JP2007105005A - Transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a transplanter accurately determining direction of the next turning and preventing mistake of timing for start of turning disregarding a difference in rotation of right and left wheels not corresponding to the determined turning direction. <P>SOLUTION: The transplanter is provided with makers 9L and 9R selectively swung out to right and left side from a transplanting section 3 and draw a traveling standard line for the next transplanting stage, and a controller 24 determining turning of the traveling body 1 based on the rotation of a left side rear wheel and a right side rear wheel of the traveling body 1, wherein the controller 24 determines the next turning direction based on the swung direction of the maker 9L and 9R, and determines the start of turning based on a difference in rotation of the right and left rear wheels 8 corresponding to the determined direction of turning. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a transplanter such as a riding rice transplanter, and more particularly to a transplanter including a control device that determines turning of a traveling machine body based on a rotation difference between left and right wheels.

  In general, in transplanting machines such as riding rice transplanters, when planting work while reciprocating in the field, the planting part is turned up after raising the planting part at the end of the planting process, and the planting part after turning After that, the planting clutch is engaged at a predetermined timing. However, since these series of operations are performed based on the operator's operation of the planting lever, there is a problem that the planting start position is likely to vary due to a shift in the operation timing.

Therefore, a transplanter has been proposed that automatically performs the operation of engaging the planting clutch after the turn is completed. For example, the riding type work machine described in Patent Document 1 automatically lowers the planting unit at a predetermined timing after the start of turning, and further automatically operates the planting clutch at a predetermined timing after the planting unit is lowered. It is configured to enter automatically.
JP 2004-344020 A

  In such a transplanter, the turning determination of the traveling machine body is performed based on the steering operation and the rotation difference between the left and right wheels. The turning judgment based on the rotation difference between the left and right wheels, particularly the turning difference between the left and right rear wheels, can determine the turning start timing and the turning direction based on a clear rotation difference generated according to the side clutch operation (side brake operation). This is more accurate than turning judgment based on steering operation. However, when the turning of the airframe is determined based on the rotation difference between the left and right wheels, there is a possibility that the turning start timing and the turning direction may be erroneously recognized due to a steering operation error or a side clutch (side brake) operation error.

  The present invention was created for the purpose of solving these problems in view of the above-described circumstances, and is selectively swung out from the planting part or the traveling machine body to the left and right outer sides, and the next planting process. A marker for drawing a running reference line, wheel rotation detecting means for detecting left wheel rotation and right wheel rotation of the traveling machine body, and a control device for determining turning of the traveling machine body based on a detection signal of the wheel rotation detecting means In the transplanter, the control device includes a turning direction determining unit that determines a next turning direction based on a swinging direction of the marker, and rotation of the left and right wheels corresponding to the turning direction determined by the turning direction determining unit. And a turn start determining means for determining the start of the turn based on the difference. In this way, it is possible not only to accurately determine the next turning direction based on the marker swing-out direction, but also to ignore the rotation difference between the left and right wheels that does not correspond to the determined turning direction, thereby preventing misrecognition of the turning start timing. Can do.

  Next, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, reference numeral 1 denotes a traveling machine body of a riding rice transplanter, and a planting part 3 is connected to a rear portion of the traveling machine body 1 via an elevating link mechanism 2. The planting unit 3 includes a seedling stage 4 for placing mat seedlings, a planting mechanism 5 for scraping seedlings from the seedling stage 4 and planting them on a rice field, a float 6 for sliding down the field, and the like. Planting work is performed by planting power transmitted from the airframe 1.

  An engine and a transmission (not shown) are mounted on the front portion of the traveling machine body 1. The power output from the engine is shifted by the transmission and transmitted to the planting part 3, the front wheel 7 and the rear wheel 8. The transmission is provided with a planting clutch (not shown), and the transmission of planting power to the planting unit 3 is switched on and off based on the switching of the planting clutch.

  The traveling machine body 1 is provided with a planting clutch and a lifter cam (not shown) linked to the hydraulic lifting mechanism of the planting unit 3. This lifter cam is operated to the “raising”, “fixing”, “lowering”, and “planting” positions. In the “raising” position, the planting part 3 is raised (the planting clutch is disengaged) and “fixed” In the “position”, the planting part 3 is fixed at an arbitrary height (the planting clutch is disengaged). In the “lower” position, the planting part 3 is lowered (the planting clutch is disengaged). Then, the planting part 3 is lowered and the planting clutch is turned on.

