JP2007252320A - Riding type seedling transplanter - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problems in a practical rice transplantation work to cause the upward motion of a leveling float acting as a lift-control sensor by receiving a lifting force from a mud surface in the inclination correction work of a seedling planting apparatus by rolling control and, accordingly, the generation of lifting motion of the rice planting apparatus to cause the shallow planting of the seedling or the failure in the seedling planting. <P>SOLUTION: The seedling transplanter is provided with a lift controlling means to control a lift driving device 28 to keep the ground pressure of a ground-contact sensor 32 of a seedling planting apparatus 25 to a prescribed level and a rolling controlling means to control a rolling driving device 60 in a manner to keep the detection value of an inclination sensor 64 to detect the lateral inclination angle of the seedling planting device 25 to a prescribed level. During the operation or during a prescribed period in and after the operation of the rolling driving device 60 by the rolling controlling means, the control of a lift controlling means to lift the seedling planting apparatus 25 by the lift driving means 28 is restricted by a controlling apparatus 51. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a riding-type seedling planting machine in which various seedling planting devices such as a rice planting device are mounted on a riding-type traveling vehicle body, and more specifically, raising / lowering control and rolling of a seedling planting device properly during seedling planting work The present invention relates to a riding-type seedling planting machine that can perform good seedling planting work by performing control.

As this type of conventional technology, a riding-type rice transplanter that corrects the control sensitivity of the lifting control to the insensitive side if the amount of fluctuation within the set time of the detection value by the tilt sensor that performs rolling control of the rice transplanter is greater than the set amount There is.
Japanese Patent Laid-Open No. 7-107825

  At the same time, as described above, if the amount of fluctuation within the set time of the detection value by the tilt sensor that performs rolling control of the rice transplanter is equal to or greater than the set amount, the control for correcting the control sensitivity of the lifting control to the insensitive side is not effective. In the work, the leveling float, which is a grounding sensor for lifting control, is lifted by the lifting force from the mud surface in the tilt correction operation of the seedling planting device by rolling control, so the seedling planting device is lifted. The planting depth of seedlings has become so shallow that seedlings have become shallowly planted or have not been planted, and there has been a problem in terms of performing good seedling planting work.

  In order to solve the above-mentioned problems of the prior art, the invention according to claim 1 is a riding type seedling transplanter mounted on the riding type traveling vehicle body 1 so as to be raised and lowered and rolled freely by the raising and lowering drive device 28 and the rolling drive device 60. , A lift control means for controlling the lift drive device 28 so that the ground pressure of the ground sensor 32 provided in the seedling planting device 25 is maintained at a predetermined value, and a tilt sensor 64 for detecting the right and left tilt angle of the seedling planting device 25. Rolling control means for controlling the rolling drive device 60 so that the detected value is maintained at a predetermined value, and during the operation of the rolling drive device 60 by the rolling control means or during a predetermined time after the operation, the elevation control is performed. This is a riding type seedling planting machine provided with a control device 51 for controlling the control of raising the seedling planting device 25 by means of the raising / lowering drive device 28.

  Therefore, during the seedling planting operation, when the tilt sensor 64 detects the tilt of the body and the rolling drive device 60 is operated by the rolling control means, or during the operation and for a predetermined time thereafter, The control for operating the lifting / lowering driving device 28 by the lifting / lowering control means and raising the seedling planting device 25 by the lifting / lowering driving device 28 by the detection of the ground sensor 32 is restrained. Therefore, when the seedling planting device 25 is driven and controlled by the rolling control means, the grounding sensor 32 is pushed up by the mud surface to raise the seedling planting device 25, so that the seedling planting depth becomes shallow and the seedling becomes shallow. The harmful effect of planting or not being planted can be prevented appropriately.

  According to the present invention, the lifting / lowering control means for controlling the lifting / lowering drive device 28 so that the ground pressure of the grounding sensor 32 provided in the seedling planting device 25 is maintained at a predetermined value, and the left / right inclination angle of the seedling planting device 25 are detected. By the rolling control means for controlling the rolling drive device 60 so that the detection value of the inclination sensor 64 is maintained at a predetermined value, the seedling planting device 25 is appropriately controlled in posture and can perform a good seedling transplanting operation. .

  As an embodiment of the present invention, a seven-row planted rice transplanter, which is a kind of a riding seedling transplanter, will be described in detail with reference to the drawings. Reference numeral 1 denotes a passenger-type traveling vehicle body, which has an engine 4 mounted on the rear upper surface of a fuselage composed of left and right frames 2 and 2 and a horizontal frame 3 connecting the rear portions of the left and right frames 2 and 2. A traveling mission case 5 is fixed to the front portion of 2. The traveling mission case 5 incorporates an HST transmission, a front wheel differential device, and a rear wheel differential device in which the rotational driving force of the engine 4 is changed. Then, shifting operation is performed in reverse, neutral, and forward (planting speed for planting in the field, moving speed for moving fast on the road, etc.). The HST transmission 5a rotates and drives the HST motor 5b according to the detection result of the HST lever sensor 6a that detects the operation rotation angle of the transmission lever 6, and meshes with the pinion gear 5c of the motor and the pinion gear 5c. The HST trunnion shaft 5f is driven and operated via a trunnion operation arm 5e having a sector gear 5d.

  Numerals 7 and 7 are left and right front axle cases, which are configured such that power is transmitted from the front wheel differential device of the traveling mission case 5 via the left and right drive shafts. Numerals 9 and 9 are steerable left and right driving front wheels that are fitted to the lower portions of the left and right front axle cases 7 and 7 and are pivoted on the steering cases 11 and 11 that are rotated by the steering handle 10. When the steering handle 10 is turned, the left and right steering cases 11 and 11 rotate about the vertical axis, and the left and right driving front wheels 9 and 9 change their directions.

