JP2019110853A - Farm field work machine - Google Patents

Abstract

To provide a farm field work machine capable of reducing waste of agricultural materials while controlling a feeding quantity of agricultural materials according to a speed of a travelling machine body, and capable of partially controlling only the feeding quantity of agricultural materials.SOLUTION: A farm field work machine includes: a travelling machine body having a travelling device; a speed changer 16 for changing the speed of the travelling device; a hopper in which powder and granular agricultural materials are stored; a feeding unit for feeding the agricultural materials stored in the hopper; a feeding electric motor 33 for rotationally driving the feeding unit; a powder and granular material supply device for supplying the agricultural materials to the farm field; and a control unit 4 for controlling the powder and granular material supply device. The control unit 4 controls the rotational speed of the feeding electric motor 33 interlocking with a speed change state of the speed changer 16.SELECTED DRAWING: Figure 4

Description

  The present invention has a traveling machine body having a traveling device, a transmission for shifting the traveling device, a hopper in which powdery granular agricultural material is stored, and a delivery unit for dispensing the agricultural material stored in the hopper. The present invention relates to a field work machine including a granular material supply device for supplying the agricultural material to a field.

  In this type of field work machine, as described in, for example, JP-A-2016-103989 (Patent Document 1), an engine after gear shifting is performed while traveling by transmitting power from the engine to a traveling device via a transmission. By transmitting the power from the vehicle to the feeding unit, the feeding unit was designed to feed the agricultural material. In this case, since the shift state of the traveling machine and the feeding amount of the agricultural material by the feeding unit are interlocked, the feeding amount of the farming material per unit traveling distance can be made constant regardless of the speed of the traveling machine.

Unexamined-Japanese-Patent No. 2016-103989

  According to the conventional field work machine of the above, since the amount of extension of the agricultural material can be changed according to the speed of the traveling vehicle, the agricultural material can be stably supplied to the field. However, when feeding out agricultural materials in this way, even if there is a point where it is not necessary to feed out the agricultural materials during the operation of feeding out the agricultural materials, the agricultural materials will also be delivered as long as the traveling machine is operating. There was a waste of agricultural materials. In addition, although the amount of extension of agricultural materials per unit travel distance can be made constant, when there is a part where it is desired to change the amount of extension of agricultural materials in the same field, only the amount of extension of agricultural materials is electrically Control can not be changed, and manual metering operation for the powder and granular material supply device has been required.

  Therefore, it is desirable to realize a field work machine capable of reducing waste of agricultural materials while partially controlling the amount of agricultural materials while controlling the amount of extension of agricultural materials according to the speed of a traveling vehicle.

The field work machine according to the present invention is
A traveling airframe having a traveling device;
A transmission for shifting the traveling device;
It has a hopper in which powdery granular agricultural material is stored, a delivery unit for delivering the agricultural material stored in the hopper, and a delivery electric motor for rotationally driving the delivery unit, and the agricultural material is placed in the field A granular material feeder for feeding;
And a control unit that controls the powder and granular material supply device,
The control unit controls the rotational speed of the feed-out electric motor in conjunction with the shift state of the transmission.

  According to this configuration, since the feeding portion is driven by a motor, individual control of the feeding electric motor can be performed, waste of agricultural materials can be reduced, and only the feeding amount of agricultural materials can be partially controlled. Becomes possible. And since the rotational speed of the feeding electric motor is controlled in conjunction with the shifting state of the transmission, the feeding amount of the agricultural material can be controlled according to the speed of the traveling machine body. As described above, according to this configuration, it is possible to reduce waste of the agricultural material while controlling the amount of extension of the agricultural material according to the speed of the traveling vehicle, and to control only the amount of extension of the agricultural material.

  In one aspect, the control unit is configured to drive the electric motor for drawing out so that the amount of extension of the agricultural material per unit travel distance by the extending portion becomes a preset value regardless of the shift state of the transmission. It is preferable to control the rotational speed of the motor.

  According to this configuration, the amount of extension of the agricultural material can be set to a preset value regardless of the shift state of the transmission, so the amount of extension of the agricultural material per unit traveling distance is constant regardless of the speed of the traveling vehicle. It can be.

