JP2021023213A - Harvesting vehicle - Google Patents

Abstract

To provide a harvesting vehicle capable of smoothly traveling in a cultivation facility.SOLUTION: A harvesting vehicle 1 includes a harvesting part 2 for harvesting crops, and a travel vehicle body 3 capable of traveling. Furthermore, there are provided: in the lower part of the travel vehicle body 3, a first multidirectional movement wheel and a second multi-directional movement wheel for making the travel vehicle body 3 movable in a multi-direction, left and right rail travel rollers for traveling on a travel rail 500, and left and right rail support rollers rotating while supporting the travel rail 500 from both left and right sides; and in the front part of the travel vehicle body 3, left and right rail guide rollers contacting the travel rail 500 and guiding a direction of travel of the harvesting vehicle 1 when the harvesting vehicle 1 approaches to the travel rail 500. In the harvesting vehicle 1, arrangement intervals on right and left sides of the left and right guide rollers are disposed wider than arrangement intervals on right and left sides of the left and right rail support rollers.SELECTED DRAWING: Figure 10

Description

The present invention relates to a harvesting vehicle for harvesting crops, for example, a self-propelled harvesting vehicle provided with a harvesting section for harvesting fruit and vegetable crops.

Conventionally, a harvesting vehicle configured to harvest crops by a harvesting unit while traveling on a traveling rail laid in a cultivation facility is known (see, for example, Patent Document 1).

JP-A-2017-163928

However, the conventional harvesting vehicle is unstable in approaching the traveling rail and traveling on the traveling rail.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a harvesting vehicle that realizes approach to a traveling rail and stable traveling on the traveling rail.

The above-mentioned object is a harvesting vehicle provided with a harvesting unit for harvesting crops, the traveling vehicle body is provided, and the traveling vehicle body can be moved in multiple directions under the traveling vehicle body. Directional moving wheels, second multi-directional moving wheels, left and right rail running rollers for running the running rails laid in the cultivation facility, and left and right rail supporting rollers that rotate while supporting the running rails from both the left and right sides. The front part of the traveling vehicle body is provided with left and right rail guide rollers that abut on the traveling rail and guide the traveling direction of the harvesting vehicle when the harvesting vehicle enters the traveling rail. The left and right disposition intervals of the left and right rail guide rollers are achieved by a harvesting vehicle characterized in that they are provided wider than the left and right disposition intervals of the left and right rail support rollers.

According to the present invention, the left and right arrangement intervals of the left and right rail guide rollers are wider than the left and right arrangement intervals of the left and right rail support rollers, so that the left and right rail guide rollers are left and right when entering the traveling rail. The rail guide rollers can guide the harvesting vehicle well on the traveling rail, and the left and right rail support rollers enable stable traveling on the traveling rail.

A more preferable configuration of the present invention is that, in the above invention, the first multi-directional moving wheel and the second multi-directional moving wheel are configured to be separated from the ground while the harvesting vehicle is traveling on the traveling rail.
A control device capable of controlling the rotational drive of the first multi-directional moving wheel, the second multi-directional moving wheel, and the left and right rail traveling rollers is provided, and the control device is such that the harvesting vehicle travels on the traveling rail. It is provided with a rail traveling determination means capable of determining whether or not the vehicle is running, and when it is determined by the rail traveling determination means that the harvesting vehicle has entered the traveling rail, the left and right rail traveling rollers are rotationally driven. Further, when the harvesting vehicle is traveling on the traveling rail. It is characterized in that the driving of the first multi-directional moving wheel and the second multi-directional moving wheel that enable the traveling vehicle body to move in multiple directions is stopped.

According to this more preferable configuration of the present invention, the harvesting vehicle can smoothly enter the traveling rail.

A more preferable configuration of the present invention includes a storage bucket capable of accommodating a storage bucket provided in the traveling vehicle body and a storage bucket detection sensor for detecting the position of the storage bucket housed in the storage unit. When the storage bucket detection sensor determines that the storage bucket is stored in the storage portion, the storage bucket is configured to stop driving the first multi-directional moving wheel and the second multi-directional moving wheel. To do.

According to this more preferable configuration of the present invention, when it is determined that the storage bucket is stored in the storage portion, the traveling rail is moved by stopping the driving of the first multi-directional moving wheel and the second multi-directional moving wheel. It is possible to prevent the drive wheels from being driven unnecessarily during traveling, and it is possible to reduce energy consumption.

As described above, according to the present invention, it is possible to provide a harvesting vehicle in which the work load on the worker is reduced and the work efficiency is improved at the same time.

It is a perspective view which shows the appearance of the harvesting vehicle which concerns on embodiment of this invention. It is a front view of the harvesting vehicle of FIG. It is a side view of the harvesting vehicle of FIG. 4 (a) is a schematic plan view of the support transport mechanism of the upper support transport device and the lower support transport device of FIG. 1, and FIG. 4 (b) is a schematic plan view of the upper support transport device and the lower support transport device of FIG. It is a schematic side view of a support transport mechanism. FIG. 5A is a front view of the rotation support member in the support posture, and FIG. 5B is a front view of the rotation support member in the non-support posture. It is a schematic plan view of the upper support transport device of FIG. It is a schematic plan view of the lower support transport device of FIG. 8 (a) and 8 (b) are schematic front views for explaining the operation of the accommodating portion in the front portion of the accommodating space of FIG. 9 (a) and 9 (b) are schematic front views for explaining the operation of the accommodating portion in the rear part of the accommodating space of FIG. It is a schematic bottom view of the harvesting vehicle 1 of FIG. It is a side view of the main part around the 2nd multi-directional moving wheel of FIG. It is explanatory drawing explaining the exchange operation of the storage bucket of the harvesting vehicle of FIG. It is explanatory drawing explaining how the harvesting vehicle of FIG. 1 rides on a traveling rail. It is explanatory drawing explaining the state that the harvesting vehicle of FIG. 1 travels on a traveling rail. It is a block diagram of the control device of the harvesting vehicle of FIG. It is a schematic plan view which shows an example of the cultivation facility in which the harvesting vehicle of FIG. 1 is used.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing the appearance of the harvesting vehicle 1 according to the embodiment of the present invention. Here, the X direction of the XYZ Cartesian coordinate system shown in FIG. 1 is the front of the harvesting vehicle 1, the −X direction is the rear, the Y direction is the left, the −Y direction is the right, the Z direction is the upward, and the −Z direction. Is downward. Further, in the following description, it is assumed that a crop such as fruit vegetables is harvested by the harvesting vehicle 1, and tomato is assumed as the crop of fruit vegetables.

As shown in FIG. 1, the harvesting vehicle 1 includes a traveling vehicle body 3 provided with a harvesting unit 2 for harvesting crops and a storage unit 31 capable of accommodating a plurality of storage buckets A for storing the harvested crops. The harvesting unit 2 is loaded on the traveling vehicle body 3 so that the vehicle can travel.

