sensor 25
Measured value becomes the seedling withdrawal amount found out by diagram data.
Supply amount control unit 60E is according to the data and location list of the consumption of the fertilizer found out by consumption operational part 60C
The location result of member 63 is adjusted the sendout of sendout regulating mechanism 31, so that the variable condition of fertilizer becomes preparatory
The appropriate variable condition of setting.The state phase that the fertilizer of preset set amount is supplied to according to the per unit area in field
When in appropriate variable condition.If addition explanation, the supply amount of the fertilizer supplied according to the per unit area in field and fertilizer
The corresponding relationship of sendout is maintained as diagram data, so that fertilizer is adjusted motor 34 and is acted so that position-detection sensor 35
Detected value become the sendout that finds out by diagram data.
Automatic operating control unit 60B is if it is determined that travel road in current operation for blanket seedling or the surplus of fertilizer deficiency
In traveling on diameter Qa, constantly operation the operation end place P2 of next operation driving path Qa cannot be driven to, be then expert at
When sailing car body 1 and reaching the operation end place P2 of current operation driving path Qa, automatic job traveling control is interrupted, and is instructed
The operation end place P2 that storage unit 60A write-in is interrupted.Then, automatic operating control unit 60B execution makes running vehicle body 1 from interruption
The operation end place P2 of automatic job traveling control automatically moves to the less important work of above-mentioned less important work place P0
Automatically move control (referring to Fig. 6).In addition, when depositing no sensor in lower part in the execution in automatic job traveling control
When S2 does not detect the state of seedling, the replenishment operation of preliminary seedling can be indicated and notifying to operator.
Automatic operating control unit 60B reach the less important work place P0 for automatically moving control based on less important work it
After be commanded start again at automatic job traveling control in the case where, make running vehicle body 1 from less important work place P0 automatically
It is moved to operation and starts again at place, start again at automatic job traveling control.
In addition, in the mobile driving path for automatically moving control for not executing the control of automatic job traveling or less important work
In Qb, manipulation operations are manually carried out by operator.At operation end place P2, the rising behaviour of seedling-planting apparatus 4 is carried out
Work and the fertilising clutch 11 of accompanying this plant the rupturing operation of clutch 10 and turn round operation, start place in operation
At P1, the step-down operation of seedling-planting apparatus 4 and the fertilising clutch 11 of accompanying this, the connection behaviour for planting clutch 10 are carried out
Make.
(other embodiments)
(1) in the above-described embodiment, consumption operational part 60C is configured to pass through the use to consumed seedling for seedling
Number is counted and is found out the consumption of seedling.But replace the structure, it can use and pass through the weight to seedling-planting apparatus 4
It detected and finds out the structure of the consumption of seedling, measured by the area to placed seedling such as optical sensor
The various structures such as structure.
(2) in the above-described embodiment, consumption operational part 60C be configured to for fertilizer by the weight to hopper 26 into
Row measures and finds out the consumption of fertilizer.But replace the structure, can using by optical sensor etc. to storage capacity into
Row measures or sends out according to the detected value and progress fertilizer of position-detection sensor 35 measured value etc. of the actuation time of operation
Come various structures such as the structures that is detected to consumption.
(3) in the above-described embodiment, emergence and fertilizer are illustrated as agricultural materials, but in addition to this, such as can be
The fuel of engine 7, in addition, replace seedling-planting apparatus 4 and in structure with seeding apparatus, can also be with as agricultural materials
It, can also be using medicament as object as agricultural materials in the structure with medicament flusher using seed rice as object.
(4) in the above-described embodiment, as the specific less important work place that agricultural materials are carried out with less important work, show
The place fed to agricultural materials (seedling, fertilizer) is gone out, but as specific less important work place, also can be written into taking
The vehicle-mounted object in addition to agricultural materials (seedling, fertilizer) in the vehicle-mounted object that carrying capacity changes along with traveling carries out less important work
Specific less important work place.For example, harvesting work along with traveling if agriculture working is the cropper of harvesting crops
Object, but in the case where the reservoir of operation midway storage crop (grain) is completely measured, it needs to be discharged in operation midway to outside.Cause
This, can also set the less important work place for cutting to be discharged.
(5) in the above-described embodiment, it shows and specific less important work place P0 is written in storage unit 60A, but
Can not have such less important work place.
(6) in the above-described embodiment, car body is carried out according to the linear operation driving path Qa in driving path Q
Automatic operating, but automatic operating control unit 60B is also configured to carry out the automatic of car body in the whole region of driving path Q
Operating.