  Reference numerals 15 and 15 denote left and right rear wheel drive cases which are integrally connected by a connecting frame. The connecting frame is provided on the horizontal frame 3 so as to be freely rollable by a rolling shaft, and is pivotally mounted on both left and right side portions thereof. The left and right driving rear wheels 18 and 18 are configured to swing up and down. Reference numerals 19 and 19 denote transmission shafts that transmit power from the rear wheel differential device of the traveling mission case 5 to the left and right rear wheel drive cases 15 and 15.

  The transmission mechanism inside the rear wheel drive case 15 incorporates left and right side clutches and left and right side brakes for the left and right drive rear wheels 18 and 18, and the steering handle 10 is operated more than a predetermined amount for turning the vehicle. When the direction operation is performed, the side clutch on the inner side of the turn is disengaged and the side brake is applied, so that a small turning operation can be easily performed only by steering the steering handle 10.

  21 is a vehicle body cover molded by FRP, which includes an engine cover portion 21a covering the periphery of the engine 4, a step 21b provided on the front and left and right sides of the engine 4, and a handle post cover 21c. A step 21d also serving as a rear fender provided at the rear of the engine 4 is fixed on the left and right frames 2 and 2. A control seat 22 is installed and fixed on the upper surface of the engine cover portion 21a of the vehicle body cover 21.

  Reference numeral 23 denotes an elevating link mechanism constituted by an upper link 23a and a lower link 23b, and the base ends of the upper link 23a and the lower link 23b are pivoted on support frames 24 fixed to the rear portions of the left and right frames 2 and 2, respectively. The rear end portion is pivotally attached to a vertical frame 27 on which a rolling shaft 26 provided on a seedling planting device 25 described later is rotatably supported and the seedling planting device 25 is mounted so as to be able to roll. And the rotation angle of the raising / lowering link mechanism 23 is detected by the raising / lowering link sensor 23c.

Reference numeral 28 denotes a hydraulic cylinder, the base of which is pivotally attached to the left and right frames 2 and 2, and the rear end of the piston is pivotally attached to a swing arm 23c integrated with the upper link 23a.
The seedling planting device 25 is supported by a planting transmission case 29 that also serves as a frame that is mounted on the vertical frame 27 by a rolling shaft 26, and left and right support members 29a and 29a provided in the planting transmission case 29. 7 seedling platforms 30 that reciprocate in the left-right direction of the machine body and seven seedlings that are attached to the rear end of the planting transmission case 29 and are planted in the field by dividing one seedling from the lower end of the seedling platform 30. Seedling planting tool 31 ... and center float 32, left and right side floats 33, 33, etc., which are leveling bodies whose rear part is pivotally supported at the lower part of planting transmission case 29 and whose front part is mounted so as to be swingable up and down. Configured. The left and right side floats 33 and 33 are respectively arranged behind the left and right driving rear wheels 18 and 18, and the ground which has been disturbed by the left and right driving rear wheels 18 and 18 is leveled and the seedling planting tool 31 seedlings. It is provided to level the front of the field where the plant is planted. And the seedling mounting stand 30 is provided with seven seedling mounting portions arranged in parallel in the left-right direction. Reference numeral 34 denotes a seedling detection sensor, which is provided in each of the seven seedling placement portions of the seedling placement stand 30 and detects when the number of seedlings in the seedling placement portion has decreased, and the alarm lamp blinks to indicate 7. It is configured to notify the operator which of the two seedling placement parts is decreasing.

In addition, on both the left and right sides of the front part of the traveling vehicle body 1, the spare seedling platforms 38, 38 on which the replenishment seedlings are placed can be pivoted to a position protruding sideways from the body and a position stored inside. Is provided.
Reference numeral 40 denotes a fertilizer, which is fixed to the upper end of the support frame 24, and is attached to the fertilizer tanks 41 ... and the lower portions of the fertilizer tanks 41 ... to feed out the granular fertilizer in the fertilizer tank 41 by a certain amount. Seven fertilizer feeding devices 42, seven transparent fertilizer pipes 43a, 43b, 43c, 43d, 43e, 43f, and 43g for guiding the fertilizers fed by the respective fertilizer feeding devices 42, and the center float 32・ Seven groovers 44 which are fixed to the left and right side floats 33 and 33 and dig a fertilization groove in a field on the side of the seedling planting position and guide the granular fertilizer guided by each fertilization pipe 43a to fall into the fertilization groove. It is comprised by. Reference numeral 45 denotes a drive mechanism for driving the fertilizer feeding devices 42..., And rotational power is transmitted by a fertilizer drive case 46 fixed on the left and right frames 2. The fertilization drive case 46 is configured so that power is transmitted by the drive shaft 47 from the traveling mission case 5.

  Reference numeral 48 denotes a PTO transmission shaft having universal joints at both ends, which is provided to transmit the power of the fertilization drive case 46 to the planting transmission case 29 of the seedling planting device 25. Reference numeral 49 denotes a center float sensor as a sensor for detecting the position of the seedling planting device 25 with respect to the field. The center float sensor 49 includes a potentiometer that detects the vertical position of the front portion of the center float 32. It is linked. Then, based on the detection of the vertical position of the front part of the center float 32 of the center float sensor 49, the solenoid hydraulic valve 52 is controlled by the lifting control means of the control device 51, and the vertical position of the seedling planting device 25 is controlled by the hydraulic cylinder 28. Is configured to do. The front part of the center float 32 is urged downward by a spring 50a.