The harvesting unit 2 includes a substantially rectangular parallelepiped housing 21 in which a control unit C for controlling various mechanisms of the harvesting vehicle 1 and a battery E for supplying electric power are mounted. The inside of the housing 21 is formed in a shelf shape with multiple upper and lower stages, and the battery E, the harvesting hand body drive mechanism F, and the control unit C are sequentially mounted from the bottom.

By arranging the battery E at the lowermost part of the housing 21, the center of gravity of the harvesting vehicle 1 can be kept low, so that stable running is possible, and the harvesting device drive mechanism F provided above the battery E is possible. It is easy to supply electric power to the control unit C and the traveling mechanism 4 of the traveling vehicle body 3 provided below.

Further, a harvesting device 24 for harvesting crops is provided on the front surface of the housing 21, and the harvesting device 24 has an arm portion 22 provided so as to be movable up, down, left and right by swinging the tip. A harvesting hand body 23 that is attached to the front surface of the housing 21 and that can grip the crop by opening and closing the arm is provided at the tip of the arm portion 22.

The harvesting unit 2 is configured so that the control unit C can acquire the position information of the crop by a crop recognition device (not shown), whereby the control unit C controls the operations of the arm portion 22 and the harvesting hand body 23. After the crop is grasped and picked by the harvesting hand body 23, the gripped crop is moved to the storage bucket A housed in the storage portion 31 and then released, and the crop is stored in the storage bucket A. ing. As shown in FIGS. 1 and 2, the storage bucket A has a box shape with an open upper surface and is provided with an outer frame protruding in the horizontal direction on the upper surface.

The traveling vehicle body 3 is provided with a traveling mechanism 4 capable of traveling on the traveling rail 500 laid on the ground and in the cultivation facility. The traveling mechanism 4 will be described later.

FIG. 2 is a front view of the harvesting vehicle 1 according to the embodiment of the present invention, and FIG. 3 is a side view of the harvesting vehicle 1 according to the embodiment of the present invention.

As shown in FIG. 2, a plurality of accommodating portions 31 of the traveling vehicle body 3 are housed inside the left and right vehicle body frames 3L and 3R provided on both the left and right sides of the traveling vehicle body 3 and forming the sides of the traveling vehicle body 3. A storage space S2 capable of accommodating the bucket A is provided, and a plurality of storage buckets A can be accommodated in the storage space S2.

The accommodating portion 31 takes in two rows of storage buckets A (A1 to A8) stacked on the bucket stand B from the accommodating opening S1 which is an opening provided on the front side of the traveling vehicle body 3, and takes in the traveling vehicle body. It can be accommodated in the accommodation space S2 in 3. At this time, the four storage buckets A (A1 to A4) stacked in the front row are in the front portion S2f of the accommodation space S2, and the four storage buckets A (A5 to A8) stacked in the rear row are in the rear portion of the storage space S2. It is housed so that it fits in S2r. Further, in the lower part of the storage space S2, a discharge opening S3 capable of dropping and discharging the storage bucket A is provided. As a result, the accommodating portion 31 can quickly and easily drop and eject the accommodating buckets A (A1 to A8) from the discharge opening S3. The harvesting vehicle 1 configured in this way can take in a plurality of storage buckets A from the storage opening S1 into the storage space S2 while advancing the aircraft. As a result, work efficiency is greatly improved.

Further, by the operation of the arm portion 22 and the harvesting hand body 23, which are the harvesting devices 24 of the harvesting portion 2, the crops are transferred from the open portion provided on the upper surface of the front portion of the traveling vehicle body 3 to the storage bucket A accommodated in the accommodating portion 31. Can be stored. Here, in FIGS. 1 and 2, the storage bucket A (A4) located at the uppermost stage of the storage buckets A (A1 to A4) housed in the front portion S2f of the crop storage space S2 is in the storage space S2. In the crop storage position, the crop can be stored from the harvesting section 2. The harvesting unit 2 can sequentially store the harvested crops in the storage bucket A at the crop storage position. Further, a storage bucket detection sensor 83 for detecting the storage bucket A housed in the storage unit 31 is arranged at an appropriate position on the front portion of the traveling vehicle body 3, whereby the control unit C is housed. It is configured so that information on the position of each storage bucket A in the storage unit 31 can be acquired and the arrangement state of the storage bucket A in the storage unit 31 can be determined.

The accommodating portion 31 includes a support mechanism for supporting the storage bucket A in the accommodating space S2 and a support and transport mechanism for transporting the storage bucket A. The support and transport mechanism is shown in FIG. As shown in FIG. 3, an upper support transfer mechanism 311 arranged in the upper part of the accommodation space S2 and configured to support and transfer the storage bucket A located above the accommodation space S2 in the front-rear direction, and the accommodation space. It is configured by a lower support transport mechanism 312 which is arranged in the lower part of S2 and is configured to support and transport the storage bucket A located in the lower part of the storage space S2 in the front-rear direction. Further, the accommodating portion 31 is provided with a pinching lift mechanism capable of sandwiching an arbitrary storage bucket among the accommodating buckets A stacked in the accommodating space S2 and transporting the storage buckets in the vertical direction. The front holding lift mechanism 313, which is arranged in the front portion S2f in the accommodation space S and is configured to sandwich and vertically convey an arbitrary storage bucket A located in the front portion S2f of the accommodation space S. It is configured to include a rear holding lift mechanism 314 which is arranged in the rear portion S2r in the accommodation space S and is configured to sandwich and vertically convey an arbitrary storage bucket A located in the rear portion S2r of the accommodation space S. Has been done. Further, the upper support transport device 311 and the lower support transport device 312 each include a support transport mechanism 5, which is a mechanism for supporting and transporting the storage bucket A taken into the accommodation space S of the traveling vehicle body 3.

FIG. 4A is a schematic plan view of the support transfer mechanism 5 of the upper support transfer device 311 and the lower support transfer device 312, and FIG. 4B is a support of the upper support transfer device 311 and the lower support transfer device 312. It is a schematic side view of the transport mechanism 5.

Next, the configuration of the support transfer mechanism 5 provided in the upper support transfer device 311 and the lower support transfer device 312 will be described. The support transport mechanism 5 supports the storage bucket A in the accommodation space S2 and enables transportation in the front-rear direction. Therefore, the left and right rotating shafts 51 (51L, 51R) extending in the front-rear direction in the accommodation space S2. A shaft rotation motor 52 (52L, 52R) is connected to one end of the rotation shaft 51 (51L, 51R), and the rotation shaft 51 is driven by the shaft rotation motor 52 (52L, 52R). It can rotate in the forward and reverse directions. Further, the left and right rotation shafts 51 (51L, 51R) are rotatably supported, and the left and right support frames 53 (53L, 53R) extending in the front-rear direction in the accommodation space S2 are provided, and the support frame 53 (53L) is provided. , 53R), a plurality of rotation support members 54 (54L, 54R) are rotatably attached at equal intervals along the longitudinal direction.

