JP2021069293A - Transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform automatic turning control of a vehicle body of a transplanting machine such as a conventional rice transplanter. SOLUTION: A control device 200 for automatically turning a vehicle body 10 by driving a steering handle 52 by a steering motor 45 is provided, and in the automatic turning control performed after the planting device 100 is raised, the steering handle 52 is provided. The state of is changed from the straight running state to the turning state, changed from the turning state to the straight running state, changed from the straight running state to the turning state again, changed from the turning state to the straight running state again, and the steering handle 52 The timing at which the state is changed from the turning state to the straight running state and the timing at which the state of the steering handle 52 is changed again from the turning state to the straight running state are determined as the timing when the azimuth angle of the vehicle body 10 reaches a predetermined azimuth angle. It is a rice transplanter. [Selection diagram] Fig. 4

Description

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

A rice transplanter having a planting device attached to the vehicle body so as to be able to move up and down, a steering motor for driving the steering handle, and a control device for automatically performing straight-ahead assist control of the vehicle body by driving the steering handle with the steering motor. It is known (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, a transplanter such as the conventional rice transplanter described above cannot perform automatic turning control of the vehicle body.

An object of the present invention is to provide a transplanter capable of performing automatic turning control of a vehicle body in consideration of the above-mentioned conventional problems.

The first aspect of the present invention is a working device (100) attached to a vehicle body (10) so as to be able to move up and down.
A steering member driving device (45) that drives the steering member (52), and
A control device (200) that automatically turns the vehicle body (10) by driving the steering member (52) on the steering member driving device (45).
With
In the automatic turning control performed after the working device (100) is raised, the state of the steering member (52) is changed from the straight traveling state to the turning state, and is changed from the turning state to the straight traveling state. , The straight state is changed again to the turning state, and the turning state is changed again to the straight state.
The timing at which the state of the steering member (52) is changed from the turning state to the straight traveling state and the timing at which the state of the steering member (52) is changed again from the turning state to the straight traveling state are described above. The transplanter is characterized in that the azimuth angle of the vehicle body (10) is determined as the timing when a predetermined azimuth angle is reached.

In the second invention, the azimuth angular velocity of the vehicle body (10), which indicates the temporal change of the azimuth angle of the vehicle body (10), is acquired.
The predetermined azimuth angle can be obtained by adjusting the predetermined standard azimuth angle based on the comparison between the predetermined standard azimuth angular velocity and the acquired azimuth angular velocity of the vehicle body (10). It is the first transplant machine of the present invention to be characterized.

In the third aspect of the present invention, the azimuth angular velocity of the vehicle body (10), which indicates the temporal change of the azimuth angle of the vehicle body (10), is acquired.
The predetermined azimuth is a predetermined standard azimuth.
The state of the steering member (52) is changed from the turning state to the straight traveling state based on a comparison between a predetermined standard directional angular velocity and the acquired directional angular velocity of the vehicle body (10). The first transplanter of the present invention is characterized in that the turning state can be changed again to the straight traveling state.

A fourth aspect of the present invention is a gear member (420) to which one end (411) of a cable member (410) towed so that a diff lock is turned on is connected.
A motor device meshing posture in which the meshing portion (431) of the motor device (430) meshes with the gear member (420), and a non-meshing posture of the motor device in which the meshing portion (431) does not mesh with the gear member (420). Motor device posture switching mechanism (440) that switches the posture of the motor device between
A spring member (450) that applies an urging force to pull back the towed cable member (410) so that the diff lock is turned on.
With
The motor device (430) has the gear member (430) so that when the meshing portion (431) is engaged with the gear member (420), the cable member (410) is towed and the diff lock is turned on. 420) drive and
When the automatic turning control is started, the control device (200) causes the motor device posture switching mechanism (440) to switch the motor device posture from the motor device non-meshing posture to the motor device meshing posture. , The gear member (420) is driven so that the cable member (410) is pulled by the motor device (430) and the differential lock is turned on.
When the automatic turning control is completed, the control device (200) causes the motor device posture switching mechanism (440) to switch the motor device posture from the motor device meshing posture to the motor device non-meshing posture. The first spring member (450) is characterized in that the differential lock is turned off by applying the urging force for pulling back the towed cable member (410) so that the differential lock is turned on. The transplant machine of the present invention.