  That is, the seedling planting depth control for making the seedling planting depth constant is performed as follows. When the center float sensor 49 detects that the front part of the center float 32 is in contact with the mud surface and is lifted to an appropriate range or more by an external force, the hydraulic pump 53 pumps out the traveling mission case 5. The pressurized oil is fed into the hydraulic cylinder 28, the piston is protruded, the lifting link mechanism 23 is moved up to raise the seedling planting device 25 to a predetermined position, and the front part of the center float 32 is lowered beyond the proper range. When the center float sensor 49 detects this, the pressure oil in the hydraulic cylinder 28 is returned to the traveling mission case 5, the lifting link mechanism 23 is moved down to lower the seedling planting device 25 to a predetermined position, and When the center float sensor 49 detects that the front part of the center float 32 is in the proper range (seedling planting device 2 Is provided to allowed to retain a constant position NaeUe device 25 is stopped and out of the pressure oil in the hydraulic cylinder 28 when) in proper position.

  However, when the seedling planting device 25 is driven and controlled in a horizontal state by the following rolling control, the front part of the center float 32 may be pushed up by the mud surface. At this time, the seedling planting depth control is activated. If so, the center float sensor 49 detects that the front part of the center float 32 has been lifted beyond the proper range, and the seedling planting device 25 is raised, so that the seedling planting depth becomes shallow and the seedling becomes a shallow planting. The bad thing that it is not planted occurs.

  Therefore, when the center float sensor 49 detects that the front part of the seedling planting depth control “center float 32 is in contact with the mud surface and the front part is lifted to an appropriate range or more by external force, the hydraulic pump 53 “Raising control for sending the pressure oil pumped out from the traveling mission case 5 to the hydraulic cylinder 28 and projecting the piston to move the lifting link mechanism 23 upward to raise the seedling planting device 25 to a predetermined position” is described below. Is controlled by the state of rolling control.

  That is, as shown in the control flow chart of FIG. 7, during the rolling control output (when the seedling planting device 25 is controlled to be driven horizontally by the rolling control), the raising output of the planting depth control is set to 0.2 seconds. Try to stop. More specifically, when a rolling control output is issued, the raising output delay of the planting depth control is set for 0.2 seconds, and the front part of the center float 32 is lifted above the proper range in 0.2 seconds. Even if the center float sensor 49 detects (detects “raised” in the planting depth control), the raising control is not performed.

  As described above, during the rolling control output (when the seedling planting device 25 is driven and controlled in the horizontal state by the rolling control) and the predetermined time after the output (in this embodiment, 0.2 seconds, the traveling speed of the aircraft) If the control to raise the seedling planting device 25 for planting depth control is checked, the center float is controlled when the seedling planting device 25 is driven and controlled in a horizontal state by rolling control. The front part of 32 is pushed up by the mud surface, and the center float sensor 49 detects and raises the seedling planting device 25, so that the seedling planting depth becomes shallow and the seedling becomes a shallow planting or cannot be planted. Evil can be prevented appropriately.

  54 is an elevating lever that protrudes from the body cover 21 and is provided on the right side of the control seat 22. By operating the elevating lever 54, the PTO clutch actuating means of the control device 51 operates the traveling mission case. 5 is configured so that the power to the fertilizer application device 40 and the seedling planting device 25 can be turned on and off by operating a PTO clutch that connects and disconnects the power to drive and rotate the drive shaft 47 provided rearwardly from 5. The raising / lowering control means of the control device 51 operates the solenoid hydraulic valve 52 so that the seedling planting device 25 can be manually moved up and down.

  That is, when the elevating lever 54 is moved forward to the “automatic position”, the PTO clutch is engaged, the fertilizer application device 40 and the seedling planting device 25 are driven, and the solenoid hydraulic valve 52 is switched by the vertical movement of the center float 32. It becomes a state. On the contrary, when the elevating lever 54 is pulled backward to the “upward position”, the PTO clutch is disconnected, the operation of the fertilizer application device 40 and the seedling planting device 25 is stopped, and the solenoid hydraulic valve 52 forcibly raises the seedling planting device 25. The seedling planting device 25 is raised. When the elevating lever 54 is set to a “fixed position” that is an intermediate position of the operation stroke, the PTO clutch is disconnected, the operations of the fertilizer application device 40 and the seedling planting device 25 are stopped, and the solenoid hydraulic valve 52 is pressurized oil in the hydraulic cylinder 28. The seedling planting device 25 is switched to a position where the seedling planting device 25 is held at a fixed position and the seedling planting device 25 is held at the position when the lifting lever 54 is operated to the “fixed position”, and the seedling planting device 25 is raised and lowered. If not. Further, when the elevating lever 54 is set to the “down position”, the PTO clutch is disengaged, the operations of the fertilizer application device 40 and the seedling planting device 25 are stopped, and the solenoid hydraulic valve 52 is switched by the vertical movement of the center float 32. Become.

  55 is a finger lever disposed below the steering handle 10. When the finger lever 55 is operated in the vertical direction, a finger lever switch 56 constituted by a potentiometer is actuated by the PTO clutch actuating means of the control device 51. The PTO clutch motor CM for connecting and disconnecting the power for driving and rotating the drive shaft 47 provided in the traveling mission case 5 is operated by the PTO clutch motor CM to turn on and off the power to the fertilizer application device 40 and the seedling planting device 25. In addition, the raising / lowering control means of the control device 51 is configured to operate the solenoid hydraulic valve 52 to manually move the seedling planting device 25 up and down.