  In one aspect, the transmission control apparatus further includes a shift electric motor that changes a shift state of the transmission, and the control unit controls an operation of the shift motor to automatically change the shift state of the transmission. Is preferred.

  According to this configuration, automatic shifting of the transmission can be achieved.

  As one mode, the field condition acquisition means for acquiring at least one of the hardness of the muddy surface and the depth to the hard disk in the field is provided, and the acquired hardness of the muddy surface or the depth to the hard disk is previously If the set threshold value is exceeded, the control unit switches the shift state of the transmission to a shift state for escape from the abnormal state, and controls the electric motor for extension at a rotational speed for escape from the abnormal state. It is suitable.

  If there is an abnormality in the field condition, such as when the mud surface is excessively soft or the depth to the hard disk is too deep, the wheels may slip against the field if you travel as elsewhere In the case of, there is a risk that it will not move from that place. Therefore, according to this configuration, when the acquisition result of the field condition exceeds the threshold value, that is, when the field condition is in the abnormal condition, the shift condition of the transmission is switched to the shift condition for escape from the abnormal condition. It is possible to effectively suppress the occurrence of obstacles to the traveling of the aircraft.

  In addition, when trying to escape from the abnormal state, the wheels become idle to some extent, and the actual traveling speed of the traveling body at the time of the abnormal state escape compared with the traveling speed of the traveling body normally predicted from the shift state of the transmission. Is lower. Therefore, in the operation for escaping the abnormal state, if the feeding electric motor is controlled based only on the shift state of the transmission, the agricultural material will be excessively fed out. On the other hand, according to this configuration, since the feeding electric motor is also controlled at the rotational speed for escape from the abnormal state, the feeding electric motor can be operated at the rotational speed considering the decrease of the traveling speed. Also in the driving for escape, the feeding amount of the agricultural material per unit traveling distance can be made constant.

  As one aspect, a shift operating tool for manually switching the shift state of the transmission is provided, and when the shift operating tool is operated, the shift state of the transmission takes precedence over shift control by the control unit. It is preferable that the shift operation by the shift operating tool be achieved.

  According to this configuration, priority is given to the switching of the shift state due to the initiative rather than the automatic shift control, so it is possible to perform the operation according to the user's intention while automatically adjusting the speed.

It is a whole side view of a rice transplanter. It is a whole top view of a rice transplanter. It is a front view of a fertilization apparatus. It is a block diagram which shows the control structure in interlocking control. It is a figure which shows an example of a field map. It is a figure which shows the flowchart of interlocking control. It is a block diagram which shows the control structure in interlocking control which concerns on another embodiment.

[Basic configuration of field work machine]
An embodiment of the present invention will be described based on the drawings. Here, the riding type rice transplanter 100 will be described as an example of the field work machine of the present invention. As shown in FIG. 1 to FIG. 3, the riding type rice transplanter 100 includes a traveling airframe 1, a seedling planting device 2 as a working device capable of planting seedlings on a field, and a granular material feeding device Fertilizer 3 is provided as.

  The traveling body 1 includes a driver's seat 11, a steering wheel 12, a touch panel 13, a main transmission lever 14 as a shift operation tool, an engine 15, a transmission 16, a front wheel 17 and a rear wheel 18 as a traveling device And. Specifically, in the traveling body 1, the motive power of the engine 15 is transmitted to the front wheel 17 and the rear wheel 18 via the transmission 16 to travel, and the operator is seated on the driver's seat 11 By operating the steering wheel 12 or the like or instructing various controls such as automatic travel control using the touch panel 13, travel according to the purpose is performed. Further, the transmission 16 is provided with a shift electric motor 16a that changes the shift state of the transmission 16, and is configured to perform stepless transmission. Then, the front wheel 17 and the rear wheel 18 are shifted by the operation of the shifting electric motor 16a. The control of the shift electric motor 16a is performed by manually switching the shift state of the transmission 16 by the main shift lever 14, and is automatically performed by the control unit 4 as described later. . In addition, the satellite positioning device 19 obtains the position of the vehicle 1 by using the GPS (Global Positioning System), which is a well-known technology, for the traveling vehicle 1 to be used for automatic control such as automatic traveling control and interlocking control described later. Is also provided.

