CN115431944A - Working vehicle - Google Patents

Abstract

The invention provides a working vehicle such as a rice transplanter, comprising: a planting device which is installed on the vehicle body in a lifting way; a steering motor that drives a steering handle; and a control device for controlling the straight movement of the vehicle body by driving the steering handle by the steering motor. However, the present inventors considered that it is important to reduce the burden on the user by the automatic control. However, it is not always possible to reduce the burden on the user for a work vehicle such as the conventional rice transplanter. The rice transplanter of the present invention is a rice transplanter for planting rice seedlings while traveling by using an automatic traveling function, and the rice transplanter includes: a lock mechanism (600) for locking the traveling device (220); and a controller (500) that performs lock control of the lock mechanism (600).

Description

Working vehicle

Technical Field

The present invention relates to a working vehicle such as a rice transplanter.

Background

There is known a work vehicle such as a rice transplanter (for example, see patent documents 1 and 2) including: a planting device which is installed on the vehicle body in a lifting way; a steering motor that drives a steering handle; and a control device for controlling the straight movement of the vehicle body by driving the steering handle by the steering motor.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2016-245254

Patent document 2: japanese patent laid-open publication No. 2002-335720

Disclosure of Invention

However, the present inventors considered that it is important to reduce the burden on the user by the automatic control.

However, it is not always possible to reduce the burden on the user for a working vehicle such as the above-described conventional rice transplanter.

In view of the above conventional problems, an object of the present invention is to provide a work vehicle capable of reducing a burden on a user by automatic control.

The first invention is a work vehicle for planting seedlings while traveling by an automatic traveling function, comprising: a lock mechanism 600 that locks the traveling device 220; and a controller 500 that performs locking of the locking mechanism 600.

Second, the work vehicle according to the first aspect of the present invention is characterized in that the controller 500 performs the lock-up control when it is determined that the output of the main transmission 300 is zero.

A third aspect of the present invention is the work vehicle according to the first aspect, wherein the controller 500 performs the lock control when determining that the vehicle body inclination in the vehicle body longitudinal direction and the vehicle body lateral direction exceeds a predetermined vehicle body inclination level.

Fourth, the work vehicle according to the first aspect of the present invention is characterized in that the controller 500 performs control of the main transmission 300 so that the output of the main transmission 300 becomes zero after performing the lock control.

A fifth aspect of the present invention is the work vehicle of the first aspect, wherein the controller 500 performs the lock control when it is determined that the travel device 220 is moving despite the fact that the output of the main transmission device 300 is zero.

A sixth aspect of the present invention is the work vehicle according to the first aspect of the present invention, wherein a manual travel mode, an automatic travel mode, and a remote operation travel mode can be selected, and the controller 500 is configured to enable the lock control only when the automatic travel mode or the remote operation travel mode is selected.

A seventh aspect of the present invention is the work vehicle of the sixth aspect, wherein the controller 500 performs the lock-up control when it is determined that the output of the main transmission 300 becomes zero by the manual operation although the automatic travel mode is selected.

The eighth invention is the work vehicle of the sixth invention, wherein the temporary work stop and the emergency work stop can be selectively instructed by a remote operation, and the controller 500 performs the lock control after performing the control of the main transmission 300 so that the output of the main transmission 300 becomes zero when determining that the emergency work stop is instructed.

Ninth, the present invention is the work vehicle of the sixth invention, characterized in that the lock of the traveling device 220 can be released by a remote operation or a manual operation in the vehicle body 100.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the first invention, the burden on the user can be reduced by automatic control.

According to the second invention, in addition to the effect of the first invention, the lock-up control can be performed when the output of the main transmission device 300 is zero.

According to the third aspect of the present invention, in addition to the effect of the first aspect of the present invention, the lock control can be performed when the vehicle body inclination in the vehicle body front-rear direction and the vehicle body left-right direction exceeds a predetermined vehicle body inclination level.

In addition to the effects of the first invention, the fourth invention can control the main transmission device 300 so that the output of the main transmission device 300 becomes zero after the lock-up control is performed.

According to the fifth invention, in addition to the effects of the first invention, the lock control can be performed when the traveling device 220 moves, although the output of the main transmission device 300 is zero.

According to the sixth aspect of the present invention, in addition to the effect of the first aspect of the present invention, the lock control can be performed only when the automatic travel mode or the remote operation travel mode is selected.

According to the seventh aspect of the present invention, in addition to the effect of the sixth aspect of the present invention, the automatic travel mode is selected, but the lock-up control can be performed when the output of the main transmission device 300 is set to zero by the manual operation.

According to the eighth invention, in addition to the effect of the sixth invention, when the work emergency stop is instructed, the lock-up control can be performed after the control of the main transmission 300 is performed so that the output of the main transmission 300 becomes zero.