The rotation support members 54 (54L, 54R) are provided so as to form a pair on the left and right in the accommodation space S2, respectively, and are configured to support the storage bucket A from both the left and right sides. Further, the rotary support members 54 (54L, 54R) each include a roller portion 541 (541R, 541L) rotatably provided for transporting the storage bucket in the supported state, and a support frame 53 (53L) at both ends. , 53R) is provided with a rotating shaft 542 (542L, 542R) that is pivotally supported, and each of the rotating shafts 542 (542L, 542R) has a roller portion 541 (541R, 541L) at the inner end. The outer sprocket 544 (544R, 544L) is provided at the outer end of the support frame 53 (53L, 53R) from the inner end, and is located slightly inside the outer end of the rotating shaft 542 (542L, 542R). An inner sprocket 543 (543L, 543R) is provided.

As shown in FIG. 4A, at the rear ends of the left and right support frames 53 (53L, 53R), chain motors 55 (55L, 55L, for rotating roller portions 541 (541R, 541L), respectively. 55R) is provided.

The inner sprocket 543 (543L, 543R) of the rotation support member 54 (54L, 54R) arranged at the rearmost end adjacent to the chain motor 55 (55L, 55R) is a chain motor 55 (55L, 55R). And the endless chain 56 (56L, 56R), and further, the plurality of rotation support members 54 (54L, 54R) are rotationally supported from the rear end rotation support member 54 (54L, 54R) to the front end. The outer sprockets 544 (544R, 544L) and the inner sprockets 543 (543L, 543R) of the adjacent rotation support members 54 (54L, 54R) alternately reach the member 54 (54L, 54R). It is connected by an endless chain 56 (56L, 56R), and as a result, when the chain motor 55 (55L, 55R) is driven, the driving force is arranged at the rearmost end of the support frame 53 (53L, 53R). It is transmitted from the rotation support member 54 (54L, 54R) to the rotation support member 54 (54L, 54R) arranged at the frontmost end. As a result, the roller portions 541 (541R, 541L) of the plurality of rotation support members 54 (54L, 54R) are synchronized, and the chain motor 55 (55L, 55R) is centered on the rotation shaft 542 (542L, 542R). It is configured to rotate clockwise or counterclockwise depending on the drive of the. As a result, the support transport mechanism 5 is configured to be able to transport the accommodating bucket A supported by the rotation support member 54 (54L, 54R) in the front-rear direction by rotating the rotation support member 54 (54L, 54R). Has been done.

FIG. 5A shows a rotation support member 54 in a support posture, and FIG. 5B shows a rotation support member 54 in a non-support posture. In the support transport mechanism 5, when the rotation shaft 542 (542L, 542R) is rotated by the drive of the shaft rotation motor 52 (51L, 52R), the roller portion of the rotation support member 54 (54L, 54R) is interlocked with the rotation shaft 542 (542L, 542R). The 541 (541R, 541L) is configured to rotate up and down about the rotation shaft 51 (51L, 51R). As a result, the rotation support member 54 (54L, 54R) is switched between a support posture in which the rotation shaft 542 (542L, 542R) is horizontal and a non-support posture in which the rotation shaft 542 (542L, 542R) is tilted. Is possible.

As shown in FIG. 5A, in the support posture of the rotation support member 54, the roller portion 541 (541R, 541L) projects to the inside of the accommodation space S2 so as to lift the neck, thereby storing. It is configured to abut the outer frame of the bucket A from below and support the storage bucket A from both the left and right sides. As shown in FIG. 5B, in the non-supporting posture of the left and right roller portions 541 (541R, 541L), the left and right roller portions 541 (541R, 541R,) are rotated by the rotation of the rotation shaft 51 (51L, 51R). The 541L) is rotated downward so as to hang down, and a space having a left-right width that does not interfere with the outer frame of the storage bucket A is secured between the left and right roller portions 541 (541R, 541L). Has been done. In this way, the left and right rotation support members 54 (54L, 54R) are configured to support the storage bucket A in the support posture and to provide an interval that does not interfere with the storage bucket A in the non-support posture. As a result, the storage bucket A located in the accommodation space S2 can be lifted and supported by switching from the non-supported posture to the supported posture, or the stored bucket A that has been supported can be lifted and supported by switching from the supported posture to the non-supported posture. When the storage bucket A is accommodated in the accommodation space S2 of the traveling vehicle body 3 in a state of being released and placed or in a non-supporting posture, or when the storage bucket A is dropped and discharged from the discharge opening S3, the traveling vehicle body 3 is further discharged. The storage bucket A is configured to be able to pass between the left and right roller portions 541 (541R, 541L) when the storage bucket A is moved from the storage space S2 to the outside.

FIG. 6 is a schematic plan view of the upper support transfer device 311 and FIG. 7 is a schematic plan view of the lower support transfer device 312. As shown in FIGS. 6 and 7, the front-rear width of the accommodation space S2 in the traveling vehicle body 3 is set to a length capable of accommodating the storage buckets A stacked in two front-rear stages. Further, as shown in FIG. 6, the storage bucket A supported by the upper support transport device 311 provided in the upper part in the storage space S2 is moved by the rotational operation of the left and right roller portions 541 (541R, 541L). It can be transported forward (in the direction of the arrow). As a result, the storage bucket A located in the rear accommodation space S2r can be transported to the front accommodation space S2f.

Further, as shown in FIG. 7, the storage bucket A supported by the lower support transport device 312 provided in the lower part of the storage space S2 is driven by the rotational operation of the left and right roller portions 541 (541R, 541L). It is possible to transport the storage bucket A to the rear (in the direction of the arrow), whereby the storage bucket A located in the front storage space S2f can be transported to the rear storage space S2r. That is, the rotation directions of the left and right roller portions 541 (541R, 541L) of the upper support transport device 311 and the lower support transport device 312 are configured to be opposite to each other. As described above, since the rotation directions of the plurality of roller portions 54 of the upper support transport mechanism 311 and the lower support transport mechanism 312 are provided so as to be opposite to each other, the upper support transport mechanism 311 and the lower support transport mechanism 312 are provided. Since the storage bucket A can be configured in a different transport direction, the storage bucket A in which the crops are stored and the empty storage bucket A can be suitably replaced.

8 (a) and 8 (b) are schematic front views for explaining the operation of the accommodating portion 31 in the front portion S2f of the accommodating space S2.
After accommodating the accommodating buckets A (A1 to A8) in the accommodating space S2, the accommodating portion 31 does not support the left and right rotating support members 54 (54L, 54R) in the lower support transport device 312 (312L, 312R). By switching from to the support posture, the storage bucket A (A1 to A8) is supported by the rotation support members 54 (54L, 54R) as shown in FIG. 8B, and the storage bucket A is inside the traveling vehicle body 3. (A1 to A8) are mounted. As a result, the traveling vehicle body 3 travels while maintaining the support posture of the left and right rotation support members 54 (54L, 54R) in the lower support transport device 312 (312L, 312R), whereby the traveling vehicle body 3 travels within the accommodation space S2 of the traveling vehicle body 3. It is possible to carry a plurality of storage buckets A mounted on the vehicle. As a result, the harvesting vehicle 1 can increase the capacity of the harvested crops as compared with the conventional case by mounting the plurality of storage buckets A and traveling, so that the burden required for replacing the storage buckets is greatly reduced. At the same time, work efficiency can be improved.