  The seedling planting apparatus 2 includes a seedling platform 21 and a seedling planting unit 22. Seedling planting device 2 is configured in eight-row planting type, but the number of planting streaks can be changed by operating each row clutch (not shown). It can control whether it does or not. Although not described in detail, the power of the engine 15 after being shifted by the transmission 16 is transmitted to the seedling planting device 2 via the electric motor drive type planting clutch (not shown). The planting work unit 22 is adapted to carry out the seedling planting work.

  Fertilizer 3 supplies fertilizer (an example of agricultural material) to the field, and for that purpose, hopper 31 in which powdery granular fertilizer is stored, and 4 pieces of feeding out the fertilizer stored in hopper 31 , A delivery electric motor 33 for rotationally driving the delivery part 32, four clutches 34 corresponding to the four delivery parts 32, and a blower 35 for blowing air to the delivery part 32. The apparatus includes eight groovers 37 for forming a groove for supplying fertilizer in the field, and eight supply hoses 38 for supplying fertilizer to the grooves formed in the groover 37. Specifically, the power from the feeding electric motor 33 is transmitted to the input gear 321 of the feeding portion 32 through the clutch 34, whereby the feeding portion 32 is rotationally driven, and the hopper 31 is driven according to the amount of rotation. The stored fertilizer is fed by the feeding portion 32. Then, air is blown from the blower 35 by the drive of the blower motor 351, and the air is supplied to the respective feeding portions 32 through the supply duct 352, whereby the fertilizer is discharged through the supply hose 38, Fertilizers are supplied to the grooves formed in the field by the groover 37. In addition, the fertilizer application device 3 is provided with a ground adjustment float 36, and the field is ground when the traveling body 1 travels.

  In addition, the passenger type rice transplanter 100 includes the control unit 4, and the control unit 4 performs various controls including automatic travel control of the traveling vehicle 1. In particular, in the present embodiment, the control unit 4 performs interlocking control in which the control of the shift electric motor 16a and the control of the extension electric motor 33 are interlocked and executed. Below, among the control which control part 4 performs, this interlocking control is explained.

  First, the outline of interlocking control will be described. The shift state of the transmission 16 is automatically controlled by controlling the operation of the shift electric motor 16a in accordance with the field conditions such as the mud surface hardness and the depth to the hard disk in the field. Interlocking control is performed to control the rotational speed of the feeding electric motor 33 interlockingly with the shift state of the transmission 16 while changing the speed. In other words, if you can run without problems even if the field condition is well accelerated, traveling at a low speed is not preferable in terms of work efficiency, and depending on the hardness of the mud surface and the depth to the hard disk, a certain speed If the speed is lower than or above a certain speed, the wheels 17 and 18 may spin idle, or there may be operating losses such as the wheels 17 and 18 being taken on the mud surface, and in the worst case, the vehicle can not run. obtain. Therefore, in the interlocking control, the gear shift state of the transmission 16 is automatically changed to one suitable for the field state according to the state of the field to be traveled so that such a disadvantage can be avoided, and the operation loss and running stop are It is designed to suppress the occurrence. In addition, if only the speed of the traveling vehicle 1 changes without changing the amount of fertilizer delivery, the amount of fertilizer delivery per unit traveling distance will change. Therefore, interlocking control is performed to control the rotational speed of the feeding electric motor 33 interlockingly with the shift state of the transmission 16 so that the amount of delivery of fertilizer per unit traveling distance becomes a desired value. .

  In order to perform such interlocking control, in the present embodiment, the field condition is acquired using field condition acquisition means for acquiring at least one of the hardness of the mud surface and the depth to the hard disk in the field, and the field condition is acquired. The shifting electric motor 16a and the feeding electric motor 33 are controlled according to the state. The field condition acquisition means may be one that directly detects a field condition, or may be one that is not the field condition itself but is information for acquiring the field condition. And in this embodiment, satellite positioning device 19 is used as a field state acquisition means which detects information for acquiring a field state. Specifically, the satellite positioning device is used as information for acquiring the field condition by associating the position on the field to be worked with the field condition such as the hardness of the muddy surface and the depth to the hard disk in advance. By obtaining the positioning data of the traveling vehicle 1 during traveling by 19 and acquiring the field state corresponding to the position on the field from the positioning data, the change of the transmission state of the transmission 16 according to the field state and The control of the rotational speed of the interlocking delivery electric motor 33 is performed.