  That is, when the finger lever 55 is operated to “up”, the PTO clutch is disconnected, the operations of the fertilizer application device 40 and the seedling planting device 25 are stopped, and the solenoid hydraulic valve 52 is forcibly switched to the side where the seedling planting device 25 is raised. . Then, after the finger lever 55 is operated “up” and then the finger lever 55 is operated once “down”, the solenoid hydraulic valve 52 is automatically controlled by the vertical movement of the center float 32, and the seedling planting device If 25 is in the raised state, the seedling planting device 25 is lowered until the center float 32 comes into contact with the ground and is in an appropriate posture. When the finger lever 55 is further operated “down” once more, the PTO clutch is engaged and the fertilizer application device 40 and the seedling planting device 25 remain in an automatically controlled state in which the solenoid hydraulic valve 52 is switched by the vertical movement of the center float 32. Is driven. Thereafter, each time the finger lever 55 is operated to “down”, the PTO clutch is alternately switched between on and off while the solenoid hydraulic valve 52 remains in the automatic control state in which it is switched by the vertical movement of the center float 32.

  Reference numeral 57 denotes a sensitivity setting unit for setting the lifting control sensitivity of the lifting control means of the control device 51. The amount of vertical movement of the center float 32 is detected by the center float sensor 49, and the solenoid hydraulic pressure of the hydraulic cylinder 28 is detected by the detected information. The sensitivity of the lifting control is generally adjusted by adjusting the reference position of the center float sensor 49 when performing the lifting control of the lifting control means for switching the valve 52.

  In other words, if the sensitivity setting device 57 is operated from the standard “5” position to the insensitive side “7”, the reference position of the center float sensor 49 is changed to the “7” position slightly raised from the “5” position. Then, the posture of the center float 32 is upward from the posture of the standard “5”, the contact area is reduced, and the spring 50a is further compressed to increase the biasing force at the reference position. It becomes difficult to follow the undulation, and the lifting control sensitivity is adjusted to the insensitive side. Conversely, when the sensitivity setting unit 57 is operated from the standard “5” position to the sensitive side “3”, the reference position of the center float sensor 49 is changed to the “3” position, which is slightly lower than the “5” position. Then, the posture of the center float 32 is downward, the contact area is increased, and the urging force of the spring 50a is reduced, so that it becomes easy to follow the undulation of the surface, and the lifting control sensitivity is adjusted to the sensitive side.

  Next, the rolling control mechanism 59 will be described. Reference numeral 60 denotes an electric motor fixed by bolts to a support plate 27a fixed to the upper portion of the vertical frame 27 by a bolt. A small-diameter drive gear 61a rotates forward and backward at the distal end of a rotary drive shaft 61 of the electric motor 60. It is mounted to be driven. The electric motor 60 is arranged and fixed at a position biased to the right side of the vertical frame 27 in the rear view of the body, and maintenance of the electric motor 60 (repair or inspection with the electric motor 60 attached to the body). Can be easily performed from the right side position of the fuselage, and its workability is good. Also, the work of removing or assembling the electric motor 60 from the machine body can be easily performed from the right side of the machine body, and the work efficiency is good.

  On the other hand, a large-diameter driven gear 61b is pivotally supported by a rotation shaft 61c on the support plate 27a and meshes with a drive gear 61a provided at the tip of the rotation drive shaft 61 of the electric motor 60. The driven gear 61b is configured to decelerate and rotate the rotational drive of the electric motor 60. The base end portion of the rolling drive pin 61d is fixed by welding to the driven gear 61b, and the tip end portion is a long hole of a rotating arm 62 that is rotatably provided on the support plate 27a by a pivot shaft 61e. 62a is fitted.

  One end of the left and right tension springs 63 and 63 engages with the swinging tip of the rotating arm 62, and the other end of the left and right tension springs 63 and 63 is provided in the planting transmission case 29 of the seedling planting device 25. The left and right support members 29a and 29a are engaged. Therefore, the forward and reverse rotation of the rotation drive shaft 61 of the electric motor 60 causes the rotation arm 62 to swing in the yellow direction, and the seedling planting device 25 is rolled with respect to the riding type traveling vehicle body 1 via the springs 63 and 63. It can be operated.

  64 is a horizontal sensor provided at the center of the planting transmission case 29 in the left-right direction of the machine body. The horizontal sensor 64 detects the horizontal tilt of the seedling planting device 25 as a change in electrical signal, and is 3V when viewed horizontally from the front of the machine body. The output voltage increases to 5V as it tilts to the right. Conversely, the output voltage decreases to 0V as it tilts to the left. Then, the rolling control means of the control device 51 controls the seedling planting device 25 horizontally by controlling the electric motor 60 forward and backward according to the output voltage of the horizontal sensor 64.

  Reference numeral 65 denotes a sensor for detecting the position of the driven gear 61b because the rotating arm 62 stops at the left and right center position, and is a convex portion 66a of the detection actuating body 66 mounted on the same axis as the driven gear 61b ( It is configured to be turned on by the same arc shape as that of the maximum diameter portion 61b ′ of the driven gear 61b, so that it is possible to detect that the rotating arm 62 is in the left and right center position. The detection operating body 66 can be adjusted to rotate around the rotation shaft 61c with respect to the driven gear 61b. That is, the detection actuator 66 penetrates the screw 67 through an arc-shaped long hole 61b "provided in the driven gear 61b. Thus, the screw 67 is fastened to the detection actuating body 66 so that the driven gear 61b and the detection actuating body 66 rotate integrally with each other, so that the screw 67 is loosened to detect the detection actuating body with respect to the driven gear 61b. By rotating and adjusting the position of 66, the sensor 65 can accurately detect that the turning arm 62 is in the center position in the left and right direction. This detection is used for various controls such as stopping the rolling control.