According to the first invention, it is possible to perform automatic turning control of the vehicle body.

According to the second invention, in addition to the effect of the first invention, it is possible to improve the automatic turning accuracy.

According to the third invention, in addition to the effect of the first invention, it is possible to improve the automatic turning accuracy.

According to the fourth invention, in addition to the effect of the first invention, it is possible to improve the safety.

Perspective view of the rice transplanter according to the embodiment of the present invention Block diagram of the power transmission system of the rice transplanter according to the embodiment of the present invention Block diagram of the control system of the rice transplanter according to the embodiment of the present invention Explanatory drawing of automatic turning control of rice transplanter of embodiment of this invention (A) Partial plan view of the vicinity of the diff lock shaft of the rice transplanter of the embodiment of the present invention, (b) Partial rear view of the vicinity of the diff lock shaft of the rice transplanter of the embodiment of the present invention. (A) Partial rear view of the vicinity of the motor device posture switching mechanism of the rice transplanter according to the present invention (No. 1), (b) Partial rear view of the vicinity of the motor device posture switching mechanism of the rice transplanter according to the present invention. Figure (Part 2) Left side view of a portion near the spring member of the rice transplanter according to the embodiment of the present invention. Partial rear view of the vicinity of the motor device posture switching mechanism of the rice transplanter according to the embodiment of the modified example of the present invention (No. 1) Partial rear view of the vicinity of the motor device posture switching mechanism of the rice transplanter according to the embodiment of the modified example of the present invention (No. 2) (A) Right side view of the portion near the steering rotation angle sensor assembly of the rice transplanter in the embodiment of the modified example of the present invention, (b) Straight-moving machine steering rotation of the rice transplanter in the embodiment of the modified example of the present invention. Partial front view near the angle sensor assembly Explanatory drawing of motor drive start angle position of motor device of rice transplanter of embodiment of modification of this invention Partial perspective view of the vicinity of the small handrail member of the rice transplanter according to the embodiment of the modified example of the present invention. Partial perspective view of the vicinity of the large handrail member of the rice transplanter according to the embodiment of the modified example of the present invention (No. 1) Partial perspective view of the vicinity of the large handrail member of the rice transplanter according to the embodiment of the modified example of the present invention (No. 2) Partial plan view of the rice transplanter according to the embodiment of the modified example in the present invention. Partial plan view of the vicinity of the side marker of the rice transplanter according to the embodiment of the modified example in the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

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

The planting device 100 is an example of a working device in the present invention, the steering handle 52 is an example of a steering member in the present invention, and the steering motor 45 is an example of a steering member driving device in the present invention.

First, the configuration and operation of the rice transplanter according to the present embodiment will be specifically described with reference to FIGS. 1 and 2.

Here, FIG. 1 is a perspective view of the rice transplanter according to the embodiment of the present invention, and FIG. 2 is a block diagram of a power transmission system of the rice transplanter according to the embodiment of the present invention.

While explaining the operation of the rice transplanter of the present embodiment, the automatic turning control method of the invention related to the present invention will also be described.

The rice transplanter of the present embodiment is a riding mat seedling rice transplanter for eight-row planting, the planting device 100 has four planting units, and each planting unit has two pairs of left and right planting tools.

Of course, the rice transplanter is not limited to the 8-row planting riding mat seedling planting machine, and may be, for example, a 10-row planting riding pot seedling planting machine.

First, the basic configuration and operation of the rice transplanter of the present embodiment will be described. Therefore, the operation of the control device 200 and the like will be described in detail later.

The driving unit 50 has a seat 51 provided above the engine cover.

A steering handle 52 for operating the front wheels 31 is provided in front of the seat 51. Horizontal step floors are provided on both the left and right sides of the engine cover. Further, spare seedling mounting stands 101 are provided on both the left and right sides of the steering handle 52.

The traveling device 30 is a device for traveling the vehicle body 10 on the front wheels 31 and the rear wheels 32.