Left and right front holding lift mechanisms 313 (313L, 313R) are provided on the left and right sides of the accommodation portion 31 in the front portion S2f of the accommodation space S2. The left and right front holding lift mechanisms 313 (313L, 313R) have a vertical movement mechanism 61L, 61R configured to be vertically movable by an electric slider, and left and right holding claws attached to the vertical movement mechanism 61L, 61R, respectively. It is equipped with 62L and 62R.

The left and right holding claws 62L and 62R open and close under the control of the control unit C, and in the closed state, as shown in FIG. 8A, the tips are stored with the tips facing in the vertical direction, but they are opened. In the state, as shown in FIG. 8B, the tip of the storage bucket A is directed toward the inside of the storage space S2, engaged from both sides of the outer frame of the storage bucket A, and sandwiches the storage bucket A. There is.

The front holding lift mechanism 313 (313L, 313R) configured in this way slides the left and right holding claws 62L and 62R in the front portion S2f in the accommodation space S and selects a height position for opening operation. As a result, among the storage buckets A (A1 to A4) stacked in the front portion S2f of the storage space S2, any bucket A can be sandwiched and transported in the vertical direction, and further, the storage bucket A can be sandwiched. By closing the left and right holding claws 62L and 62R from this state, the storage bucket A can be released and placed.

Next, during the harvesting operation, the front-rear exchange transfer operation of the bucket A by interlocking the lower support transfer device 312 (312L, 312R) and the front holding lift mechanism 313 (313L, 313R) will be described. First, under the control of the control unit C, the front holding lift mechanism 313 (313L, 313R) drives the vertical movement mechanisms 61L, 61R while holding the storage bucket A, and the left and right holding claws 62L, 62R are upward. By sliding the movement, as shown in FIG. 8B, the position is located in the second stage from the bottom from the lowermost bucket A (A1) supported by the lower support transfer device 312 (312L, 312R). Separate the bucket A (A2) to be lifted.

As a result, the accommodating portion 31 rotates the lower support transport device 312 (312L, 312R) under the control of the control unit C while the bucket A (A2) located in the second stage from the bottom is separated and lifted. The support member 54 (54L, 54R) is rotated to convey the lowermost bucket A (A1) to the rear. In this way, the accommodating portion 31 is configured so that the accommodating buckets A stacked in the front portion S2f of the accommodating space S can be moved from the front portion S2f to the rear portion S2r.

As shown in FIGS. 9 (a) and 9 (b), on both sides of the accommodating portion 31 in the rear portion S2r of the accommodating space S2, the left and right rear holding lift mechanisms 314 (314L, 314R) are provided, similarly to the front portion S2f. ) Is provided. The left and right front holding lift mechanisms 314 (314L, 314R) are provided with vertical movement mechanisms 71L and 71R by electric sliders and left and right holding claws 72L and 72R attached to the vertical movement mechanisms 71L and 71R, respectively. .. The rear holding lift mechanism 314 (314L, 314R) configured in this way is capable of the same basic operation as the front holding lift mechanism 313 (313L, 313R).

Next, during the harvesting operation, the front and rear exchange transfer operation of the bucket A by interlocking the upper support transfer device 311 (312L, 311R), the lower support transfer device 312 (312L, 312R) and the rear holding lift mechanism 314 (314L, 314R). Will be described. As shown in FIG. 9A, the front holding lift mechanism 313 (313L, 313R) drives the rear holding lift mechanism 314 (314L, 314R) under the control of the control unit C, and the rear part of the accommodation space S2. The buckets A (A5 to A8) located in S2r are sandwiched and conveyed upward to form a space that can accommodate one bucket, and the bucket A (A1) at the bottom of the front portion S2f is formed there. Is transported and accommodated by the lower support transport device 312 (312L, 312R).

Next, as shown in FIG. 9B, the rotation support member 54 of the upper support transfer device 311 (312L, 311R) is switched from the non-support posture to the support posture, and the uppermost bucket A (A8) is moved. lift. At this time, the uppermost bucket A (A8) is separated from the lower bucket A (A7), and is further conveyed forward by the rotation of the rotation support member 54 (54L, 54R). Next, when the uppermost bucket A (A8) is conveyed forward, the control unit C causes the rotation support member 54 of the upper support transfer device 311 (312L, 311R) to be in the non-support posture again. Under control, the uppermost bucket A (A8) is placed on the front portion S2f of the accommodation space S2. Further, the rear holding lift mechanism 314 (314L, 314R) closes the left and right holding claws 72L, 72R, releases the holding storage buckets A (A5 to A7), and releases the lower storage bucket A (A1). ). In this way, the accommodating portion 31 is configured so that the accommodating bucket A can be moved from the rear portion S2r in the accommodating space S to the front portion S2f. As a result, the storage unit 31 transports the storage bucket A back and forth and up and down in the traveling vehicle body 3 to circulate, so that the bucket A in the crop storage position where the harvesting unit 2 can store the crops can be sequentially replaced. Has been done. As a result, the harvesting vehicle 1 is configured so that a plurality of storage buckets A can be loaded, and the work load related to the replacement of the full storage bucket A is significantly reduced.

(About the traveling mechanism of the harvesting vehicle)
FIG. 10 is a schematic bottom view of the harvesting vehicle 1.
In FIG. 12, the left side of the drawing is the front side of the harvesting vehicle 1, and the right side of the drawing is the rear side of the harvesting vehicle 1. Here, the beam portions 320L and 320R, which are reinforced frames extending in the front-rear direction of the vehicle, are integrally attached to the lower parts of the left and right body frames 3L and 3R toward the inside of the left and right ends of the traveling vehicle body 3. The pair of left and right beam portions 320L and 320R are configured to increase the rigidity of the left and right body frames 3L and 3R.

The traveling mechanisms provided at the lower parts of the left and right body frames 3L and 3R are, in order from the front side of the traveling vehicle body 3, rail guide rollers 401L, 401R, first rail traveling rollers 402L, 402R, first rail support rollers 403L, 403R, 1st multi-directional moving wheel 404L, 404R, multi-directional driven wheel 405L, 405R, 2nd rail traveling roller 406L, 406R, 2nd rail support roller 407L, 407R, 2nd multi-directional moving wheel 408L, 408R, 3rd rail The traveling rollers 409L and 409R are arranged symmetrically with respect to the center line Cl of the traveling vehicle body 3, respectively. The point G shown in FIG. 10 represents the position of the center of gravity of the harvesting vehicle 1 (hereinafter, referred to as the center of gravity point G).