  Reference numeral 68 denotes a sensor for detecting the position of the driven gear 61b so that the rotating arm 62 stops at the maximum lateral swing position, and its detection contact is formed in a recess 68a formed on the outer periphery of the driven gear 61b. When the pivoting arm 62 swings to the maximum horizontal swinging position, it is turned on by the portion that becomes the convex portion that is the final end of the recess 68a, so that the rotary arm 62 is at the maximum horizontal swinging position. It can be detected. When the sensor 68 detects that the turning arm 62 is in the maximum left / right swing position, rolling control in the left / right direction is stopped.

  However, in the riding type rice transplanter, the seedling placing table 30 of the seedling planting device 25 reciprocates left and right to perform seedling planting work, so that the seedling placing stand 30 is located at the center and at the right end. Since the center of gravity of the seedling planting device 25 greatly fluctuates left and right between the time and the position at the left end, there is an inconvenience that it is difficult to properly control by the rolling control mechanism. One end of each of the right and left tension springs 69 and 69 is engaged, and the other end of each of the correction left and right tension springs 69 and 69 is engaged with the seedling mounting base 30 of the seedling planting device 25. Therefore, when the seedling stage 30 is moving to the vicinity of the left end and the right end, the weight of the seedling stage 30 tends to fall on the side where the seedling stage 30 of the seedling plant 25 is moving, The right and left tension springs 69 and 69 for correction act in the direction of pulling up the side on which the seedling stage 30 is moved to be lowered, and the instability of rolling control due to the lateral movement of the seedling stage 30 can be eliminated. Rolling control can be performed properly and good seedling planting work can be done.

  In the above embodiment, an example in which the horizontal sensor 64 is provided on the seedling planting device 25 side is shown. However, by providing the horizontal sensor 64 on the riding type traveling vehicle body 1 side, the inclination of the riding type traveling vehicle body 1 is detected, You may control by the same control means generally performed conventionally so that the seedling planting device 25 may be in a horizontal state. In the above embodiment, the rolling control mechanism 59 is provided on the lifting link mechanism 23 side, but conversely, a similar rolling control mechanism 59 may be provided on the work device 25 side.

  Reference numeral 70 denotes a center mascot, which is provided at the front end of the machine body, and is drawn in the previous process by general left and right line drawing markers 71 and 71 for drawing a line indicating the center position of the machine body in the next process on the farm scene. This is a general way for the pilot to go straight along the line.

Next, since the riding type rice transplanter of this embodiment is equipped with an automatic linear advance control mechanism, its configuration will be described in detail.
The passenger-type traveling vehicle body includes a first operation panel 80a beside the steering handle 10, a second operation panel 80b behind the control seat 22, a traveling direction sensor 81 at the upper part of the aircraft, a left-right tilt and a front-rear direction at the center of the aircraft. A vehicle body inclination sensor 82 for detecting the inclination is provided. The seedling planting operation involves lowering the seedling planting device 25 and planting while traveling straight, raising the seedling planting device 25 at the edge and turning the aircraft, and then lowering the seedling planting device 25 again for the adjacent area. Carry out planting and repeat the reciprocating planting work.

  As shown in FIG. 4, the input / output configuration of the control device 51 includes a travel data input instruction and automatic start teaching switch 83, an automatic turn-off switch 84 for canceling autonomous straight-ahead steering control, and left and right trims for setting direction fine adjustment. In addition to input signals from the switch 85, the vehicle speed sensor 86, the traveling direction sensor 81, the steering angle sensor 87, etc., as well as various switch and sensor signals, the front wheel steering electromagnetic hydraulic valve 88 and display lamps including alarms Control operations of the target azimuth lamp 89a, automatic ramp 84a, abnormal lamp 89b, azimuth correction lamp 85a, voice alarm device 89c, and buzzer 89d are output.

  Autonomous straight-ahead steering control is made possible only when the control device 51 satisfies a predetermined condition. That is, in the autonomous straight-ahead steering control, the steering angle of the steering device is operated in a direction in which the azimuth deviation of the aircraft with respect to a separately set target azimuth is reduced based on the azimuth information indicating the aircraft direction. The direction information of the aircraft is based on the signal from the traveling direction sensor 81. The target azimuth is separately set as the azimuth when the aircraft travels with the teaching switch 83 turned on.

  That is, in a field as shown in FIG. 5, the seedling planting device 25 is inserted from the entrance and exit, and the pilot advances the seedling planting work while the aircraft is steered by the operator operating the aircraft in the forward process A by teaching. Calculate and turn the steering handle 10 for turning the aircraft (the amount by which the operator turns the steering handle 10 with the intention of turning the aircraft, for example, the steering handle 10 is 360 degrees to the left and right) If it is configured to rotate ˜400 degrees, the steering handle 10 is operated by 250 degrees or more), and the aircraft is advanced to the return path process B. At this time, the teaching of calculating the straight traveling azimuth is completed by the turning operation, and the azimuth in which the machine has traveled in the forward path process A is determined. Then, it is determined that the straight traveling advancing direction of the backward path process B is an azimuth turned 180 ° to the azimuth advanced in the forward path process A. In the backward path process B, the aircraft is controlled to go straight to that direction. Thereafter, each time the vehicle turns, the aircraft is controlled in a straight line in the same manner from step C to step K.