The ground leveling device 60 is a device for leveling a field with a ground leveling rotor mechanism 61 and a ground leveling float mechanism 62.

The line drawing marker 80 is a marker that is storably attached to the vehicle body 10 to form a straight line marking that serves as a guideline for the next planting travel path in the field.

The planting device 100 is attached to the rear side of the vehicle body 10 via the planting device elevating device 90.

The rotational power of the engine 20 attached to the main frame is transmitted to the main transmission mechanism 41 or the like, which is an HST (Hydr Static Transmission) mechanism. The rotational power shifted by the main transmission mechanism 41 and the auxiliary transmission mechanism 42 is separated into a traveling power used in the traveling device 30 and the like and an external extraction power used in the planting device 100 and the like.

A part of the running power is transmitted to the left and right front wheel final cases to drive the pair of left and right front wheels 31, and the rest of the running power is transmitted to the left and right rear wheel gear cases 43 to drive the pair of left and right rear wheels 32. Then, a part of the traveling power transmitted to the rear wheel gear case 43 is transmitted to the ground leveling device 60 and the fertilizer application device 70.

Next, the configuration and operation of the rice transplanter according to the present embodiment will be described more specifically with reference to FIGS. 3 and 4.

Here, FIG. 3 is a block diagram of the control system of the rice transplanter according to the embodiment of the present invention, and FIG. 4 is an explanatory diagram of automatic turning control of the rice transplanter according to the embodiment of the present invention.

The control device 200 includes not only lever operation by the main shift lever 53, auxiliary shift lever 54 or straight-ahead assist lever 55, and switch operation by the assist mode switch 56, but also detection results by the rear wheel rotation speed sensor 210 or the planting device elevating sensor 220. It is a device that performs various controls by using such as.

The positioning system 300 is, for example, a system that performs positioning by DGPS (Differential Global Positioning System) technology that uses GPS (Global Positioning System), which is a typical GNSS (Global Navigation Satellite System).

In straight-ahead assist control, point A corresponding to the start point of straight-ahead running for planting work and point B corresponding to the end point of straight-ahead running using the positioning system 300 that acquires the current orientation information of the vehicle body 10. Coordinates are registered in advance. Then, the straight-ahead assist control is realized by driving the steering motor 45 to perform steering so that the straight-ahead travel based on the virtual line connecting the points A and B is performed.

However, since the straight-ahead assist control must be turned on and off every time a turn requires manual steering, the burden on the operator is not small, and the operability and workability are not always sufficient.

Therefore, it is desirable to realize not only straight-ahead assist control but also automatic turning control in which stitching is automatically performed based on a distance between planted rows of 2400 mm, and the following basic automatic turning control can be considered. Be done.

The control device 200 controls the automatic turning of the vehicle body 10 by driving the steering handle 52 to the steering motor 45 that drives the steering handle 52.

In the automatic turning control performed after the planting device 100 movably attached to the vehicle body 10 is lifted, the state of the steering handle 52 is changed from a straight traveling state to a turning state, and is changed from a turning state to a straight traveling state. It is changed from the straight running state to the turning state again, and changed from the turning state to the straight running state again.

A more specific description will be made with reference to FIG. 4 as follows.

(First stage in automatic turning control)
The planting device 100 is raised at the end point of the straight-ahead assist control by an auxiliary manual operation as necessary, and the steering motor 45 is driven so that the line drawing marker 80 is turned in the direction in which it is drawn.

(Second stage in automatic turning control)
Along with the drive of the steering motor 45, a turning motion aiming at a predetermined standard azimuth angle, for example, a target azimuth angle θ1 of 60 degrees is performed (first turning motion). Such a turning motion command is usually a full left turn or full right turn command, and the time required to execute the full left turn or full right turn command is approximately 4 to 5 seconds.

(Third stage in automatic turning control)
When the target azimuth angle θ1 is reached, the steering motor 45 is driven, the position of the steering handle 52 is returned to the neutral position, and the number of running wheel rotations is counted by the rear wheel rotation speed sensor 210 (during turning). Straight-ahead operation). Such a return of the steering handle 52 to the neutral position may be performed slowly or quickly.