According to the ninth invention, in addition to the effects of the sixth invention, the lock of the running gear 220 can be released by a remote operation or by a manual operation in the vehicle body 100.

Drawings

Fig. 1 is a left side view of a rice transplanter according to an embodiment of the present invention.

Fig. 2 is a block diagram of a rice transplanter according to an embodiment of the present invention.

Fig. 3 is (a) an explanatory view (a) of the structure and operation relating to the braking device of the robot rice transplanter in the embodiment of the present invention.

Fig. 4 is an explanatory view (the second is) of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention.

Fig. 5 is an explanatory view (third) of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention.

Fig. 6 is an explanatory view (the fourth) of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention.

Fig. 7 is an explanatory view (the fifth) of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention.

Fig. 8 is an explanatory view (six of) of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention.

Fig. 9 is an explanatory view of the structure and operation of the electric brake of the rice transplanter according to the embodiment of the present invention.

Fig. 10 is (a) an explanatory view of the structure and operation of the automatic seedling removal amount adjustment mechanism of the robot seedling planting machine according to the embodiment of the present invention.

Fig. 11 is an explanatory diagram (second) of the structure and operation of the automatic seedling removal amount adjustment mechanism of the robot seedling planting machine according to the embodiment of the present invention.

Fig. 12 is an explanatory view (third) of the structure and operation of the automatic seedling removal amount adjustment mechanism of the robot seedling planting machine according to the embodiment of the present invention.

Fig. 13 is an explanatory diagram (the fourth) of the structure and operation of the automatic seedling removal amount adjustment mechanism of the robot seedling planting machine according to the embodiment of the present invention.

In the figure: 100 vehicle bodies; a 110 seat; 210 an engine; 220 a running device; 221 a front wheel; 222 a rear wheel; 230 a manipulator; 240 seedling planting devices; 241 seedling carrying table; 250 a fertilizing device; 260 soil preparation device; 261 soil preparation floater; 300 a main transmission; 400-speed change device; 500 a controller; 600 a locking mechanism; 610 a gear; 620 friction plates; 630 a switching means; 640 a wire member; 650 an actuator; 700 manually adjusting the operating member; 800 seedling placing table height changing device.

Detailed Description

Embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, the same applies, but some components may not be shown in the drawings and may be shown in a perspective or omitted.

(A) First, the structure and operation of the rice transplanter of the present embodiment will be specifically described with reference to fig. 1 and 2.

Here, fig. 1 is a left side view of a rice transplanter according to an embodiment of the present invention, and fig. 2 is a block diagram of the rice transplanter according to the embodiment of the present invention.

The rice transplanter of the present embodiment is an example of the work vehicle of the present invention.

While the operation of the rice transplanter of the present embodiment is described, a method for controlling the operation of the work vehicle of the invention according to the present invention, which is realized by the controller 500 or the like, will be described.

The rice transplanter of the present embodiment performs leveling of a field by a leveling device 260 having a leveling float 261 while traveling by a traveling device 220 having a pair of left and right front wheels 221 and rear wheels 222 according to a manual driving operation or an automatic driving operation in a driving device 230 of a vehicle body 100, plants the field by a seedling planting device 240, and fertilizes the field by a fertilizer 250.

The traveling device 220, the seedling planting device 240, the fertilizing device 250, and the soil preparation device 260 are driven by power of the engine 210 transmitted through the main transmission 300, the sub-transmission 400, and the like, which are HSTs.

(B) Next, the structure and operation of the rice transplanter of the present embodiment will be described in more detail.

The rice transplanter of the present embodiment is a working vehicle that plants seedlings while traveling by using an automatic traveling function.

Consider the approach shown in figures 3 to 9.

Here, fig. 3 to 8 are (one to six) explanatory views of the structure and operation of the braking device of the robot rice transplanter according to the embodiment of the present invention, and fig. 9 is an explanatory view of the structure and operation of the electric brake of the rice transplanter according to the embodiment of the present invention.

The control flow of the electric brake shown in fig. 3 will be described below. The mounting is intended to perform braking as a part of an emergency stop operation when riding on a ridge. In summary, in the automatic driving, if the vehicle body is tilted by 8 degrees or more without pressing the safety switch, the vehicle is suddenly stopped and is released by the HST lever operation and the brake pedal operation. The signal output is performed at the same time, but if the stopping distance is sufficient, the output of the time difference (for mechanism protection) is investigated. The control is executed in the order of planting clutch disconnection, HST output disconnection, and 4-wheel brake.

The control flow of the electric brake shown in fig. 5 will be described as follows. The mounting is intended to brake when a stop signal is received from a remote controller. The control outline is that the vehicle is temporarily stopped and emergently stopped based on a stop signal of a remote controller during automatic driving, and is released by signal input, HST lever operation input, and depression of a brake pedal.