The harvesting vehicle 1 is configured to travel on the ground by four-wheel drive with the first multi-directional moving wheels 404L and 404R as front wheels and the second multi-directional moving wheels 507L and 507R as rear wheels. The directional moving wheels 404L and 404R and the second multidirectional moving wheels 408L and 408R are ground wheels. The multi-directional driven wheels 405L and 405R are driven wheels for supporting the load of the harvesting vehicle 1.

The first multi-directional moving wheels 404L and 404R, the multi-directional driven wheels 405L and 405R, and the second multi-directional moving wheels 408L and 408R are outside the left and right beam portions 320L and 320R, respectively, at the lower parts of the left and right body frames 3L and 3R. They are arranged so as to line up in a straight line in the front-rear direction. The multi-directional driven wheels 405L and 405R are arranged between the first multi-directional moving wheel and the second multi-directional moving wheel 408L and 408R. Here, the end portion 500t of the traveling rails 500 arranged side by side in two rows is formed in a substantially U shape in order to circulate hot water, and the harvesting vehicle 1 enters the traveling rail 500 from this end portion. To do. Therefore, the left and right first multi-directional moving wheels 404L and 404R, the multi-directional driven wheels 405L and 405R, and the second multi-directional moving wheels 408L and 408R are respectively from the left and right width D of the traveling rails 500 arranged side by side in two rows. Are also arranged so as to be separated from each other in the left-right direction, which enables the harvesting vehicle 1 to enter the traveling rail 500.

Although not shown in FIG. 10, the front portion of the traveling vehicle body 3 has a traveling rail end detection sensor 87 that detects the end portion 500t of the traveling rail 500 and a bucket stand detection sensor that detects the bucket stand B. 85 is provided at an appropriate position.

Rail guide rollers 401L, 401R, 1st rail traveling rollers 402L, 402R, 1st rail supporting rollers 403L, 403R, 2nd rail traveling rollers 406L, 406R, 2nd rail supporting rollers 407L, 407R, 3rd rail traveling rollers 409L , 409R are rail traveling dedicated rollers used when the harvesting vehicle 1 travels on the traveling rail 500. Therefore, all of these rollers dedicated to rail traveling are not in contact with the ground and are located hollow when the harvesting vehicle 1 is traveling outside the traveling rail 500. That is, the lower ends of the rollers dedicated to rail traveling are all arranged so as to be located above the lower ends of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R. ..

Further, when the harvesting vehicle 1 is traveling on the traveling rail 500, the traveling vehicle body 3 has the first rail traveling rollers 402L and 402R, the second rail traveling rollers 406L and 406R, and the third rail traveling rollers 409L and 409R. The first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R are not touching the ground and are located in a hollow position, supported on the traveling rail 500.

The first rail traveling rollers 402L and 402R are arranged in front of the first multi-directional moving wheels 404L and 404R, and a second rail traveling roller 402L and 402R is arranged between the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R. With the configuration in which the rail traveling rollers 406L and 406R are arranged and the third rail traveling rollers 409L and 409R are arranged behind the second multidirectional moving wheels 408L and 408R, the harvesting vehicle 1 traveling on the traveling rail 500 The load can be satisfactorily distributed and supported by the traveling rail 500, and the bending of the traveling rail 500 can be reduced (see FIG. 14).

The traveling mechanism of the harvesting vehicle 1 will be described in more detail below.
The left and right rail guide rollers 401L and 401R are provided at the front end of the traveling vehicle body 3 and have a rotation axis in the vertical direction with respect to the traveling vehicle body 3, that is, laterally rotating driven rollers.

The left and right rail guide rollers 401L and 401R are provided so as to have substantially the same height as the traveling rail 500, and when they come into contact with the left and right side portions of the traveling rails 500 arranged side by side in two rows, the frictional force causes the left and right rail guide rollers 401L and 401R. It rotates and guides the harvesting vehicle 3 along the traveling rail 500, prevents the traveling rail 500 from being displaced in the left-right direction with respect to the extension direction, and prevents the traveling direction of the harvesting vehicle 1 from deviating from the traveling rail 500. Fulfill function.

The left and right rail guide rollers 401L and 401R are arranged at a wider interval than the left and right width D of the traveling rails 500 arranged side by side in two rows. As a result, even if the position of the harvesting vehicle 1 with respect to the traveling rail 500 is shifted to the left or right when the harvesting vehicle 1 enters the traveling rail 500, the left and right rail guide rollers 401L and 401R in contact with the traveling rail 500 By guiding the traveling direction of the harvesting vehicle 1, it is possible to ride on the traveling rail 500 while allowing the position in the left-right direction within a predetermined range, and as a result, harvesting in the extending direction of the traveling rail 500. It is possible to stably ride on the traveling rail 500 while correcting the left and right misalignment of the vehicle 1 in the traveling direction. As a result, the traveling rail 500 can be smoothly entered, and the work efficiency is improved.

The first rail traveling rollers 402L and 402R are arranged at the front portion of the traveling vehicle body 3 and have a rotation axis in the left-right direction with respect to the traveling vehicle body 3, that is, they are vertically rotating drive rollers, and are controlled by the control device C. , It is provided so that it can rotate forward and backward. The first rail traveling rollers 402L and 402R support the traveling vehicle body 3 on the traveling rail 500 when the traveling rail 500 of the harvesting vehicle 1 enters and travels, and imparts propulsive force to the traveling vehicle body 3 by rotational driving. Fulfill the function of In particular, when the traveling rail 500 of the harvesting vehicle 1 enters, the first rail traveling rollers 402L and 402R are arranged at the front portion of the traveling vehicle body 3, so that the vehicle can smoothly ride on the traveling rail 500. .. Further, since the first rail traveling rollers 402L and 402R are provided so as to be able to rotate in the forward and reverse directions, the first multidirectional moving wheels 404L and 404R are not in contact with the ground when the harvesting vehicle gets on and off the traveling rail 500. However, a sufficient driving force can be obtained.

The first rail traveling rollers 402L and 402R are configured to be rotationally driven by transmitting power from the rail traveling transmission motors 402L2 and 402R2 via bevel gears 402L1 and 402R1, respectively. Here, by using the bevel gears 402L1 and 402R1, the left-right width is suppressed as compared with the configuration in which power is transmitted linearly, and the bevel gears S2 and the traveling vehicle body 3 are configured to be prevented from protruding to the outside. Further, the first rail traveling rollers 402L and 402R are provided below the beam portions 320L and 320R, and are configured to be able to support the harvesting vehicle 1 while satisfactorily withstanding the load.

The second rail traveling rollers 406L and 406R and the third rail traveling rollers 409L and 409R are arranged on the left and right respectively in the same straight line in the front-rear direction of the first rail traveling rollers 402L and 402R, and the second rail traveling rollers are arranged. The 406L and 406R are arranged at the rear portion of the traveling vehicle body 3, and the third rail traveling rollers 409L and 409R are arranged at the rear end portion of the traveling vehicle body 3.