(Fourth stage in automatic turning control)
When the number of rotations of the traveling wheel reaches a predetermined count number corresponding to the straight-ahead distance Δ during turning, the steering motor 45 is driven to turn aiming at a predetermined standard azimuth angle, for example, a target azimuth angle θ2 of 30 degrees. The operation is performed (second turning operation). Such a turning motion command is also usually a full left turn or full right turn command, and the time required to execute the full left turn or full right turn command is approximately 4 to 5 seconds.

(Fifth stage in automatic turning control)
Upon reaching the target azimuth angle θ2, the steering motor 45 is driven, the position of the steering handle 52 is returned to the neutral position, and the straight-ahead assist control is started.

In such automatic turning control, it is not necessary to set the turning path of the vehicle body 10, and the steering accuracy for heading to the starting point of the straight-ahead assist control after the automatic turning control is improved by setting the target azimuth angle. , Excellent turning performance and safety are realized. Then, the turning is promptly started by an auxiliary manual operation as needed, and the transition to the straight-ahead assist control is automatically performed, so that excellent operability and workability are realized.

Since the automatic turning control having the above-mentioned five stages is performed using the azimuth angle of the vehicle body 10, reliable automatic turning is realized.

Then, in order to improve the automatic turning accuracy, the present inventor is studying automatic turning control in which the target azimuth in the turning motion is not necessarily predetermined as the standard azimuth.

The azimuth angle of the vehicle body 10 reaches a predetermined azimuth at the timing when the state of the steering handle 52 is changed from the turning state to the straight running state and the timing when the state of the steering handle 52 is changed again from the turning state to the straight running state. Determined as the timing.

The azimuth angular velocity of the vehicle body 10, which indicates the temporal change of the azimuth angle of the vehicle body 10, is acquired.

For example, the steering responsiveness when changing the state of the steering handle 52 from the turning state to the straight traveling state is affected by the conditions of the field such as soil, so that the azimuth angle of the vehicle body 10 is a predetermined azimuth angle. It is considered important to understand the timing of reaching.

A more specific description will be made with reference to FIG. 4 as follows.

In the first stage of the automatic turning control, when the turning control is started, control is performed to output a command for matching the steering rotation angle with the specified steering rotation angle. Such control is simple and can be used regardless of the rice transplanter standard.

In the second stage of the automatic turning control, the directional angular velocity α1 [rad / s] and the steering rotational angular velocity β1 [rad / s] of the vehicle body 10 are measured. Both of the two angular velocities are considered constant because a steady state is achieved shortly after the turn is initiated. By measuring such angular velocity, not only is it unaffected by various vehicle body 10 conditions such as vehicle running speed, tread, wheelbase, and wheel slip, but it is also unaffected by field conditions, and the turning state is accurate. Is grasped by.

In the third stage of the automatic turning control, the position of the steering handle 52 is returned to the neutral position at the timing of reaching the azimuth angle d1 [rad] of the vehicle body 10 according to the measured azimuth angular velocity α1 of the vehicle body 10. For example, when control is performed to output a command to return the position of the steering handle 52 to the neutral position at the timing of reaching the steering rotation angle c1 [rad], the position of the steering handle 52, which is a predetermined azimuth angle, is set. Orientation angle of the vehicle body 10 at the timing of returning to the neutral position

(Number 1)
d1 = α1 × (c1 / β1) [rad]
Does not always match the target azimuth angle θ1, which is a predetermined standard azimuth angle. However, if the azimuth angle d1 of the vehicle body 10 is predetermined as a constant value, the azimuth angle of the vehicle body 10 in the straight-ahead operation during the subsequent automatic turning varies due to the influence of the vehicle body 10 and the field conditions described above and is not stable. Therefore, it is often desirable that the timing at which the position of the steering handle 52 is returned to the neutral position is adjusted by using, for example, the azimuth angle d1 of the vehicle body 10 depending on the azimuth angular velocity α1 of the vehicle body 10. Such an azimuth angle d1 of the vehicle body 10 may or may not be obtained by direct measurement.