The control flow shown in fig. 6 will be explained as follows. If there is an operation input from the remote controller (in the robot mode state), the operation is released. If the manual operation is input, the operation is released. And released after the safety switch is operated.

The control flow of the electric brake shown in fig. 7 will be described as follows. The mounting purpose is to stop (stop support) the machine body when the HST is neutral, and the control is summarized as braking when the rear wheel rotates in the HST neutral state during automatic operation, and being released by signal input, HST lever operation input, and depression of the brake pedal.

Lock mechanism 600 is a mechanism for locking running device 220.

The controller 500 performs lock control of the lock mechanism 600. In the field work vehicle capable of automatically traveling, since the lock mechanism 600 for locking (braking) the traveling wheels is provided, the machine body may move due to inclination or some reason, but the safety is improved by locking at the time of parking.

In a rice transplanter which performs automatic travel, a configuration related to a braking device of a robot rice transplanter in which braking is performed by a lock mechanism 600 when an axle driving rotation sensor turns on rotation without outputting an HST output signal during automatic travel is considered.

This is because the body moves when the HST output is turned off even by inertia or when the body is in a neutral state due to a tilt or the like.

The safety of reliable braking can be improved.

Further, the lock-up control may be performed when the controller 500 determines that the output of the main transmission 300 is zero. When the traveling vehicle body is not outputting forward and backward, the lock mechanism 600 is operated, and therefore, the safety is improved.

Further, the lock control may be performed when the controller 500 determines that the vehicle body inclination in the vehicle body front-rear direction and the vehicle body left-right direction exceeds a predetermined vehicle body inclination level. When the body detects a predetermined or more inclination in both the front, rear, left, and right directions, the lock mechanism 600 is operated, thereby improving safety.

After the controller 500 performs the lock-up control, the main transmission 300 may be controlled such that the output of the main transmission 300 becomes zero. When the lock mechanism 600 is operated, the travel output is shifted to 0, the HST is set to neutral, and the driving force is set to 0, so that the safety is improved.

Further, the lock-up control may be performed when controller 500 determines that running device 220 is moving although the output of main transmission 300 is zero. The traveling wheels are provided with sensors for detecting the rotation of the wheels, and when the rotation of the wheels is detected by the sensors when the forward/reverse output is not performed, the locking mechanism 600 locks the wheels, thereby improving safety.

Further, the manual travel mode, the automatic travel mode, and the remote operation travel mode may be selected, and the controller 500 may perform the lock control only when the automatic travel mode or the remote operation travel mode is selected. Since the locking mechanism 600 is operated in the automatic travel mode and the remote travel by the remote controller, safety is improved.

A rice transplanter having a remote controller mounted thereon for automatic travel may be configured as follows: the electric brake is operated by remote controller operation, two brake modes of temporary stop and emergency stop are set, and a difference occurs in the brake method in the lock mechanism 600, and the emergency stop is a structure relating to the brake device of the robot rice transplanter which is performed after the HST is set to neutral in the temporary stop without immediately performing the brake operation.

In the temporary stop with low urgency, braking can be performed after the HST neutral gear, and the service life of the friction material can be prolonged.

Further, the controller 500 selects the automatic travel mode, but may perform the lock-up control when it is determined that the output of the main transmission device 300 is set to zero by a manual operation. When some abnormality is detected during automatic travel and control is performed to stop travel, the lock mechanism 600 locks the vehicle, thereby improving safety.

A rice transplanter having a remote controller mounted thereon for automatic travel may be configured as follows: the electric brake is operated by remote controller operation, two brake modes of temporary stop and emergency stop are set, and the releasing method in the locking mechanism 600 is different, and the emergency stop can not be released by remote control operation, and the structure is related to the brake device of the robot rice transplanter.

During the temporary stop, the release operation can be smoothly performed while the stop operation necessary for the work is reliably performed. Since the emergency stop is reliably performed and an unexpected remote operation (release) is not accepted, safety can be enhanced.

As a derivative technology, a device in which an electronically controlled brake is mounted on a rice transplanter which travels automatically may be configured as follows: if the automatic running machine body is inclined, the electric brake is operated, and the operation is performed according to the sequence of the disconnection operation of the planting clutch, the HST neutral operation and the braking, and the structure is related to the braking device of the robot rice transplanter.

This is because the planting lever is in a state of flying out when the planting clutch is not disengaged, and therefore, the planting lever is likely to collide with the planting clutch when the planting clutch is stopped, and there is a risk of damage when the planting lever is retreated from the state where the planting clutch is not disengaged.

The planting clutch disconnection operation can be reliably performed in a state where the planting lever is driven (HST output state). By reliably disconnecting the planting drive, the resulting breakage can be prevented. In addition, since braking is performed in a state where the HST output is turned off, wear of the friction material can be reduced.