  FIG. 4 shows a control configuration of the control unit 4 in interlocked control. The control unit 4 includes a field state storage unit 41, a field state acquisition unit 42, and a determination unit 43. , And the shift state determination unit 44. In the field state storage unit 41, field state information in which the position on the field and the field condition such as the hardness of the mud surface and the depth to the hard disk are associated is stored for each field to be worked . The farmland state acquisition unit 42 acquires positioning data of the traveling body 1 from the satellite positioning device 19, identifies the position of the traveling body 1 on the farmland from the positioning data, and refers to the farmland state information of the farmland state storage unit 41. To obtain the field condition corresponding to the specified position. Then, the determination unit 43 determines the acquired field condition, and the gear change state determination unit 44 performs interlocking control in accordance with the determination result of the determination unit 43.

  Specifically, the field state storage unit 41 stores the field map 5 divided into a plurality of areas along the planned traveling route 6 as shown in FIG. 5 as the field state information, and the muddy surface for each area Field conditions such as hardness and depth to hard disk are associated and stored. As a result, for example, the area 51 where the hardness of the mud surface is lower (i.e., the ground is soft) compared to other areas or the area 52 where the depth to the hard disk is deeper than the other area, or the hardness of the mud surface is too low Even when there is an area 53 where the depth to the hard disk is too deep, it is complicated if the field state acquisition unit 42 specifies the position on the field map 5 of the traveling vehicle 1 from the positioning data from the satellite positioning device 19 You can easily know the hardness of the mud surface and the depth to the hard disk without the need for calculation.

  Further, the determination unit 43 specifically determines whether or not the acquired field condition is in an abnormal state in which the traveling airframe 1 may not be able to travel, and the hardness of the acquired mud surface or hard disk It is determined that an abnormal state is present when the depth of V exceeds a preset threshold. That is, even if the field condition such as the hardness of the mud surface or the depth to the hard disk is out of the reference condition, depending on the field condition, the shift of the transmission 16 by the amount deviated from the reference condition. If you change the state, you can not escape from the operation stop if you change the gear state by the amount that deviates from the standard state, and you can not escape the operation stop if you move so as not to cause operating loss. If you do not change the condition, you can not avoid the operation stop, and there are times when it is a state (abnormal state) where an operation loss will occur. Furthermore, in the case of the latter abnormal state, since the driving loss has occurred, the actual speed of the traveling airframe 1 is lower than the speed of the traveling airframe 1 predicted from the shift state of the transmission 16. Then, in the case of an abnormal state, it is necessary to change the shift state excessively with respect to the hardness of the mud surface and the depth to the hard disk, and based on only the shift state of the transmission 16 without considering the operation loss. If the rotational speed of the feeding electric motor 33 is controlled, the amount of feeding of fertilizer per unit travel distance will increase. Therefore, in the present embodiment, by determining whether the agricultural field state is in the abnormal state by the determination unit 43, the gear change state determination unit 44 takes into consideration the abnormal agricultural field state and the operation loss when it is in the abnormal state. The electric motor 16a and the feed motor 33 can be controlled.

  When it is determined that the gear shift state determination unit 44 is not in the abnormal state by the determination unit 43, when it is determined that the normal interlocking control is in the abnormal state (up to the hardness of the acquired mud surface or hard disk) In the case where the depth of (1) exceeds a preset threshold), interlock control for an abnormal state is performed. That is, if there is no abnormal condition, it is sufficient to simply control the shifting electric motor 16a of the transmission 16 according to the hardness of the mud surface and the depth to the hard disk, and no operation loss occurs. By controlling the rotational speed of the feeding electric motor 33 based on the shift state of the device 16, the feeding amount of fertilizer per unit traveling distance can be maintained constant. On the other hand, when it is in the abnormal state, it is necessary to perform special control in consideration of the abnormal state to the shift electric motor 16a of the transmission 16, and the transmission of the transmission 16 is appropriately changed. However, since the driving loss occurs, the feeding amount of the fertilizer per unit traveling distance can not be maintained constant unless the feeding electric motor 33 is controlled based on the driving loss as well as the transmission state of the transmission 16. Therefore, in normal interlocking control, gear shift state determination unit 44 determines the gear shift state of transmission 16 according to the hardness of the mud surface and the depth to the hard disk, and for feeding based on the determined gear shift state of transmission 16 In interlock control for abnormal state while determining the rotational speed of the electric motor 33, the gear shift state of the transmission 16 is determined to be special considering the abnormal state as well as the hardness of the mud surface and the depth to the hard disk The rotational speed of the feed-out electric motor 33 is determined to be special based on the determined shift state of the transmission 16 and the operation loss calculated from the field state and the shift state. Then, based on the shift state of the transmission 16 and the rotational speed of the feed motor 33, the shift state determination unit 44 controls the shift motor 16a and the feed motor 33. ing.