In the fourth stage of the automatic turning control, the directional angular velocity α2 [rad / s] and the steering rotational angular velocity β2 [rad / s] of the vehicle body 10 are measured. Both of the two angular velocities are considered constant because a steady state is achieved shortly after the turn is initiated. By measuring such angular velocity, not only is it unaffected by various vehicle body 10 conditions such as vehicle running speed, tread, wheelbase, and wheel slip, but it is also unaffected by field conditions, and the turning state is accurate. Is grasped by.

In the fifth stage of the automatic turning control, the position of the steering handle 52 is returned to the neutral position at the timing of reaching the azimuth angle d2 [rad] of the vehicle body 10 according to the measured azimuth angular velocity α2 of the vehicle body 10. For example, when control is performed to output a command to return the position of the steering handle 52 to the neutral position at the timing of reaching the steering rotation angle c2 [rad], the position of the steering handle 52, which is a predetermined azimuth angle, is set. Orientation angle of the vehicle body 10 at the timing of returning to the neutral position

(Number 2)
d2 = α2 × (c2 / β2) [rad]
Does not always match the target azimuth angle θ2, which is a predetermined standard azimuth angle. However, if the azimuth angle d2 of the vehicle body 10 is predetermined as a constant value, the azimuth angle of the vehicle body 10 in the subsequent straight-ahead operation after automatic turning varies and is not stable due to the influence of the vehicle body 10 and the field conditions described above. Therefore, it is often desirable that the timing at which the position of the steering handle 52 is returned to the neutral position is adjusted by using, for example, the azimuth angle d2 of the vehicle body 10 depending on the azimuth angle velocity α2 of the vehicle body 10. Such an azimuth angle d2 of the vehicle body 10 may or may not be obtained by direct measurement.

The predetermined azimuth angle may be obtained by adjusting the predetermined standard azimuth angle based on the comparison between the predetermined standard azimuth angular velocity and the acquired azimuth angular velocity of the vehicle body 10.

The automatic turning accuracy can be improved by using a simple algorithm without being constrained by a predetermined standard azimuth.

Further, the predetermined azimuth angle may be a predetermined standard azimuth angle, and the state of the steering handle 52 is based on a comparison between the predetermined standard azimuth angular velocity and the acquired azimuth angular velocity of the vehicle body 10. The turning state may be changed to the straight running state, and the turning state may be changed to the straight running state again.

The automatic turning accuracy can be improved by using a simple algorithm while respecting a predetermined standard azimuth.

In the second and fourth stages of the automatic turning control described above, the azimuth angular velocity α [rad / s] and the steering rotational angular velocity β [rad / s] of the vehicle body 10 are measured, and the third and fifth steps in the automatic turning control In the stage, for example, when the position of the steering handle 52 is returned to the neutral position at the timing of reaching the steering rotation angle c [rad], the orientation angle of the vehicle body 10 is a predetermined orientation angle.

(Number 3)
d = α × (c / β) [rad]
May be corrected using various methods.

For example, the azimuth angle d of the vehicle body 10 can be adjusted by introducing an adjustment angle h [rad] that can be adjusted by a simple manual dial operation or the like according to the turning end state preferred by the operator.

(Number 4)
d = (α × (c / β) + h) [rad]
May be determined to be satisfactory.

By introducing the adjustment angle parameter k [rad], the adjustment angle h is proportionally increased according to the trunnion opening degree g which is 0 or more and 100 or less.

(Number 5)
h = g × k [rad]
May be determined to be satisfactory. The automatic turning accuracy is not only affected by various vehicle body 10 conditions such as vehicle speed, tread, wheelbase, and wheel slip, but also by field conditions, so the adjustment angle h is trunnioned. By determining according to the opening degree g, the influence of these conditions on the automatic turning accuracy can be reduced.

Of course, the azimuth angle d of the vehicle body 10 may be determined based on the actual azimuth angle measurement result. High automatic turning accuracy is realized by actually performing azimuth angle measurement in advance and collecting data under various conditions described above for various rice transplanter standards.