Regarding a rice transplanter having an electronically controlled brake mounted thereon for automatic travel, the following configuration is considered: when the body is tilted during the automatic travel, the electric brake is operated by the lock mechanism 600, and the HST output is turned off (neutral) by turning off the planting clutch, thereby protecting the mechanism and reducing the braking distance.

This is because the planting lever is in a state of flying out when the planting clutch is not disengaged, and therefore, the planting lever is likely to collide with the planting clutch, and there is a possibility that the planting lever is damaged when the planting clutch is retreated from the state in which the planting clutch is not disengaged, and the braking distance becomes long and the wear of the friction plate becomes rapid when the planting lever is braked in the HST output state.

The brake braking distance can be shortened and the durability of the machine body can be improved.

The temporary work stop and the emergency work stop may be selectively instructed by remote operation, or the controller 500 may perform the lock-up control after performing the control of the main transmission 300 so that the output of the main transmission 300 becomes zero when determining that the emergency work stop is instructed. If the 2 stop functions of instructing the temporary stop operation and the emergency stop operation to stop can be selected (arbitrarily by the remote controller) and the emergency stop operation to stop can be instructed, the locking mechanism 600 locks after the HST is neutral, and therefore the safety is improved.

If a person without a remote controller is to power the engine, a structure related to a motor-controlled brake based on such control of the braking of the lock mechanism 600 is considered.

In addition, the locking of the travel device 220 may be released by remote operation or by manual operation in the vehicle body 100. In order to unlock the lock mechanism 600, the operation is released when the remote controller is operated or the operation related to the travel of the body is performed, and therefore, the safety is improved.

With GPS, it is considered that the locking mechanism 600 brakes the rice transplanter when the rice transplanter starts moving, although the remote controller is not located nearby.

In the case of the HST lever being neutral in the inclined state, a configuration related to the electric brake that performs the braking operation by the lock mechanism 600 is considered.

Further, the locking of the traveling device 220 is a locking when the vehicle body inclination exceeds a predetermined vehicle body inclination level, and when the vehicle body inclination exceeds the predetermined vehicle body inclination level, the traveling again in the remote operation traveling mode is not permitted, the traveling again in the automatic traveling mode is not permitted, but the traveling again in the manual traveling mode may be permitted. In releasing the lock mechanism 600 by the remote controller, if the tilt angle is not eliminated, the remote operation and the automatic travel cannot be resumed, but even if the tilt angle is not eliminated, the manual operation of the driver portion of the operation body is enabled, and therefore the safety is improved.

A structure related to motor-controlled braking in which a braking operation by the lock mechanism 600 is performed when the body moves in a direction opposite to the operation direction of the HST lever is considered.

A structure related to a motor-controlled brake that performs a braking operation by the lock mechanism 600 when the body is suddenly tilted may be considered.

A structure related to a motor-controlled brake that performs a braking operation by the lock mechanism 600 when the engine is stopped at a position where the HST lever is moved from the neutral position may be considered.

A configuration related to a motor-controlled brake that performs a rear wheel braking operation and an HST lever operation by the lock mechanism 600 at the time of PTO can be considered.

When the body is stopped in a state where an inclination of a predetermined value or more is detected in the front-rear direction, a configuration related to automatic braking in which a function of operating the four-wheel brake by the lock mechanism 600 is automatically performed may be considered.

A structure related to automatic braking that does not function as the lock mechanism 600 even if the parking brake is locked when the tilt is detected can be considered.

The locked state of the parking brake may be detected by pressing a safety switch by a parking brake arm, and may be considered to be a configuration related to automatic braking.

The inclination sensor may be configured to be disposed at a desired central portion of the main frame and to be associated with automatic braking.

As for the stopped state of the machine body, a configuration related to automatic braking, in which the HST neutral is detected and determined by a potentiometer that detects the position of the main shift lever, may be considered.

As for the stop state of the machine body, a configuration related to automatic braking in which the HST neutrality is detected and determined by a potentiometer of the HST motor may be considered.

As for the stopped state of the body, a configuration related to automatic braking, in which the HST neutral is detected and determined by a potentiometer that detects the position of the trunnion arm, may be considered.

A configuration related to automatic braking may be considered in which, when the mechanism detects a stopped state of the machine body, the motor for automatic braking operates to the lock side of the lock mechanism 600.

A conceivable configuration for automatic braking by the lock mechanism 600 is one that is performed by an operation from "lock" to "release" of the parking brake pedal.

The automatic brake release by the lock mechanism 600 may be an automatic brake related structure that automatically releases when the main shift lever is operated.

The automatic braking of the lock mechanism 600 may be released by a button operation of the operation panel.

The automatic braking by the lock mechanism 600 can be released by an operation on the liquid crystal monitor.