  As described above, regardless of the shift state of the transmission 16, the shift state determination unit 44 sets the feed amount of fertilizer per unit travel distance by the feed portion 32 to a preset value so that the feed electric motor It is designed to control the rotational speed of 33. Then, when it is determined by the determination unit 43 that the field condition is abnormal (that is, when the acquired hardness of the mud surface or the depth to the hard disk exceeds a predetermined threshold), the gear shift is performed. The state determination unit 44 switches the shift state of the transmission 16 to a shift state for escape from the abnormal state, and controls the feed motor 33a at the rotational speed for escape from the abnormal state.

  Then, the flow of interlocking control by the control unit 4 will be described using the flowchart of FIG. 6. When the traveling body 1 starts traveling, the control unit 4 causes the field status acquisition unit 42 to convert the positioning data from the satellite positioning device 19 into Based on the information, the field condition of the field being driven is acquired (S1), and the determination unit 43 determines whether the field condition is abnormal (S2). When the field condition is not abnormal (S2: No), the shift state determination unit 44 performs normal interlock control (S3), and when the field is abnormal (S2: Yes), the shift state is determined. The unit 44 performs interlock control for an abnormal state, acquires the field state again, and repeats these controls until the end of traveling.

  As an example of control related to the hardness of the mud surface, the harder the mud surface (that is, the higher the hardness of the mud surface), the larger the load on the wheels 17 and 18 accompanying traveling, so It is necessary to decelerate the shift state. On the other hand, as the mud surface is softer (that is, the hardness of the mud surface is lower), the load on the wheels 17 and 18 accompanying traveling is smaller, so even if the transmission 16 is accelerated, there is no hindrance to the operation. However, if the mud surface is softer than a certain level, there is a risk that the wheels 17 and 18 will sink into the field if there is no speed higher than a certain level. It is necessary to escape from the place before 17, 18 sinks. Therefore, in the range of softness below a certain limit, the determination unit 43 determines that it is not an abnormal state, and the shift state determination unit 44 associates the mud surface with the change in the mud surface hardness as normal interlocking control. The transmission electric motor 16a is controlled to decelerate the transmission 16 as it gets harder and accelerates the transmission 16 as the mud surface becomes softer, and at the same time, according to the increase or decrease of the transmission 16, the delivery electric motor 33 The rotational speed is also controlled so that the amount of fertilizer delivery per unit travel distance becomes a preset value. Then, when the mud surface is softer than a certain level, the determination unit 43 determines that an abnormal state is present, and the shift state determination unit 44 performs the shift control of the transmission 16 from the place as interlock control for the abnormal state. A special gear change state for escaping (over-acceleration) is determined, and at this time, the idle speed is also generated by the over-acceleration, so the rotational speed of the feed-out electric motor 33 is considered special Decide on the rotational speed of these to perform these controls.