(7) in the above-described embodiment, it shows and indicates the diagram data of driving path Q in field etc., become as appropriate
The per unit area for field of change state and the information of the set amount of preset fertilizer and relative to the every of field
Unit area and the information of the set amount of preset seedling is pre-stored in the structure in storage unit 60A.It is however not limited to
The structure, for example, these information can also be when executing the operation in field, the computer of the management possessed by other fields
Deng being sent by wireless communication.
Industrial availability
The present invention can be applied to the agriculture working that agricultural materials are consumed along with traveling.
Claims (6)
1. a kind of agriculture working, which is characterized in that the agriculture working includes
Location unit, the location unit measure the position of car body and orientation；
Automatic operating control unit, the automatic operating control unit is according to the location of preset driving path and the location unit
As a result, executing the automatic job traveling control for travelling car body along the driving path automatically operation；
The agricultural materials for being equipped on car body are supplied to field along with traveling by agricultural materials supply unit, the agricultural materials supply unit
Ground；
Consumption operational part, the consumption operational part find out the consumption of the agricultural materials consumed along with traveling；
Variable condition operational part, the variable condition operational part is according to the operation result and the location list of the consumption operational part
The location result of member and find out the variable conditions of the agricultural materials；And
Supply amount control unit, the supply amount control unit execute supply amount adjustment control, and supply amount adjustment control is to the agriculture
It is adjusted with the supply amount of the agricultural materials of material supply unit, so that the institute found out by the variable condition operational part
The variable condition for stating agricultural materials becomes the control of preset appropriate variable condition.
2. agriculture working according to claim 1, which is characterized in that
The agricultural materials are the fertilizer that field is supplied to along with traveling, and the appropriate variable condition refers to for field
The state that per unit area and the fertilizer of preset set amount are supplied to.
3. agriculture working according to claim 1 or 2, which is characterized in that
The agricultural materials are the seedlings planted along with traveling to field, and the appropriate variable condition refers to for the every of field
The state that unit area and the seedling of preset set amount are planted.
4. according to claim 1 to agriculture working described in any one in 3, which is characterized in that
It include specific less important work place in the driving path, in the specific less important work point to the agricultural materials
And at least one of vehicle-mounted object in addition to the agricultural materials in the vehicle-mounted object that changes along with traveling of lift-launch amount
Carry out less important work.
5. agriculture working according to claim 4, which is characterized in that
Setting can be changed to the less important work place.
6. agriculture working according to claim 4 or 5, which is characterized in that
Vehicle-mounted object other than the agricultural materials is the crop being harvested along with traveling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-128961 | 2017-06-30 | ||
| JP2017128961A JP2019010052A (en) | 2017-06-30 | 2017-06-30 | Agricultural work vehicle |
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| CN109197059A true CN109197059A (en) | 2019-01-15 |
| CN109197059B CN109197059B (en) | 2021-10-08 |
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| CN201711339277.7A Active CN109197059B (en) | 2017-06-30 | 2017-12-14 | Agricultural operation vehicle |
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| JP (1) | JP2019010052A (en) |
| KR (1) | KR102539946B1 (en) |
| CN (1) | CN109197059B (en) |
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| JP5980701B2 (en) * | 2013-03-05 | 2016-08-31 | ヤンマー株式会社 | Traveling vehicle |
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| JP2016024540A (en) * | 2014-07-17 | 2016-02-08 | 株式会社クボタ | Traveling work machine and automatic steering system used therein |
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- 2017-06-30 JP JP2017128961A patent/JP2019010052A/en active Pending
- 2017-12-14 CN CN201711339277.7A patent/CN109197059B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20130158772A1 (en) * | 2011-12-16 | 2013-06-20 | Agco Corporation | Systems and methods for switching display modes in agricultural vehicles |
| JP2016007195A (en) * | 2014-06-26 | 2016-01-18 | 株式会社クボタ | Work vehicle |
| WO2016076289A1 (en) * | 2014-11-13 | 2016-05-19 | ヤンマー株式会社 | Agricultural work vehicle |
| CN106034508A (en) * | 2015-04-07 | 2016-10-26 | 井关农机株式会社 | Working vehicle |
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| KR20190003302A (en) | 2019-01-09 |
| KR102539946B1 (en) | 2023-06-05 |
| CN109197059B (en) | 2021-10-08 |
| JP2019010052A (en) | 2019-01-24 |
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