For example, when the vehicle body traveling speed is 0.5 [m / s], the actually measured azimuth angular velocity α of the vehicle body 10 is 15 [deg / s], and the azimuth angle d of the vehicle body 10 is 25 [d]. If ideal automatic turning accuracy is achieved when [deg], the time required to execute a full left turn or full right turn command is approximately 1.7 (= 25/15) seconds. Is understood. Therefore, the azimuth angle d of the vehicle body 10 can be adjusted by introducing an adjustment angle parameter p [s] that can be adjusted by a simple manual dial operation or the like.

(Number 6)
d = α × p [rad]
May be determined to be satisfactory. For example, the reference value of such an adjustment angle parameter p is 1.5 [s], and the manual dial operation is an operation for slightly increasing or decreasing the adjustment angle parameter p in 0.1 [s] increments. is there.

Next, the configuration and operation of the rice transplanter according to the present embodiment will be described more specifically with reference to FIGS. 3 to 7.

Here, FIG. 5 (a) is a partial plan view of the vicinity of the deflock shaft 400 of the rice transplanter according to the embodiment of the present invention, and FIG. 5 (b) is a partial plan view of the vicinity of the deflock shaft 400 of the rice transplanter of the embodiment of the present invention. 6 (a) and 6 (b) are partial rear views (Nos. 1 and 2) of the vicinity of the motor device attitude switching mechanism 440 of the rice transplanter according to the embodiment of the present invention, and FIG. 7 is a partial rear view. It is a partial left side view of the vicinity of the spring member 450 of the rice transplanter of the embodiment of this invention.

FIG. 6A shows a state in which power is being supplied to the solenoid of the motor device posture switching mechanism 440, and FIG. 6B shows a state in which power is supplied to the solenoid of the motor device posture switching mechanism 440. Is not shown. FIG. 7 shows both a state in which the cable member 410 is towed and a state in which the cable member 410 is not towed.

The gear member 420 is a member to which one end 411 of the cable member 410 towed so that the diff lock is turned on is connected.

The diff lock is turned on when the cable member 410 is towed by the motor of the motor device 430. Therefore, the diff lock is turned on without depressing the diff lock pedal connected to the rotating arm member of the diff lock shaft 400.

Of course, a diff lock pedal for manual operation may also be provided, but since the rotating arm member of the diff lock shaft 400 is connected to the gear member 420 by the cable member 410, the pair of left and right rear wheels 32 are connected. The diff lock for interlocking can be turned on and off automatically or semi-automatically.

The shape of the gear member 420 that is rotated in the left-right direction according to the state of the motor switch of the motor device 430 is substantially a half-moon shape, and the rotation stopper 421 is provided at a predetermined gear member rotation angle position in any rotation direction. The motor rotation of the motor device 430 is stopped by detecting an increase in the current value due to contact with the rotation stopper 421.

The side hole of the gear member 420, which is the connection portion of the diff lock pedal, and one end 411 of the cable member 410 are connected, and the hole position moves with the rotation of the gear member 420. The gear member diff lock-on rotation angle is 60 degrees, and the gear member diff lock-off rotation angle is 120 degrees.

Such a gear member rotation angle is detected by a pair of two limit switches 441 as shown in FIG. 8 or a potentiometer 442 as shown in FIG. 9, which functions as an angle sensor, and is detected by a motor. It may be used for rotation control.

Here, FIGS. 8 and 9 are partial rear views (Nos. 1 and 2) of the vicinity of the motor device posture switching mechanism 440 of the rice transplanter according to the embodiment of the modified example of the present invention.

The motor device posture switching mechanism 440 is a motor device between a motor device meshing posture in which the meshing portion 431 of the motor device 430 meshes with the gear member 420 and a motor device non-meshing posture in which the meshing portion 431 does not mesh with the gear member 420. It is a mechanism for switching posture.

The spring member 450 is a member that applies an urging force that pulls back the cable member 410 that has been pulled so that the diff lock is turned on.

The motor device 430 drives the gear member 420 so that the cable member 410 is towed and the diff lock is turned on when the meshing portion 431 is engaged with the gear member 420.

When the control device 200 starts the automatic turning control, the motor device posture switching mechanism 440 causes the motor device posture switching mechanism 440 to switch the motor device posture from the motor device non-meshing posture to the motor device meshing posture, and the motor device 430 pulls the cable member 410. The gear member 420 is driven so that the differential lock is turned on.