The second rail traveling rollers 406L and 406R and the third rail traveling rollers 409L and 409R are driven rollers having a rotation axis in the left-right direction, that is, vertically rotating, and the harvesting vehicle 1 travels on the traveling rail 500. When doing so, it functions to support the traveling vehicle body 3 and reduce the frictional force with the traveling rail 500.

The first rail traveling rollers 402L and 402R, the second rail traveling rollers 406L and 406R, and the third rail traveling rollers 409L and 409R are arranged in a straight line in the front-rear direction and are provided below the beam portions 320L and 320R. .. As a result, the harvesting vehicle 1 can be supported while being able to withstand the load well, and because it is provided at the lower part of the beam portions 320L and 320R, the load increases due to the decrease in the ground contact area when the traveling rail 500 travels. Deformation of the left and right body frames 3L and 3R can be suitably prevented.

The third rail traveling rollers 409L and 409R are provided with a rotary encoder (not shown in FIG. 10) which is a rotation detection sensor 86, and can detect the rotation speed of the third rail traveling rollers 409L and 409R. .. The control device C acquires the detection information of the rotation detection sensor 86 so that the mileage of the harvesting vehicle 1 can be measured. In addition, the rear portion of the harvesting vehicle 1 rides on the traveling rail 500. It is possible to judge whether or not it is.

Here, if the rotation detection sensor 86 is arranged on the drive roller, an error occurs between the rotation speed and the actual mileage when slipping, but the rotation detection sensor on the third rail traveling rollers 409L and 409R, which are the driven rollers. By arranging the 86, the mileage can be measured more accurately.

The first rail support rollers 403L and 403R are driven rollers that have a rotation axis in the vertical direction with respect to the traveling vehicle body 3, that is, are rotatable laterally, and the left and right arrangement intervals of the first rail support rollers 403L and 403R. Is provided slightly narrower than the left and right arrangement intervals of the left and right rail guide rollers 401L and 401R, and is separated so as to have substantially the same width as the left and right width D of the traveling rails 500 arranged side by side in two rows. It is arranged.

The first rail support rollers 403L and 403R are provided at the front portion of the traveling vehicle body 3, and when the harvesting vehicle 1 travels on the traveling rail 500, they come into contact with both sides of the traveling rails 500 arranged side by side in two rows. The left and right misalignment of the front part of the traveling vehicle body 3 is satisfactorily prevented. The rear portion of the traveling vehicle body 3 is provided with the second rail supporting rollers 406L and 406R having the same configuration as the first rail supporting rollers 403L and 403R, and the left and right misalignment of the rear portion of the traveling vehicle body 3 is satisfactorily prevented.

With such a configuration, when the harvesting vehicle 1 is traveling on the traveling rail 500, the first rail supporting rollers 403L and 403R and the second rail supporting rollers 406L and 406R are positioned left and right with respect to the extending direction of the traveling rail 500. The traveling direction of the harvesting vehicle 1 is guided while satisfactorily preventing the deviation. As a result, the harvesting vehicle 1 can accurately take in the storage buckets A (A1 to A8) arranged between the traveling rails 500 arranged side by side in two rows (see FIG. 13).

The traveling vehicle body 3 includes first multi-directional moving wheels 404L and 404R that function as four-wheel drive front wheels and second multi-directional moving wheels 408L and 408R that function as rear wheels. The 1 multi-directional moving wheels 404L and 404R and the 2nd multi-directional moving wheels 408L and 408R are grounding wheels.

The first multi-directional moving wheels 404L, 404R and the second multi-directional moving wheels 408L, 408R are provided so that the left and right sides can be driven independently, and the control device C can drive the left and right first multi-directional moving wheels 404L, 408R. By controlling the rotation direction and rotation speed of the 404R and the left and right second multidirectional moving wheels 408L and 408R, the traveling vehicle body 3 can move in all directions.

Specifically, the first multi-directional moving wheels 404L and 404R have a wheel rotation axis on an axle line P1 extending in the left-right direction at the front portion of the traveling vehicle body 3. The wheel configuration of the first multi-directional moving wheels 404L and 404R is generally called a mecanum wheel, and a plurality of free rollers whose rotation axis is tilted by a predetermined angle with respect to the axle line P1 are formed along the outer circumference of the wheel ( In this embodiment, 12 wheels) are provided.

The second multi-directional moving wheels 408L and 408R have a wheel rotation axis on an axle line P3 extending in the left-right direction at the rear portion of the traveling vehicle body 3. The wheel configuration of the second multi-directional moving wheels 408L and 408R is composed of mecanum wheels, similarly to the first multi-directional moving wheels 404L and 404R.

As shown in FIG. 10, the harvesting portion 2 is arranged on the traveling vehicle body 3 so that the center of gravity point G is located below the front portion of the housing 21, and the first multi-directional moving wheel 404L , 404R and the second multidirectional moving wheels 408L and 408R are arranged at an equal distance from the center of gravity point G. Since the lateral movement and turning of the Mecanum wheels are different when the loads applied to the four wheels are different, the first multi-directional moving wheels 404L and 404R and the second multi-directional moving are evenly distanced from the center of gravity of the harvesting vehicle 1. By arranging the wheels 408L and 408R, respectively, the load can be evenly applied, and the harvesting vehicle 1 can move smoothly when laterally moving or turning. In addition, since the harvesting portion 2 is arranged on the traveling vehicle body 3 so that the center of gravity point G is located below the front portion of the housing 21, the first multi-directional moving wheels 404L, 404R and the second multi are The running of the harvesting vehicle 3 by the directional moving wheels 408L and 408R becomes more stable.

The left and right first multi-directional moving wheels 404L and 404R obtain driving force from the first electric motors 404L1 and 404R1 that receive electric power from the battery E. The power transmission from the first electric motors 404L1 and 404R1 to the first multidirectional moving wheels 404L and 404R is carried out by changing the direction of the rotation axis of the first electric motors 404L1 and 404R1 by 90 degrees by the bevel gears 404L2 and 404R2. Is configured to be transmitted, thereby suppressing an increase in the left-right width of the drive mechanism of the multi-directional moving wheels 404L and 404R, suppressing the occurrence of overhanging portions inside and outside the vehicle body frames 3L and 3R, and accommodating space S2. It is configured to ensure good contact with obstacles.

Like the first multi-directional moving wheels 404L and 404R, the second multi-directional moving wheels 408L and 408R are second moving motors that receive power from the battery E to give driving force to the second multi-directional moving wheels 408L and 408R. It is configured to include a 408L2 and bevel gears 408L1 and 408R1 that transmit power to the second multidirectional moving wheels 408L and 408R by changing the direction of the rotation shafts of the second electric motors 408L2 and 408R1 by 90 degrees.

Next, a method of attaching the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R to the traveling vehicle body 3 will be described using the second multi-directional moving wheels 408L as an example.

The second multi-directional moving wheel 408L, the second electric motor 408L2, and the bevel gear 408L1 are modularized as assembly parts (ASSY units), and repair and replacement are easy. Similarly, the first multi-directional moving wheels 404L and 404R, the second multi-directional moving wheels 408R, the first rail traveling rollers 402L and 402R, the second rail supporting rollers 407L and 407R, and the rotation detection sensor 86 are also modularized, respectively. Has been done.