The automatic braking based on the lock mechanism 600 may be released by an operation of the mobile terminal cooperating with the rice transplanter, and a structure related to the automatic braking may be considered.

In the riding rice transplanter, a structure related to an electric brake release condition is considered in which a function of four-wheel brake operation by the lock mechanism 600 is performed by a motor.

The braking force at the time of automatic stop can be improved.

In the above description, a configuration related to an electric brake release condition may be considered as a control for releasing the electric brake of the lock mechanism 600 when the robot mode is changed from the off state to the on state in the emergency stop operation.

In the above description, a configuration related to an electric brake release condition may be considered as a configuration for releasing the control of the electric brake of the lock mechanism 600 when the remote operation for restarting the automatic traveling is performed.

In the above description, a configuration related to an electric brake release condition is considered as a configuration for releasing the control of the electric brake of the lock mechanism 600 when the remote control operation for forward movement is performed.

In the above description, a configuration related to an electric brake release condition may be considered as a configuration for releasing the control of the electric brake of the lock mechanism 600 at the time of remote operation for the retraction.

In the above description, a configuration related to an electric brake release condition is considered as a configuration for releasing the control of the electric brake by the lock mechanism 600 when the main shift lever is operated.

In the above description, a configuration related to an electric brake release condition may be considered as a configuration for releasing the control of the electric brake of the lock mechanism 600 when an operation to release from the brake pedal lock orientation is performed.

In the above description, a configuration related to an electric brake release condition for releasing the control of the electric brake of the lock mechanism 600 when an operation from key-off to key-on is performed is considered.

In the above description, a configuration related to an electric brake release condition is considered as a control for releasing the electric brake of the lock mechanism 600 at the time of an operation from the engine off to the engine on.

In the robot seedling planting machine, a structure related to an automatic travel stop operation of the robot seedling planting machine based on a function of operating an electric brake of the lock mechanism 600 when a signal for stopping the automatic travel is transmitted from a remote controller is considered.

This is because it takes time to stop the operation of the HST only when the HST is in the neutral state, which is problematic in terms of safety.

The braking distance can be shortened, and the safety can be improved.

A configuration related to an automatic travel stop operation of a robot rice transplanter is considered in which a travel HST is set to neutral when an emergency stop signal is transmitted from a remotely operable mobile terminal of the rice transplanter, and an electric brake of a lock mechanism 600 is operated.

The lock mechanism 600 performs lock control by braking the gear 610 that transmits power to the running device 220 via the friction plate 620. For example, the lock mechanism 600 is provided in a gear box that transmits power to the wheel, and the wheel is locked by a friction plate 620 that stops rotation of a gear 610 of the gear box.

An actuator 650 for moving the switching member 630 for switching the position of the friction plate 620 by the pulling of the wire member 640 is provided below the seat 110, and the position of the switching member 630 coincides with the position of the actuator 650 in the left-right direction of the vehicle body. For example, the actuator 650 moving the switching portion of the switching member 630 stopping the rotation of the gear 610 by the friction plate 620 is provided below the running seat, and the connecting portion (line) connecting the actuator 650 and the wire member 640 of the switching portion is provided, and the actuator 650 and the switching portion are arranged in the same manner in the left-right direction of the body. By making the actuator 650 and the switching portion in a straight line, the actuator 650 is not overloaded.

A structure of the electric brake of the rice transplanter may be considered in which the motor unit of the actuator 650 is provided at the center of the machine body, and the influence of mud splashed from the wheels is small on the back side of the rising portion of the floor pedal.

This is because mud is likely to be generated in front of the machine body due to lifting of mud by the wheels, front side sinking when a field invades, and the like.

The structure that the influence of mud is less, protection mechanism easily can be realized.

Consider the following structure: a protective cover is provided on the rear wheel side of the motor unit of the actuator 650 to protect the mechanism from mud splashed by wheels, high-pressure water during washing, and the like, and is related to an electric brake of a rice transplanter.

The rear of the unit is opened so that the adjustment of the cables and the like of the wire members 640 can be performed from the rear of the body (rear wheel fender), and the mechanism can be protected by a rear protective cover.

A configuration related to an electric brake of a rice transplanter is considered in which an electric motor unit of an actuator 650 is provided substantially in the middle between an air cleaner intake port and an engine main body, thereby reducing intake of air heated by engine exhaust heat.

An improvement in the heat balance in the mid-range engine layout can be achieved.

Consider a configuration related to the electric brake of a rice transplanter in which the cable direction of the wire member 640 extending from the motor unit of the actuator 650 is made to follow the main frame.

Similarly, the wiring can be performed (can be appropriately performed) with the same wire as the electrical installation main harness, the hose, and the like which are wired along the main frame.