  Further, after determining a traveling speed suitable for reducing the deviation of the machine direction by actually measuring the field traveling, this is separately set in the control device 51 as a reference speed. For example, in the case of rice planting traveling at a work traveling speed of approximately 1 m / sec, the limit speed allowed for linear traveling is confirmed by actual vehicle traveling, or the reference speed is set to O.I. 1 m / sec, and approximately O.D. It is determined in a range up to 3 m / sec.

The control process by the control device 51 having the above configuration will be described in detail with reference to the flowchart of FIG.
When the teaching switch 83 is on (S1), traveling data is recorded and teaching processing is performed, and a straight traveling direction is calculated based on the recording data of teaching processing (S2, processing in the forward path process A).

  When the pilot turns the aircraft at the heel and the steering handle 10 is operated beyond the turning angle (the steering handle 10 is operated by 250 degrees or more), the forward path process A ends and the heel turns. The teaching for calculating the straight traveling direction is terminated, and the direction in which the aircraft has traveled in the forward path process A is determined.

  Next, the traveling direction is controlled (S7) only when the autonomous straight steering control conditions (S3 to S6) are satisfied (the straight traveling direction in the backward path B is 180 ° to the direction traveled in the forward path A). It is the direction that turned.) The conditions for autonomous straight-ahead steering control are when planting is “ON”, the traveling direction is maintained within a certain range for a predetermined time, the vehicle speed is equal to or higher than a predetermined value, and the automatic switch 84 is not turned on.

  On the other hand, if the vehicle speed condition is missing, the operator is notified by a combination of a warning lamp and a warning sound or a voice output warning (S5a) to cancel the automatic steering and return to manual steering. As a result, it is possible to prevent the meandering when the vehicle is restarted with the abnormality corrected at the time of stopping during automatic traveling, thereby ensuring safety.

  Similarly, regarding the handling at the start of driving, autonomous straight-ahead steering control is not performed unless the speed exceeds a certain speed, thereby preventing meandering at the time of departure due to abnormal correction at low speed and improving safety. Can do.

The alarm processing can be configured at a lower cost than a combination of a warning lamp and a warning sound by using voice output.
Further, in the backward path process B, when the traveling direction of the airframe is shifted at the initial stage of the backward path process B during the autonomous rectilinear steering control, the operator operates the trim switch 85 to correct the traveling direction to the left or right. For example, when correcting the aircraft to the right, the operator presses the right switch of the trim switch 85 a plurality of times until the traveling direction of the aircraft is corrected (the adjustment angle of the corrected orientation by the trim switch 85 is small). , So that it can be corrected accurately by pressing multiple times). The number of times the trim switch 85 has been pressed to correct the azimuth is stored. In steps C to K, once the trim switch 85 is pressed, the azimuth corrected in the return path step B can be corrected. (The azimuth correction amount is stored until the automatic switch 84 is operated, and the azimuth correction amount when the trim switch 85 is pressed once is large). In this way, since various environmental conditions are the same in one field, if the traveling direction is shifted after the aircraft is turning, the operation of correcting the aircraft traveling direction by the trim switch 85 can be performed quickly and appropriately. And work efficiency are improved.

  Further, the corrected azimuth amount in the return path step B is stored, and the traveling azimuth in steps C to K is automatically corrected. That is, if the correction azimuth amount in the return path process B is 3 °, the traveling direction in the processes C to K is automatically corrected by 3 ° according to the forward path process and the return path process. In this way, the driver's heading correction in the return path process B is used for the subsequent automatic correction of the autonomous rectilinear heading, and the traveling heading is automatically corrected. Efficiency can be improved and autonomous straight-ahead control can be performed appropriately.

  Further, in the autonomous straight-ahead steering control, an audio output (S8, S8a) indicating that the traveling direction is being corrected is performed according to the operation of the trim switch 85. This voice output can prevent misoperation of the switch due to misunderstanding because the direction correction is slight and difficult to confirm.

  Thus, only when the conditions (S3 to S6) for autonomous straight-ahead steering control are satisfied, the autonomous straight-ahead steering control is continued until the steering wheel operation (S9) at a predetermined angle or more is performed (steps B to B). K).

  By the control device 51 having the above-described configuration, the steering angle operation of the steering device is performed by the autonomous straight-ahead steering control only in the speed range equal to or higher than the predetermined reference speed, and the autonomous straight-ahead steering control is performed at low speed traveling less than the reference speed. It will run according to the field conditions without being performed. Therefore, complex handling for adaptive control that changes the control parameters according to the field condition and traveling speed by determining the traveling speed suitable for reducing the deviation of the aircraft orientation by actual measurement and setting it as the reference speed Therefore, it is possible to reliably prevent abnormal running by avoiding instability of autonomous straight-ahead steering control by a highly reliable control unit with a simple configuration.

  As shown in the configuration diagram of FIG. 10, the operation panels 80a and 80b are composed of a teaching switch 83, an automatic switch 84 with an "automatic" display lamp 84a, and a set of trim switches 85 on the left and right. The “target heading” lamp group 89a, the “heading correction” lamp 85a, and the “abnormal” lamp 89b are arranged in the vicinity of the steering handle 10 and the rear center of the steering seat 22 or in the vicinity thereof. In particular, by disposing the control seat 22 behind the switch, the switch operation can be performed while looking at the back during seedling joining during automatic traveling, so that the operability can be improved.