  As shown in FIGS. 1 and 2, markers 9 </ b> L and 9 </ b> R are provided on the left and right sides of the planting unit 3 to draw a travel reference line in the next stroke and / or the previous stroke. Each of the markers 9L and 9R is configured to be freely rotatable and deformable into a drawing posture that is swung out to the left and right sides and a retracted posture that stands up along the side of the planting unit 3, and is swung out by a spring 9a. Is biased in the direction.

  On the other hand, as shown in FIGS. 3 and 4, the traveling machine body 1 is provided with a pair of left and right marker operation arms 10L and 10R. The marker operation arms 10L and 10R are respectively connected via wires 11L and 11R. Are connected to the base ends of the markers 9L and 9R. When the marker operating arms 10L and 10R are rotated forward, the wires 11L and 11R are pulled and the markers 9L and 9R are retracted. On the other hand, when the marker operating arms 10L and 10R are rotated backward, the wires 11L and 11R are retracted. 11R is loosened, and the swing-out operation of the markers 9L and 9R is allowed.

  The plate 12 that supports the marker operating arms 10L and 10R so as to be rotatable forward and backward is further provided with a roller arm 14 including a roller 13 that is rotatable forward and backward. The roller arm 14 is connected to the base end portion of the elevating link mechanism 2 via a rod 15, and is rotated back and forth according to the elevating operation of the elevating link mechanism 2. When the roller arm 14 rotates forward as the elevating link mechanism 2 is raised, the roller arm 14 pushes the left and right marker operation arms 10L and 10R forward via the roller 13, while the elevating link mechanism 2 is lowered. When rotating backward, the left and right marker operating arms 10L, 10R are allowed to rotate backward. Thereby, according to the raising / lowering of the planting part 3, the storing operation | movement of the markers 9L and 9R and the swing-out operation | movement are performed automatically.

  A pair of left and right stopper arms 16L and 16R are provided on the front side of the marker operating arms 10L and 10R. Each of the stopper arms 16L and 16R is configured to be rotatable forward and backward with the support shaft 17 as a fulcrum, and is urged rearward by springs 18L and 18R. Each stopper arm 16L, 16R is pushed back by the pin 10a of the marker operating arms 10L, 10R when the marker operating arms 10L, 10R are rotated forward, and is then rotated backward to the rear. Then, the marker operating arms 10L and 10R are engaged. In this state, since the rotation of the marker operating arms 10L and 10R is locked, even if the planting portion 3 is lowered, the swinging of the markers 9L and 9R is restricted.

  Further, a marker switching arm 19 is provided in front of the stopper arms 16L and 16R. The marker switching arm 19 is a seesaw-like member that faces in the left-right direction and swings back and forth about the central support shaft 20, and rods 21L and 21R connected to stopper arms 16L and 16R at both ends thereof. Are interchangeably connected. That is, when the marker switching arm 19 is in the neutral posture, the stopper arms 16L and 16R are allowed to rotate back and forth, so that the marker arms 9L and 9R are restricted from swinging out by the stopper arms 16L and 16R. Is tilted left or right, one stopper arm 16L, 16R is pulled forward via the rods 21L, 21R, and the one marker 9L, 9R is allowed to swing out. As a result, the operation of the marker switching arm 19 can selectively swing out the left and right markers 9L and 9R, and can regulate the swinging out of both markers 9L and 9R.

  A marker motor 22 is linked to the marker switching arm 19, and the posture of the marker switching arm 19 is controlled based on the driving of the marker motor 22. The marker motor 22 selectively operates the marker switching arm 19 to the left / right swing-out restriction position, the left marker swing-out position, and the right marker swing-out position. However, as the planting unit 3 is lowered, one marker 9L, After 9R is swung out, the marker switching arm 19 is moved to the other swinging position, so that it is possible to reveal a double drop state where the left and right markers 9L and 9R are swung out. Further, the marker switching arm 19 is connected to a rotary switch 23 for detecting the posture thereof, and based on the detection signal of the rotary switch 23, the swinging direction of the left and right markers 9L, 9R (left and right swinging restricted state (OFF)). Left marker swing-out state, right marker swing-out state, both-falling state) can be determined.

  As shown in FIG. 5, during normal planting work, the left and right markers 9L and 9R are alternately swung out every time the aircraft turns to draw a travel reference line in the next stroke. The selection of the swing-out direction may be performed manually or may be performed automatically by known auto marker control. Further, both the left and right markers 9L and 9R are dropped when the planting operation is performed according to the procedure shown in FIG. In other words, when the traveling reference line is drawn in the next process B, the process A (the process of last planting) is idle-planted, and then when starting planting from the next process B, the process reference is set to the process A and the next process C. In order to draw a line, the left and right markers 9L and 9R are both dropped.