FIG. 11 is a side view of a main part around the second multi-directional moving wheel 408L. As shown in FIG. 11, in the second multi-directional moving wheel 408L, the mounting member 411 that pivotally supports the second multi-directional moving wheel 408L can rotate around the mounting connecting shaft 410 attached to the traveling vehicle body 3. A rubber, which is an elastic member 412, is arranged between the mounting member 411 and the vehicle body frame 3L. The same applies to the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408R.

With such a configuration, the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R are provided with a buffering capacity. As a result, when the harvesting vehicle 1 travels on a stepped or uneven surface, the multi-directional moving wheels 404L and 404R move up and down according to the height of the ground contact surface while receiving the load of the traveling vehicle body 3, and the ground contact state is good. It is configured to be held in.

Here, the left and right body frames 3L and 3R are provided above the rectangular notches 321L1,321R1 provided above the first multidirectional moving wheels 404L and 404R and above the second multidirectional moving wheels 408L and 408R. The rectangular notch portions 321L2 and 321R2 are provided. In FIG. 11, a notch is provided in the range indicated by the arrow d.

Further, the upper ends of the multi-directional moving wheels 404L and 404R are configured to be located above the notch portions 321L and 321R, and the second multi-directional moving wheels 408L and 408R and the notch portions 321L2 and 321R2 are also provided. The same is true. As a result, the overall height of the traveling vehicle body 3 can be suppressed, and contact between the harvesting vehicle 1 and the plants during the harvesting operation can be satisfactorily prevented. Further, even if the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R move up and down with respect to the traveling vehicle body 3 due to the buffering capacity, interference with the vehicle body frames 3L and 3R is prevented. It has become.

FIG. 12 is a schematic perspective view of the multi-directional driven wheel 405.
The left and right multi-directional driven wheels 405L and 405R are driven wheels that can be driven in all directions in the traveling direction of the traveling vehicle body 3. The left and right multi-directional driven wheels 405L and 405R are generally called omni wheels (registered trademarks), have a wheel rotation axis on an axle line P2 extending in the left-right direction, and rotate with respect to the axle line P2. A plurality of free rollers (six wheels in the present embodiment) whose axes are orthogonal to each other are provided along the outer circumference of the wheel.

Here, the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R are provided with a plurality of free rollers along the outer circumference of the wheels, and the free rollers pass over when the harvesting vehicle 1 travels. Load may occur. Therefore, by disposing the multi-directional driven wheels 405L and 405R capable of being driven in all directions between the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R, the harvesting vehicle 1 The load of the harvesting vehicle 1 can be supported without hindering the movement in all directions, and the overload on the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R can be prevented.

Here, the lower ends of the multi-directional driven wheels 405L and 405R are arranged so as to be at a height position above the lower ends of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R. When the harvesting vehicle 1 is traveling on a normal flat surface, it is located slightly above the ground and does not touch the ground. When a load is applied to the traveling vehicle body 3 and the vehicle sinks, the multi-directional driven wheels 405L and 405R are configured to touch the ground to support the load of the harvesting vehicle 1. With this configuration, in normal traveling, the multi-directional driven wheels 405L and 405R do not touch the ground, so that the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R move and turn. When a load is applied to the traveling vehicle body 3 without hindering the above, the load of the harvesting vehicle 1 can be satisfactorily supported.

Here, the intersection of the axle lines P2 of the multi-directional driven wheels 405L and 405R and the center line Cl of the traveling vehicle body 3 is provided so as to be near the center of gravity point G, so that the multi-directional driven wheels 405L and 405R are provided. However, it is configured so as to easily support the load of the harvesting vehicle 1. As a result, the traveling of the harvesting vehicle 1 becomes more stable.

FIG. 15 is a block diagram of the control device C of the harvesting vehicle 1.
The control device C controls the operation of the harvesting vehicle 1 in an integrated manner. The control device C includes a processing unit that performs arithmetic processing such as a CPU (Central Processing Unit), a storage unit that stores processing results such as a RAM (Random Access Memory), and an input / output unit. The control unit C is configured such that the processing unit, the storage unit, and the input / output unit are connected to each other so that signals can be exchanged with each other, and a computer program for controlling the operation of the harvesting vehicle 1 is stored in the storage device 81. ing.

On the input side of the control device C, there is an image sensor 82 that can acquire the position information of the crop by recognizing the image of the crop, and a storage bucket detection sensor that detects the position of the storage bucket A housed in the storage unit 31. 83, a traveling position detection sensor 84 that detects the position of the harvesting vehicle 1 in the cultivation facility, a bucket stand detection sensor 85 that detects the bucket stand B, and the rotation speeds of the third rail traveling rollers 409L and 409R. The rotation detection sensor 86 and the travel rail end detection sensor 500t that detects the end portion 500t of the travel rail 500 are connected. The image sensor 82 and the traveling position detection sensor 84 are provided at appropriate positions on the harvesting vehicle 1. The traveling rail end detection sensor 87 and the rotation detection sensor 86 function as a traveling determining means on the rail that enables the control device C to determine whether or not the harvesting vehicle is traveling on the traveling rail. ..

Further, on the output side of the control device C, a harvesting device drive mechanism F, which is a drive mechanism of the harvesting device 24, a traveling mechanism 4 of the traveling vehicle body 3, a shaft rotation motor 52, a chain motor 55, and vertical movement. The mechanisms 61L, 61R and the holding claw opening / closing mechanism 88, which is a mechanism for opening / closing the holding claws 62L, 62R, 72R, 72L, are electrically connected, and these operations can be controlled by the control unit C.

When the control device C of the harvesting vehicle 1 configured in this way detects the end portion 500t of the traveling rail 500 by the traveling rail end detection sensor 87 when entering the traveling rail 500, the first multi-directional moving wheel 404L , 404R and the second multi-directional moving wheels 408L, 408R, as well as the first rail traveling rollers 402L, 402R. This eliminates the need for a sensor that detects that the vehicle has entered the traveling rail 500, and can secure a sufficient driving force even when there is a step or deviation when entering the traveling rail 500. As a result, it is possible to smoothly get on the traveling rail 500.

Further, after the harvesting vehicle 1 enters the traveling rail 500, the storage bucket A is taken into the traveling vehicle body 3, and the storage bucket detection sensor 83 and the bucket stand detection that the storage bucket A is completely mounted in the traveling vehicle body 3 is detected. Judging from the detection information of the sensor 85, it is determined that the harvesting vehicle 1 has completely entered the traveling rail, and the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R are driven. It is configured to stop. As a result, it is possible to prevent the drive wheels from being unnecessarily driven while the traveling rail 500 is traveling, and it is possible to reduce power consumption.