Consider a configuration in which the motor unit of the actuator 650 is disposed on the left side of the body having the brake arm, and is related to the electric brake of the rice transplanter.

By shortening the cable length of the wire member 640, it is not necessary to reduce the number of improper wires for poor operation (due to the extension of aging), and the mechanism can be stabilized.

Consider the following structure: the electric brake of the rice transplanter is operated by manually and electronically controlling 2 system inputs, and 2 system inputs (a lever of a manual operation system and a cable of an electronic control system) are put into a counter arm part arranged at the front lower side of the speed changer, and a brake arm at the lower side of the speed changer is operated through the lever.

In particular, even when the automatic mechanism fails, the brake can be performed by manual operation.

(C) Next, the structure and operation of the rice transplanter of the present embodiment will be described in more detail.

Consider the approach shown in fig. 10-13.

Here, fig. 10 to 13 are (one to four) explanatory views of the configuration and operation of the automatic seedling removal amount adjustment mechanism of the robot rice transplanter according to the embodiment of the present invention.

The control flow shown in fig. 10 and 12 will be described below. The working range is wider than the adjustment range of the extraction amount. The smaller the value of | X-Xa | is, the more effective the effect is, and therefore the shift amount is a fixed value.

The seedling planting device 240 is a device for planting seedlings with a predetermined seedling take-out amount. The manual adjustment operation part 700 is a part that performs a manual adjustment operation of a predetermined seedling take-out amount. The seedling table height changing device 800 is a device for changing the height of the seedling table 241.

The controller 500 controls the seedling stage height changing device 800 such that the height of the seedling stage 241 is changed to a target height of the seedling stage 241 corresponding to the manual adjustment operation.

Consider the configuration of the automatic seedling taking-out amount adjusting mechanism of a robot rice transplanter, in which a potentiometer of a seedling placing table height changing device 800 provided for monitoring and determining the operation target of the automatic seedling taking-out amount adjusting mechanism of a manual adjusting operation member 700 is mounted at a position close to a rotating part for taking-out amount adjustment.

This is because, in order to avoid the influence of the mud and the ease of installation in space, the potentiometer is generally installed in the driving motor unit, but in this case, even if the motor is driven to a set target with a large amount of deformation occurring in the intermediate portion, the movement of the operating portion (seedling box) of the seedling placing table 241 does not move to a target position, or the movement of the operating portion (compared to the size of the potentiometer) is small, and therefore, an error is likely to occur even if the potentiometer is directly detected.

The influence of the deformation can be reduced.

In the electric seedling removal amount adjustment by the manual adjustment operation member 700, a structure of the automatic seedling removal amount adjustment mechanism of the robot seedling planting machine is considered, in which the seedling placing table height changing device 800 is operated excessively (moved to a target shifted by one) with respect to a set target, and then, after a constant amount driving is performed, the seedling placing table height changing device returns to the set target.

This is because the actual operation amount is small relative to the target (does not move to the target value) because the member is deflected, which is significant when fine adjustment is performed (when the range of movement is narrow).

The seedling removal amount can be adjusted with high accuracy without changing the position of the potentiometer of the seedling placing table height changing device 800 (setting the position without the influence of muddy water).

In addition, when the target height is smaller than the current height before the height of the seedling placing table 241 is changed to the target height, the controller 500 may control the seedling placing table height changing device 800 so as to be consistent with the target height after the height of the seedling placing table 241 is increased or decreased in the vicinity of the target height. For example, in the electric seedling removal amount adjustment by the seedling placing table height changing device 800, the locking is not performed, and the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling removal amount, but when the seedling box is moved to a height of a target value located at a position lower than the current height, the seedling box moves up and down around the target value and then moves to the target value.

Considering the structure of the automatic adjusting mechanism of the seedling taking-out quantity of the robot transplanter, which changes the correction value of the seedling taking-out quantity according to the loading quantity of the seedling box of the seedling loading platform 241 in the adjustment of the electric seedling taking-out quantity.

This is because the seedling take-out amount adjustment operation (slow operation in a light state) cannot be smoothly performed due to the seedling load to the seedling box.

Can adjust the seedling taking-out amount with high precision.

Consider the following structure: the potentiometer of the automatic adjusting mechanism for determining and monitoring the seedling taking-out amount of the manual adjusting operation member 700 is mounted on the side of the seedling box (front) of the seedling box base 241, and the movement of the detecting arm extending from the rotating member for taking-out amount adjustment is observed, and particularly, the potentiometer is not provided in a system from the driving motor to the operation part for moving the seedling box up and down (detection of the acting part of the force is not performed), so that the movement of the rotating part is easily detected purely, and the mechanism related to the automatic adjusting mechanism for the seedling taking-out amount of the robot seedling box is easily.