  The traveling machine body 1 is provided with a control device 24 that performs the lifting control of the planting unit 3 and the on / off control of the planting clutch. As shown in FIG. 7, on the input side of the control device 24, a lift angle potentiometer 25 that detects the elevation height of the planting unit 3, a lifter cam potentiometer 26 that detects the position of the lifter cam, and a planting start to be described later An adjustment volume 27 for adjusting the distance, a planting switch 28 for turning on / off a control function related to planting work, a rear wheel left rotation sensor (wheel rotation detection means) 29 for detecting the rotation of the left rear wheel 8, A rear wheel right rotation sensor (wheel rotation detection means) 30 for detecting the rotation of the right rear wheel 8, a lever switch 32 for detecting the operation of the quick up lever (work implement operating tool) 31, and the rotary switch 23 described above are provided. It is connected. As shown in FIG. 8, the quick up lever 31 is a neutral return lever that is disposed in the vicinity of the steering wheel 33 and is also used as an elevating operation tool of the planting unit 3 and an on / off operating tool of the planting clutch.

  Further, on the output side of the control device 24, a planting monitor 34 for displaying a planting state, a horizontal automatic monitor 35 for displaying an ON / OFF state of horizontal automatic control, and a buzzer 36 for outputting an alarm sound or the like. A lifter cam motor 37 for operating the lifter cam is connected. That is, the control device 24 is driven by a lifter cam motor 37 according to the operation of the quick-up lever 31 to perform manual operation control for raising and lowering the planting unit 3 and turning on and off the planting clutch, as shown in FIG. Then, the planting start adjustment control for automatically performing the operation of lowering the planting unit 3 during the headland turning and the operation of engaging the planting clutch after the end of the turn is executed.

  Next, a specific processing procedure for planting start-up control, which is the gist of the present invention, will be described with reference to FIGS. The turning direction determining means described in the claims corresponds to S111 to S114 described later, and the turning start determining means corresponds to S116 to S125.

  As shown in these drawings, in the planting start adjustment control, first, a lowering operation of the work implement operating tool (for example, the quick up lever 31) is determined (S101). If the determination is YES, the planting control is performed. The flag, the right turn distance, the left turn distance, the turn flag, and the planting flag are cleared, and the planting clutch timer is set (S102). On the other hand, if there is no lowering operation of the work implement operating tool, the planting clutch on / off state is determined (S103), and if this determination is on, the planting clutch on timer is determined (S104). Here, when the planting clutch engagement timer is 0, it is determined that the planting clutch has been engaged for a predetermined time, so that it is in the planting operation state, and the planting flag is set (S105). . Then, after setting the planting flag, a raising operation (planting clutch disengagement operation) of the work implement operating tool is determined (S106). If this is YES, the right turning distance, the left turning distance, and the turning flag are set. At the same time, the planting control flag is set to “waiting for turning” (S107). Thereafter, planting part lowering control and planting clutch engagement control are performed while judging the turning state and turning direction based on the planting control flag.

  When the planting control flag is “waiting for turning” (S108), it is determined whether the planting flag is ON / OFF (S109) and whether the planting clutch is on or off (S110). Here, when the planting flag is ON and the planting clutch is engaged, the next turning direction is determined based on the swing-out direction of the markers 9L and 9R (S111). That is, in the left marker swinging state, “turn left” is set in the direction flag (S112), and in the right marker swinging state, “turn right” is set in the direction flag (S113). Further, when the left and right markers 9L and 9R are both dropped or in the swing-out restricted state, “no restriction” is set in the direction flag (S114). Thereafter, the operation of disengaging the planting clutch at the end of the planting process is determined (S110), the planting control flag is set to “turning preparation” according to the determination, and the planting flag is cleared (S115).

  When the planting control flag is “preparation for turning” (S116), the rotational speeds of the left and right rear wheels 8 are compared (S117). When the rear wheel left rotation speed is less than 85% of the rear wheel right rotation speed (S118), after several pulses have elapsed (S119), the planting control flag and the turn flag are set to “left turn” (S120). When the direction flag is “right” (S121), the left turn start determination process is prohibited. If the rear wheel right rotation speed is less than 85% of the rear wheel left rotation speed (S122), after several pulses have passed (S123), the planting control flag and the turn flag are set to “right turn” (S124). ) If the direction flag is “leftward” (S125), the right turn start determination process is prohibited.

  That is, the next turning direction is determined in advance based on the swing-out directions of the markers 9L and 9R, and the start of turning is determined based on the rotation difference between the left and right rear wheels 8 corresponding to the turning direction. The difference in rotation between the left and right rear wheels 8 that is not performed can be ignored, and erroneous recognition of the turning start timing can be prevented. When the direction flag is “unregulated”, since the next turning direction is unknown, both the left turn start determination process and the right turn start determination process are allowed.