When the rotation detection sensor 86 detects the rotation of the third rail traveling rollers 409L and 409R after the harvesting vehicle 1 has entered the traveling rail 500, it is determined that the harvesting vehicle 1 has completely entered the traveling rail normally. However, the drive of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R may be stopped. As a result, when the harvesting vehicle 1 is completed on the traveling rail 500, the driving of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R can be quickly stopped.
Further, when the rotation detection sensor 86 stops detecting the rotation of the third rail traveling rollers 409L and 409R after the harvesting vehicle 1 has entered the traveling rail 500, it is determined that the harvesting vehicle 1 has come out of the traveling rail 500. The driving of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R may be restarted. As a result, it is possible to suitably shift to running on the ground while suppressing power consumption.

Further, the control device C of the harvesting vehicle 1 has the storage bucket detection sensor 83 and the storage bucket detection sensor 83 indicating that the storage bucket A has been dropped and discharged from the discharge opening S3 of the storage unit 31 onto the bucket base B after the harvesting work is completed. Judging from the detection information of the bucket stand detection sensor 85, it is configured to drive the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R that have been stopped in order to descend from the traveling rail 500. ing. As a result, the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R are driven so that the harvesting vehicle 1 can be smoothly lowered from the traveling rail 500.

After the harvesting vehicle 1 enters the traveling rail 500, the storage bucket A is taken into the traveling vehicle body 3, and the storage bucket A detection sensor 83 and the bucket stand detection sensor 85 indicate that the storage bucket A has been mounted in the traveling vehicle body 3. Judging from the detection information of, it is determined that the harvesting vehicle 1 has completely entered the traveling rail normally, and the driving of the first multi-directional moving wheels 404L and 404R and the second multi-directional moving wheels 408L and 408R is stopped. It is configured as follows. As a result, it is possible to prevent the drive wheels from being unnecessarily driven while the traveling rail 500 is traveling, and it is possible to reduce power consumption.

FIG. 16 shows an example of a cultivation facility in which the harvesting vehicle 1 is used. This cultivation facility is a greenhouse in which the indoor environment such as temperature and humidity is controlled by a heater, a humidifier, or the like. It is provided with 501 and a shipping room 502 adjacent to the cultivation room 501. A main passage 504 through which a worker, a harvesting vehicle 1, a control work vehicle, or the like can pass is provided in the center of the cultivation room 1, and the main passage 504 is a concrete passage whose road surface is made of concrete. Cultivation spaces 506 for cultivating crops in which a large number of cultivation beds 505, which are cultivation units, are arranged in rows are formed at lateral positions on both sides of the main passage 504. The cultivation bed 505 is a cultivation floor portion made of rock wool as a medium, and the nutrient solution is supplied from the nutrient solution supply device 507 in the shipping chamber 502 to each cultivation bed 505. Further, entrances and exits 508 to the cultivation room 501 provided with opening / closing doors are provided at both ends of the main aisle 504, and the entrance and exit 508 to the adjacent shipping room 502 can be reached via one of the entrances and exits 508. The other doorway 8 has a structure that allows entry and exit from the outside of the cultivation facility. Then, the harvesting vehicle 1 is moved from the main passage 504 to the sub-passage 509 between the respective cultivation units (cultivation bed 505), and the harvesting vehicle 1 is moved along the cultivation unit (cultivation bed 505) in the sub-passage 509. It is possible to perform various operations on plants to be cultivated while running. The sub-passage 509 is a passage formed in the front-rear direction between the left and right sides of each cultivation unit (cultivation bed 505). Although not shown in FIG. 11, the harvesting vehicle 1 is configured so that the heating pipes laid in two rows on each sub-passage 509 can travel as the traveling rail 500. The heating pipe is a tubular body that circulates hot water in the pipe, thereby heating the inside of the cultivation room 501.

1 Harvest vehicle 1
2 Harvesting unit 3 Traveling vehicle body 3L, 3R Body frame 4 Traveling mechanism 5 Supporting and transporting mechanism 21 Housing 22 Arm 23 Harvesting hand body 24 Harvesting device 31 Accommodating unit 32 Main wheel 33 Auxiliary wheel 51 Rotating shaft 52 Axis rotation motor 53 Support frame 54 Rotation support member 55 Chain motor 56 Endless chain 61L, 61R Vertical movement mechanism 62L, 62R, 72L, 72R Holding claw 81 Storage device 82 Image sensor 83 Storage bucket detection sensor 84 Rotation detection 311 Upper support transfer mechanism 312 Lower Support transport mechanism 313 Front pinch lift mechanism 314 Rear pinch lift mechanism 320L, 320R Beam 401L, 401R Rail guide roller 402L, 402R First rail traveling roller 403L, 403R Rail support roller 404L, 404R First multi-directional moving wheel 405L, 405R Multi-directional driven wheel 406L, 406R 2nd rail traveling roller 407L, 407R 2nd rail support roller 408L, 408R 2nd multi-directional moving wheel 409L, 409R 3rd rail traveling roller 500 Travel rail A Storage bucket B Bucket stand C Control device S1 Storage opening S2 Storage space S3 Discharge opening

Claims (3)

A harvesting vehicle with a harvesting section for harvesting crops
Equipped with a running body that can run
At the lower part of the traveling vehicle body, a first multi-directional moving wheel and a second multi-directional moving wheel that enable the traveling vehicle body to move in multiple directions,
Left and right rail running rollers for running on the running rails laid in the cultivation facility,
It is equipped with left and right rail support rollers that rotate while supporting the traveling rail from both the left and right sides.
The front part of the traveling vehicle body is provided with left and right rail guide rollers that come into contact with the traveling rail when the harvesting vehicle enters the traveling rail and guide the traveling direction of the harvesting vehicle.
The left and right placement intervals of the left and right rail guide rollers are
A harvesting vehicle characterized in that it is provided wider than the left and right arrangement intervals of the left and right rail support rollers. The first multi-directional moving wheel and the second multi-directional moving wheel are configured to be separated from the ground while the harvesting vehicle is traveling on the traveling rail.
A control device capable of controlling the rotational drive of the first multi-directional moving wheel, the second multi-directional moving wheel, and the left and right rail traveling rollers is provided.
The control device includes a rail traveling determination means capable of determining whether or not the harvesting vehicle is traveling on the traveling rail.
When it is determined by the rail traveling determination means that the harvesting vehicle has entered the traveling rail, the left and right rail traveling rollers are rotationally driven, and further.
When the harvesting vehicle is traveling on the traveling rail. The harvesting vehicle according to claim 1, wherein the driving of the first multi-directional moving wheel and the second multi-directional moving wheel that enable the traveling vehicle body to move in multiple directions is stopped. It is provided with a storage bucket capable of accommodating a storage bucket provided in the traveling vehicle body and a storage bucket detection sensor that detects the position of the storage bucket housed in the storage unit.
The control device is characterized in that when the storage bucket detection sensor determines that the storage bucket is stored in the storage portion, the driving of the first multi-directional moving wheel and the second multi-directional moving wheel is stopped. The harvesting vehicle according to claim 2.