  As described above, since the traveling machine body is automatically linearly controlled during the autonomous straight-ahead steering control, when the remaining seedlings placed on the seedling mounting table 30 of the seedling planting device 25 at the rear of the machine body are reduced, the operator Standing on the step 21b of the aircraft traveling away from the control seat 22, taking the spare seedlings placed on the left and right spare seedling platforms 38, 38 provided on the left and right of the front of the aircraft, facing the rear of the aircraft and planting the seedlings It can be supplied to the seedling stage 30 of the device 25. Also, in the case of inspection of the seedling planting device 25, the operator can leave the control seat 22 and stand on the step 21b of the vehicle body and turn back to inspect each part of the seedling planting device 25.

  Therefore, in a conventional rice transplanter that does not perform autonomous straight-ahead steering control, when the seedlings placed on the seedling stand 30 are low or when the seedling planting device 25 is inspected, the body is stopped to supply seedlings. During that time, the planting work had to be interrupted. However, in the rice transplanter that performs the above-described autonomous straight steering control according to the present invention, the seedling can be supplied and inspected while the seedling planting operation is being carried out without interrupting the seedling planting operation, and the work efficiency has been dramatically improved. improves.

  In the teaching mode, when the operator operates the steering handle 10 more than the normal predetermined amount of operation (when the farm cultivating field is rough and it is difficult to correct the advancing direction of the aircraft, it is difficult to adjust the direction of travel, or due to unfamiliar operation. When the airframe is meandering, for example, if the steering handle 10 is configured to rotate 360 degrees to 400 degrees to the left and right, when the steering handle 10 is operated 100 degrees or more), the control device 51 causes the sound alarm device 89c. If a warning is issued that “Teaching was not performed properly”, the teaching switch 83 is pressed again to continue the operation in teaching mode. Can work well.

  In addition, when the aircraft to be detected detects an azimuth whose traveling direction is different by a predetermined width or more during the teaching mode (for example, when a different azimuth having a detected direction of 90 ° or more is detected), the magnetic field of the field is detected. Since there is a possibility that the correct heading cannot be detected due to the influence, if the control device 51 issues a warning “Teaching was not properly performed” in the voice alarm device 89c, the operator In this case, the teaching switch 83 is pressed again to enter the teaching mode and the operation can be continued to perform an appropriate operation.

  In the above example, the teaching is controlled in one step. However, when a predetermined distance (for example, the distance at which the planting has progressed is 20 m) is passed, teaching is finished and the traveling direction of the step is calculated. If the autonomous straight-ahead steering control is performed toward the direction and the vehicle is turned in the same manner as in the above example after turning at the coast, the autonomous straight-ahead steering control can be performed quickly and the work efficiency is improved. In addition, when the teaching is completed after a predetermined distance (for example, the distance that the planting has progressed is 20 m), the operator is notified that the teaching has been completed by an audio alarm or a buzzer. This improves workability.

Next, the headland planting operation in the field will be described.
When the planting operations up to and including the reciprocating processes A to K are completed, the seedlings are planted at the end of the headland where the aircraft has been turned in the reciprocating processes A to K. Proceeding with the forward process L and the headland return process M, then proceeding to the opposite side while planting in Step N, proceeding to the entrance / exit without planting seedlings along the side, The headland going-out route process O and the headland return route process P are planted and go out of the field from the entrance / exit.

  When the headland planting switch 90 is turned ON at the beginning of the headland forward path process L, the traveling direction of the process N, which is the return path process to the process K, is stored, and a new teaching mode is set. As the planting operation proceeds in the headland going-out process L, traveling data is recorded, teaching processing is performed, a straight traveling direction is calculated based on the recorded data of teaching processing, and the headland returning path process M after turning Is determined. Therefore, in the headland return path process M, autonomous straight-ahead steering control is performed.

  When the headland return path process M is finished and the headland planting switch 90 is turned OFF at the beginning of the process N, the heading at the headland planting is erased, and the autonomous straight-ahead steering based on the stored heading direction of the process N is erased. Control is performed, and in step N, autonomous straight-ahead steering control is performed.

  Then, after completing Step N, proceed to the entrance / exit without planting seedlings along the heel and turn on the headland planting switch 90 at the beginning of the headland outbound route step O, again, a new teaching mode become. As the planting operation proceeds in the headland going-out process O, traveling data is recorded, teaching processing is performed, the straight traveling direction is calculated based on the recorded data of teaching processing, and the headland returning path process P after turning Is determined. Therefore, in the headland return path process P, autonomous straight-ahead steering control is performed.

  In this way, by providing the headland planting switch 90, storing the heading of the next process with respect to the heading of the previous process, and entering a new teaching mode, it is possible to perform autonomous straight-ahead steering control even in headland planting. , Work efficiency is improved.

  On the other hand, when the vehicle body inclination sensor 82 provided at the center of the riding type traveling vehicle body detects that the vehicle body is inclined left and right and front and rear, the traveling target direction is corrected according to the detected inclination angle. Since the error in the traveling direction due to the inclination of the vehicle body is corrected, the vehicle body is automatically linearly controlled in an appropriate direction.

  Further, in order to correct the traveling direction of the vehicle body with respect to the above target direction, the front wheel steering electromagnetic hydraulic valve 88 is PID controlled (aP + bI + cD = unit steering oil amount for operating the steering handle 10 by hydraulic drive, P: target direction and progress) The difference between the azimuth and I is the integral value of the difference between the target azimuth and the traveling azimuth, and D is the amount of change / differential value). If (a, b, c) can be set with a dial provided on the operation panel, appropriate PID control according to the field conditions and the environmental conditions of the area can be performed, and automatic linear advance control can be performed appropriately.