This is because, in order to avoid the ease of installation in space and the influence of mud, the potentiometer is generally installed in the drive motor unit, but in this case, even if a large amount of deformation occurs in the intermediate portion and the motor is driven to a set target, the movement of the operating portion (seedling box) does not move to the target position, and the movement of the operating portion (compared to the size of the potentiometer) is small, and therefore, an error is likely to occur even if the detection is performed directly.

Can avoid the influence of mud to carry out the adjustment of seedling volume of taking out (can carry out the detection of seedling case position) with high accuracy.

Further, after the height of the seedling placing table 241 is changed to the target height, if the target height is smaller than the current height, the controller 500 may control the seedling placing table height changing device 800 so that the height of the seedling placing table 241 is increased or decreased and then again matched with the target height. For example, in the electric seedling removal amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling removal amount, but when the seedling box is moved to a target height that is lower than the current height, the seedling box is moved to the target height, and then moved to a height higher than the target height, and then moved to the target height.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling box is moved to the target height, and then moved to a height higher than the target height, and then moved to the target height, and a structure related to the electric seedling taking-out amount adjustment is considered.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated from each other) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed for adjusting the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling box moves up and down around the target value and then moves to the target value, and the adjustment is related to the electric seedling taking-out amount adjustment.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated from each other) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling box is not moved up and down at a position lower than the target value, and is moved up and down at a value higher than the target value, and the electric seedling taking-out amount adjustment is related to the structure.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the gap between the seedling and the front plate is generated) without temporarily moving the seedling box up and down.

Consider the following structure: in the electric seedling removal amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling removal amount, but when the seedling box is moved to a height that is a target value lower than the current height, the seedling box is lowered while being raised when being lowered, and a structure related to the electric seedling removal amount adjustment is involved (for example, when the seedling box is lowered by 5, the seedling box is raised by 1 and then lowered again).

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated from each other) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, a structure related to the electric seedling taking-out amount adjustment is considered in which the seedling conveyor is rotated by a predetermined amount after the seedling conveyor is moved to the target value.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed for adjusting the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling conveying belt is rotated by a predetermined amount after the seedling box is moved to the target value, thereby improving the structure related to the electric seedling taking-out amount adjustment of the method of poor positioning of seedlings.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated from each other) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling box is moved up and down after the target value is reached, and the bad positioning of the seedling is improved by the vibration of the up and down movement.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the gap between the seedling and the front plate is generated) without temporarily moving the seedling box up and down.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, the height of the seedling box of the seedling placing table 241 is changed to adjust the seedling taking-out amount, but when the seedling box is moved to a height of a target value which is lower than the current height, the seedling box is rolled after the target value is reached, so as to improve the poor positioning of the seedling, and the structure related to the electric seedling taking-out amount adjustment.

This is because there are the following problems: when moving from the current position to a low target value, it is difficult to determine the positioning (the seedling and the front plate are separated from each other) without moving the seedling box up and down temporarily.

Consider the following structure: in the electric seedling taking-out amount adjustment by the seedling placing table height changing device 800, a structure related to the electric seedling taking-out amount adjustment, in which the planting part can be adjusted only at the raised position, is considered.

Can position (eliminate the gap between the seedling and the front plate) by using the vibration when the planting part descends.

Consider the following structure: in the electric planting depth, the speed is automatically reduced when the planting depth is operated, and the speed is automatically returned to the original speed after the change, thereby improving the precision of the change amount.

Consider the following structure: in the electric seedling taking-out amount of the seedling placing table height changing device 800, the speed is automatically reduced when the taking-out amount is operated in the planting process, and the speed is automatically returned to the original speed after the change, thereby improving the precision of the change amount.

Consider the following structure: in the electric seedling taking-out quantity of the seedling carrying table height changing device 800, when the taking-out quantity is operated in the planting process, the hydraulic sensitivity of the planting part is softened, the planting part is greatly increased and swings, so that the looseness of a pressure stabilizing box of the seedling carrying table 241 is absorbed, and the precision of the seedling taking-out quantity is improved.

Consider the following structure: in the electric seedling taking-out quantity of the seedling carrying table height changing device 800, when the depth is operated in the stopping process, the roller of the planting part works in a small amplitude to absorb the looseness of the pressure stabilizing box of the seedling carrying table 241, thereby improving the precision of the seedling taking-out quantity and being related to the robot transplanter.

Consider the following structure: in the electric seedling taking-out amount of the seedling carrying table height changing device 800, when the taking-out amount is operated, the hydraulic pressure of the planting part works in a small amplitude to absorb the looseness of the pressure stabilizing box of the seedling carrying table 241, thereby improving the precision of the seedling taking-out amount and being related to the robot transplanter.