  Also, to give an example of control regarding the depth to the hard disk, the wheels 17 and 18 are buried in the field as the hard disk gets deeper, and the load on the wheels 17 and 18 accompanying traveling increases, so the transmission It is necessary to decelerate the 16 shift states. On the other hand, since the load on the wheels 17 and 18 accompanying traveling is smaller as the hard disk is shallower, there is no hindrance to the operation even if the transmission 16 is accelerated. However, when the depth to the hard disk becomes a certain level or more, not only the load on the wheels 17 and 18 increases but also there is a possibility that the wheels 17 and 18 may be too sunk in the field and the vehicle can not run. It is necessary to run while making the airframe 1 meander in small increments to prevent sinking. And in order to make it wander in small increments, it is necessary to slow down the speed of the traveling body 1 to some extent. Therefore, it is necessary to overspeed the transmission 16 and escape from that location before the wheels 17, 18 sink. Therefore, when the depth to the hard disk becomes equal to or more than a certain level, it is necessary to decelerate the gear shift state of the transmission 16 excessively. Therefore, in the range of depths below a certain limit, the determination unit 43 determines that the abnormal state is not present, and the shift state determination unit 44 associates the change in the depth to the hard disk as normal interlocking control to the hard disk The shifting electric motor 16a is controlled so as to decelerate the transmission 16 as it is deeper and to accelerate the transmission 16 as it gets shallower, and at the same time, the rotation of the extension motor 33 according to the increase or decrease of the transmission 16. The speed is also controlled so that the amount of delivery of fertilizer per unit travel distance becomes a preset value. When the depth to the hard disk is greater than or equal to a certain level, the determination unit 43 determines that there is an abnormal state, and the shift state determination unit 44 performs the shift state of the transmission 16 as interlock control for the abnormal state. Is determined as a special gear change state (deceleration to an excessive amount) to escape from the location, and at this time, since the operation loss is also generated by the meandering amount, the rotational speed of the feed motor 33 is taken into consideration Determine these special rotation speeds and perform these controls.

  Note that the shift state determination unit 44 may perform control by combining the hardness of the mud surface and the depth to the hard disk, or in addition to any one of these, control is performed based on other parameters representing the field conditions. You may do so. Further, the control by the shift state determination unit 44 described above is merely an example, and control different from that described above may be performed.

  Further, the control unit 4 not only automatically controls the shifting electric motor 16a and the feeding electric motor 33 according to the field condition as described above, but also the shifting electric motor 16a according to an instruction from the operator. The feeding electric motor 33 can be controlled, and in this case, control is performed with priority given to instructions from the operator. For example, in the present embodiment, the operation of the shift electric motor 16a and the extension electric motor 33 can be controlled by giving an instruction by the main shift lever 14 or the touch panel 13. Specifically, when the main shift lever 14 is operated, the shift state of the transmission 16 takes priority over the shift control by the control unit 4 so that the shift state is set by the main shift lever 14 (The same control may be performed by the touch panel 13). In addition, when there is an instruction to change the amount of delivery of fertilizer per unit travel distance by the touch panel 13 or to stop the delivery of the fertilizer, the control unit 4 does not matter regardless of the shift state of the transmission 16. The feeding electric motor 33 is controlled so as to reach the instructed value or to stop the feeding of the fertilizer. Thereby, it is possible to cope with a case where there is a portion where it is desired to partially change the amount of delivery of fertilizer or a portion where it is desired to stop the delivery of fertilizer in the same field.

  Thus, according to the riding type rice planter 100 of the present embodiment, waste of fertilizer can be reduced while controlling the amount of delivery of fertilizer according to the speed of the traveling vehicle 1, and only the amount of delivery of fertilizer can be partially Is in control.

[Another embodiment]
The present invention is not limited to the configuration exemplified in the above-described embodiment, and hereinafter, another representative embodiment of the present invention will be illustrated.

[1] In the embodiment described above, the configuration using the satellite positioning device 19 as the field condition acquisition means has been described as an example. However, the present invention is not limited to the embodiments described above, and various ones can be used. For example, as shown in FIG. 7, the ground adjustment float 36 is used as a field condition acquisition means, and the angle of the ground adjustment float 36 is associated beforehand with the hardness of the mud surface in the field and the depth to hard disk, By detecting the angle of the float 36, the control unit 4 determines the hardness of the muddy surface and the depth to the hard disk from the angle, and controls the shifting electric motor 16a and the feeding electric motor 33. It is also good.

[2] In the embodiment described above, the configuration for automatically controlling the shift state of the transmission 16 according to the field condition has been described as an example. However, the present invention is not limited to the embodiment described above, and all control of the transmission 16 may be performed manually, not in the field condition, or in addition to the field condition, other parameters and conditions Accordingly, the shift state of the transmission 16 may be automatically controlled. For example, the control unit 4 determines a section in which the gear shift state of the transmission 16 should be decelerated (or accelerated), such as a section in which a run or turning operation is performed, a section in which the fertilizer is not discharged, It is also possible to predetermine a section or the like that increases or decreases as compared with the above, and control the shifting electric motor 16a and the feeding electric motor 33 based on this.