  When the planting control flag is “right turn” (S126), the right turn distance is determined based on the rear wheel rotation outside the turn (S127). Here, when the right turning distance is equal to or greater than the descent start distance, the planting unit 3 is lowered (S128), and the left and right rear wheel rotation speeds are compared (S129). Then, when the rear wheel right rotation speed becomes 80% or more of the rear wheel left rotation speed, after several pulses have elapsed (S130), the planting control flag is set to “turning complete” and the right turning distance is cleared (S131). . Also, if the rear wheel right rotation speed becomes 80% or more of the rear wheel left rotation speed before the right turning distance reaches the descent start distance (S132), after several pulses have passed (S133), the planting control flag is set. While returning to "preparation for turning", the right turning distance and turning flag are cleared (S134).

  When the planting control flag is “left turn” (S135), the left turn distance is determined based on the rear wheel rotation outside the turn (S136). Here, when the left turning distance is equal to or greater than the descent start distance, the planting unit 3 is lowered (S137), and the left and right rear wheel rotation speeds are compared (S138). Then, when the rear wheel left rotation speed becomes 80% or more of the rear wheel right rotation speed, after several pulses have elapsed (S139), the planting control flag is set to “turning complete” and the left turning distance is cleared (S140). Also, if the rear wheel left rotation speed becomes 80% or more of the rear wheel right rotation speed before the left turning distance reaches the descent start distance (S141), after several pulses have passed (S142), the planting control flag is set to “ In addition to returning to “preparation for turning”, the left turning distance and turning flag are cleared (S143).

  When the planting control flag is “end of turning”, the turning flag is determined (S144). Here, if the turning flag is “left turning”, the left turning distance is determined (S145). When the left turning distance is equal to or greater than the planting start distance, the planting clutch is engaged, and then the right turning distance, the left turning distance, the turning flag, and the planting flag are cleared, and the planting control flag is set to “ “Waiting for turning”, and the planting clutch timer is set (S146).

  On the other hand, when the turn flag is “right turn”, the right turn distance is determined (S147). When the right turning distance is equal to or greater than the planting start distance, the planting clutch is engaged, and then the right turning distance, the left turning distance, the turning flag and the planting flag are cleared, and the planting control flag is set. “Waiting for turning” is set, and a planting clutch timer is set (S148).

  The riding rice transplanter according to the present embodiment configured as described above is selectively swinged out from the planting part 3 to the left and right outer sides, and the markers 9L and 9R that draw a traveling reference line in the next planting process, and the traveling machine body 1 And a control device 24 for determining the turning of the traveling machine body 1 based on the left rear wheel rotation and the right rear wheel rotation. The control device 24 determines the next turning direction based on the swing-out directions of the markers 9L and 9R. In addition, since the start of turning is determined based on the rotation difference between the left and right rear wheels 8 corresponding to the determined turning direction, not only the next turning direction can be accurately determined based on the swing-out direction of the markers 9L and 9R, but also the determination The difference in rotation between the left and right rear wheels 8 that does not correspond to the turning direction that has been made can be ignored, and erroneous recognition of the turning start timing can be prevented.

It is a side view of a riding rice transplanter. It is a top view which shows a marker. It is a side view which shows a marker switching part. It is a top view which shows a marker switching part. It is explanatory drawing which shows the example of the planting operation | work using a marker. It is explanatory drawing which shows the example of the planting operation | work using a marker. It is a block diagram which shows the control structure of a riding rice transplanter. It is a perspective view of a quick up lever. It is explanatory drawing of headland turning. It is a flowchart of planting start adjustment control (1). It is a flowchart of planting start adjustment control (2).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling machine body 3 Planting part 8 Rear wheel 9 Marker 23 Rotary switch 24 Control device 29 Rear wheel left rotation sensor 30 Rear wheel right rotation sensor

Claims (1)

  A marker that is selectively swung out from the planting part or the traveling machine body to the left and right outer sides and draws a running reference line in the next planting process; and wheel rotation detection means that detects the left wheel rotation and the right wheel rotation of the traveling machine body; A transplanter comprising: a control device that determines turning of the traveling vehicle body based on a detection signal of the wheel rotation detection means; wherein the control device determines a next turning direction based on a turning-out direction of the marker. A transplanter comprising: a direction determination unit; and a turn start determination unit that determines a turn start based on a rotation difference between left and right wheels corresponding to the turn direction determined by the turn direction determination unit.

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