  Finally, the riding type rice transplanter of this embodiment controls the forward / backward movement of the machine by shifting the HST transmission 5a by the HST motor 5b by operating the shift lever 6, and by operating the finger lever 55, In addition to the configuration in which the pilot rides on and operates the vehicle body that switches the solenoid hydraulic valve 52 to raise and lower the seedling planting device 25 and drive the PTO clutch motor CM to control the on / off of the PTO clutch, the position away from the aircraft The remote control operation means for performing the forward / backward control of the machine body for operating the HST motor 5b, the raising / lowering control of the seedling planting device 25, the on / off control of the PTO clutch, etc. by the operation of the remote control device RC operated by remote control 51 is provided.

  Further, the control device 51 is provided with mode selection means for switching between a boarding operation mode and a remote control operation mode by a mode selection switch MS provided on the airframe side. In addition, when the remote control operation mode is selected by the mode selection switch MS, manual priority means for prioritizing the operation when the boarded operating device is operated is provided. Therefore, since this control means is prioritized manually, even when the remote controller is operated, when a danger is felt, it can be dealt with immediately by human operation. That is, when a danger is felt during traveling by remote control operation, the shift lever 6 can be returned to neutral to stop the aircraft, or the main clutch pedal or brake pedal can be operated to stop suddenly.

  FIG. 13 shows an example of a display panel of the remote control device. When the traveling forward switch S1 is pressed, the aircraft moves forward, when the traveling neutral switch S2 is pressed, the aircraft stops, and when the traveling backward switch S3 is pressed, the aircraft moves backward. When the planting raising switch S4 is pressed, the seedling planting device 25 is raised, and when the planting lowering switch S5 is pushed, the seedling planting device 25 is lowered. Further, the PTO clutch is engaged when the PTO switch S6 is pressed, and the PTO clutch is disconnected when the PTO switch S7 is pressed. The remote control device is also provided with a left / right steering switch (not shown) that controls the steering direction of the aircraft by operating the steering handle 10 with an electric motor.

  Further, when the vehicle body tilt sensor 82 provided on the airframe detects a left-right inclination or a front-rear inclination more than a predetermined angle of the vehicle body (for example, 20 degrees or more), the command from the remote control device is ignored and the shift lever 6 is returned to neutral. Therefore, it is safe to prevent the aircraft from falling due to the inclination of the aircraft. At this time, the PTO clutch is also disconnected and the operation is stopped.

  Further, when the operator gets on the aircraft and sits on the control seat 22, it is when the operator is working on the aircraft, so the operator is seated on the control seat 22. A seating sensor (for example, a pressure sensor is provided on the seat surface to detect that the driver is seated when the driver is seated), and when the driver is seated, the remote control operation device If the control is ignored, when the operator is on board and sits on the control seat 22, even if another person accidentally operates the remote control device, the aircraft will not operate carelessly, so it is safe. is there.

  Further, when the operation of the body is started with the remote control device, if the forward / backward operation of the body is performed while the seedling planting device 25 is lowered, the seedling planting device 25 may move back and forth while being grounded, which may cause damage. Therefore, when the remote control device is turned “ON”, the rotation angle of the lift link mechanism 23 is detected by the lift link sensor 23c, and only when the seedling planting device 25 is at the highest position, the remote control device is used. If the aircraft can be moved forward and backward (the vehicle is moved forward by pressing the travel forward switch S1 or the vehicle is moved backward by pressing the travel backward switch S3), the vehicle can be moved back and forth while the seedling device 25 is lowered. It is possible to prevent breakage of each part without progressing.

  The present invention can be applied to various riding seedling transplanters such as a riding vegetable transplanter and a riding grass transplanter in addition to the riding rice transplanter of the above embodiment.

It is a whole side view of a riding type rice transplanter. It is a whole top view of a riding type rice transplanter. It is a front view of a planting apparatus. It is a block circuit diagram of a control system. It is an enlarged rear view of a rolling operation mechanism part. It is an enlarged side view of a rolling operation mechanism part. It is a planting depth control flowchart. It is a flowchart of autonomous straight-ahead steering control. It is a figure which shows the work process in an agricultural field. It is a block diagram of an operation panel. It is a flowchart of target direction correction control. (A) The top view of a HST transmission, (b) It is a side view. It is a display panel of a remote control operation device. It is an operation | movement flowchart of a remote control operating device. It is an operation | movement flowchart of a remote control operating device. It is an operation | movement flowchart of a remote control operating device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Riding type vehicle body 23 Lifting link mechanism 25 Seedling planting device 28 Lifting drive device (hydraulic cylinder)
32 Ground sensor (center float)
51 Control device 60 Rolling drive device (electric motor)
64 Tilt sensor (horizontal sensor)

Claims (1)

  In a riding type seedling planter that is mounted on the riding type traveling vehicle body 1 so that it can be raised and lowered freely by a lifting drive device 28 and a rolling drive device 60, the grounding pressure of the grounding sensor 32 provided in the seedling planting device 25 is maintained at a predetermined value. As described above, the lifting control means for controlling the lifting drive device 28 and the rolling drive device 60 for controlling the rolling drive device 60 so that the detected value of the tilt sensor 64 for detecting the left and right tilt angle of the seedling planting device 25 is maintained at a predetermined value. Control means, and during the operation of the rolling drive device 60 by the rolling control means, or during a predetermined time after the operation, control for raising the seedling planting device 25 by the raising and lowering drive device 28 by the elevation control means is restrained. Riding type seedling transplanter characterized by providing a control device 51

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