[3] In the embodiment described above, the controller 4 controls the feeding electric motor 33 so that the feeding amount of fertilizer per unit travel distance becomes a preset value regardless of the shift state of the transmission 16. The configuration for controlling the rotational speed has been described as an example. However, the present invention is not limited to the above-described embodiment, and a method of interlocking with the shift state of the transmission, such as controlling so that the amount of fertilizer delivery per unit traveling distance increases as the transmission 16 accelerates. Can be suitably changed according to the purpose.

[4] In the above-described embodiment, the configuration using the stepless transmission in which the transmission 16 is shifted by the shifting electric motor 16a has been described as an example. However, the present invention is not limited to the above-described embodiment, and various transmissions such as a multistage transmission can be used as the transmission.

[5] In the embodiment described above, the determination unit 42 determines whether or not the field condition is abnormal, and in the case of the abnormal condition, the configuration for performing special control has been described as an example. However, the present invention is not limited to the above-described embodiment, and the normal control may be all performed without determining whether the field condition is abnormal.

[6] In the embodiment described above, the configuration in which the operator can manually control the shift electric motor 16a and the extension electric motor 33 via the main shift lever 14 and the touch panel 13 has been described as an example. However, the present invention is not limited to the embodiment described above, and all automatic control may be performed.

[7] In the embodiment described above, a rice transplanter has been described as an example of a field work machine, but the present invention is not limited to this. For example, various machines such as a tractor, a combine, and a passenger management machine can be used. Moreover, not only fertilizer but also various materials can be used as agricultural materials.

[8] With regard to other configurations, it is to be understood that the embodiments disclosed herein are illustrative in all respects, and the scope of the present invention is not limited by them. Those skilled in the art will easily understand that appropriate modifications can be made without departing from the spirit of the present invention. Therefore, other embodiments modified within the scope of the present invention are naturally included in the scope of the present invention.

  The present invention can be used, for example, in a field work machine capable of supplying agricultural materials to a field.

100 rice transplanter (field work machine)
1 Traveling fuselage 14 Main gear shift lever (gearshift operating tool)
16 Transmission 16a Transmission Electric Motor 17 Front Wheel (Training Device)
18 Rear wheel (traveling device)
19 Satellite Positioning System (Field Condition Acquisition Means)
3 Powder and granular material supply device 31 Hopper 32 Feeding out part 33 Electric motor for feeding out 36 Leveling float (field condition acquisition means)
4 Control unit

Claims (5)

A traveling airframe having a traveling device;
A transmission for shifting the traveling device;
It has a hopper in which powdery granular agricultural material is stored, a delivery unit for delivering the agricultural material stored in the hopper, and a delivery electric motor for rotationally driving the delivery unit, and the agricultural material is placed in the field A granular material feeder for feeding;
And a control unit that controls the powder and granular material supply device,
A field work machine in which the control unit controls the rotational speed of the feed-out electric motor in conjunction with the shift state of the transmission.   The control unit controls the rotational speed of the feeding electric motor so that the feeding amount of the agricultural material per unit travel distance by the feeding unit becomes a preset value regardless of the shift state of the transmission. The field work machine according to claim 1 which controls. A shift electric motor for changing the shift state of the transmission;
The field work machine according to claim 1 or 2, wherein the control unit controls the operation of the shift electric motor to automatically change the shift state of the transmission. Field condition acquisition means for acquiring at least one of the hardness of the mud surface and the depth to the hard disk in the field,
If the acquired mud surface hardness or depth to hard disk exceeds a preset threshold,
The field work machine according to claim 3, wherein the control unit switches the shift state of the transmission to a shift state for exiting an abnormal state, and controls the feeding electric motor at a rotational speed for exiting the abnormal state. A shift operating tool for manually switching the shift state of the transmission;
The field work according to claim 3 or 4, wherein, when the gearshift operating tool is operated, the gearshift state of the transmission becomes a gearshift state by the gearshift operating tool prior to the shift control by the control unit. Machine.

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