Consider the following structure: in the electric seedling taking-out amount of the seedling carrying table height changing device 800, when the taking-out amount is operated, the planting part is enabled to pitch in a small range, and the looseness of the pressure stabilizing box of the seedling carrying table 241 is absorbed, so that the precision of the seedling taking-out amount is improved, and the angle of the pressure stabilizing box is changed, and the structure related to the robot transplanter is provided.

Consider the following structure: in the electric seedling taking-out quantity of the seedling carrying table height changing device 800, when the taking-out quantity is operated, the hydraulic pressure of the planting part rises and moves in a pulse type manner in a small amplitude, and the looseness of the pressure stabilizing box of the seedling carrying table 241 is absorbed, thereby improving the precision of the seedling taking-out quantity.

In addition, when the target height is smaller than the current height, the controller 500 may control the seedling table height changing device 800 to be equal to the target height after the height of the seedling table 241 is equal to the maximum height or the minimum height. For example, when the seedling removing amount is finely adjusted by the seedling table height changing device 800, the set value is set after the through value is once adjusted to the maximum value (minimum value).

Consider the following structure: in the case where the fine adjustment operation by the seedling table height changing device 800 is performed, a configuration related to the robot rice transplanter may be considered in which a display of "please adjust the value to the maximum value (minimum value) once and then perform the setting" is displayed on a setting screen for performing the adjustment operation.

When the manual adjustment operation is performed, the controller 500 may output a signal for prompting a user warning for further manual adjustment operation, the user warning being a warning for matching the target height after the height of the seedling placing table 241 is matched with the maximum height or the minimum height. For example, when the fine adjustment operation by the seedling placing table height changing device 800 is performed, the setting screen for performing the adjustment operation displays "please adjust the value to the maximum value (minimum value) once and then perform the setting".

The program of the invention according to the present invention is a program for causing a computer to execute operations of all or a part of the steps (or processes, operations, actions, and the like) of the work vehicle operation control method according to the invention described above, and is a program that operates in cooperation with the computer.

The recording medium of the invention according to the present invention is a recording medium on which a program for causing a computer to execute all or part of the operations of all or part of the steps (or steps, operations, actions, and the like) of the method for controlling the operation of the work vehicle according to the present invention is recorded, and the read program is used in cooperation with the computer.

Note that the term "a part of the steps (or the process, the operation, the action, and the like)" refers to one or several of these plural steps.

The "operation of a step (or a process, an operation, an action, and the like)" means an operation of all or a part of the step.

One mode of use of the program according to the present invention may be a mode in which the program is transmitted through a transmission medium such as the internet, optical, radio, or acoustic waves, is read by a computer, and is operated in cooperation with the computer.

The recording medium includes a ROM (Read Only Memory) and the like.

The computer is not limited to pure hardware such as a CPU (Central Processing Unit), and may include firmware, an OS (Operating System), and peripheral devices.

As described above, the configuration of the present invention can be realized by software or hardware.

Industrial applicability of the invention

The work vehicle according to the present invention can reduce the burden on the user by automatic control, and is useful for the purpose of being used in a work vehicle such as a rice transplanter.

Claims (9)

1. An operating vehicle which can travel and plant seedlings at the same time by utilizing the automatic traveling function, which is characterized in that,

the work vehicle is provided with:

a lock mechanism (600) for locking the traveling device (220); and

a controller (500) that performs lock control of the lock mechanism (600).

2. The work vehicle according to claim 1,

the controller (500) performs the lock-up control when it is determined that the output of the main transmission device (300) is zero.

3. The work vehicle according to claim 1,

the controller (500) performs the lock control when determining that the vehicle body inclination in the vehicle body front-rear direction and the vehicle body left-right direction exceeds a predetermined vehicle body inclination level.

4. The work vehicle according to claim 1,

the controller (500) controls the main transmission device (300) so that the output of the main transmission device (300) becomes zero after the lock-up control is performed.

5. The work vehicle according to claim 1,

the controller (500) performs the lock-up control when it is determined that the travel device (220) is moving despite the fact that the output of the main transmission device (300) is zero.

6. The work vehicle according to claim 1,

a manual travel mode as well as an automatic travel mode and a remote operation travel mode can be selected,

the controller (500) enables the lock control only when the automatic travel mode or the remote operation travel mode is selected.

7. The work vehicle according to claim 6,

the controller (500) performs the lock-up control when it is determined that the output of the main transmission (300) has become zero by a manual operation although the automatic travel mode is selected.

8. The work vehicle according to claim 6,

the temporary stop of the work and the emergency stop of the work can be selectively instructed by remote operation,

the controller (500) performs the lock-up control after performing the control of the main transmission device (300) such that the output of the main transmission device (300) becomes zero when determining that the work emergency stop is instructed.

9. The work vehicle according to claim 6,

the locking of the travel device (220) can be released by remote operation or by manual operation in the vehicle body (100).

Images