The meshing portion 431 of the motor device 430 is pressed against the gear member 420 by the solenoid if power is supplied to the solenoid of the motor device posture switching mechanism 440, but is separated from the gear member 420 if power is not supplied. ..

In automatic turning control on a headland or the like, slippage due to a large load is likely to occur. Therefore, not only the steering handle 52 is driven by the steering motor 45 but also the diff lock is turned on so that the turning operation is stable. .. If the diff lock-on is performed, for example, before the change from the straight-ahead state to the turning state in which the turning target is set, the turning operation may not be stable, so that the diff lock turns the steering handle 52 counterclockwise or to the right. It is often desirable to turn it on after rotation is detected.

Not only the power supply to the motor of the motor device 430 but also the power supply to the solenoid of the motor device attitude switching mechanism 440 is performed only when the steering rotation angle is within a predetermined steering rotation angle range. Therefore, the motor of the motor device 430 is not always pressed against the gear member 420, and even if a motor failure occurs, the diff lock is turned off when the automatic turning control is finished, so that the diff lock on does not require a turning diameter in the straight running state. It hardly becomes large due to the continuation of the above, and not only the turning performance but also the safety is improved.

Such a steering rotation angle is a motor for left and right rotation of the 130 degree steering handle 52 as shown in FIG. 11, as shown in FIGS. 10 (a) and 10 (b). It may be detected by the straight-moving machine steering rotation angle sensor assembly 443 provided on the steering rotation angle member of the steering handle 52 according to the motor drive start angle position of the device 430.

Here, FIG. 10 (a) is a partial right side view of the vicinity of the straight-moving machine steering rotation angle sensor assembly 443 of the rice transplanter according to the embodiment of the modified example of the present invention, and FIG. 10 (b) is a modified example of the present invention. FIG. 11 is a partial front view of the vicinity of the straight-moving machine steering rotation angle sensor assembly 443 of the rice transplanter according to the embodiment, and FIG. 11 shows the motor drive start angle position of the motor device 430 of the rice transplanter according to the embodiment of the present invention. It is explanatory drawing.

When the control device 200 ends the automatic turning control, the motor device posture switching mechanism 440 is made to switch the motor device posture from the motor device meshing posture to the motor device non-meshing posture, and the spring member 450 is set to turn on the differential lock. The differential lock is turned off by applying an urging force that pulls back the cable member 410 towed.

Since a spring member 450 member, which is a compression spring for pulling back the cable member 410, is fitted in the rotating arm member of the diff lock shaft 400, when the cable member 410 is pulled and the diff lock is turned on, the cable member There is almost no slack in 410. Therefore, regardless of the angle of the rotating arm member of the diff lock shaft 400, there is almost no so-called extra cable pulling margin in consideration of the motor rotation error, so that not only the reliable motor rotation accuracy of the motor device 430 is realized, but also the motor durability is achieved. The property is also realized as the motor load is reduced.

(A) Next, the small handrail member 510 will be specifically described.

The small handrail member 510 as shown in FIG. 12 is cheaper than the large handrail member 520 as shown in FIGS. 13 and 14.

Here, FIG. 12 is a partial perspective view of the vicinity of the small handrail member 510 of the rice transplanter according to the embodiment of the modified example of the present invention, and FIGS. 13 and 14 show the rice transplanter of the embodiment of the modified example of the present invention. It is a partial perspective view (No. 1 and 2) in the vicinity of a large handrail member 520.

The small handrail member 510 is a simple handrail member specialized for the purpose of assisting getting on and off, and has a high cost like the large handrail member 520 that can prevent the operator from falling and improve safety. do not need.

However, the configuration for attaching the small handrail member to the vehicle body 10 is the same as the configuration for attaching the large handrail member to the vehicle body 10, and a dedicated member for attaching the small handrail member 510 instead of the large handrail member 520 is unnecessary. Is. Since the common handrail member mounting frame 530 on the side of the vehicle body 10 is used, a large handrail member 520 can be optionally mounted instead of the small handrail member 510, which does not lead to an increase in cost.

(B) Next, the side marker 610 will be specifically described.

The side marker stay 611 of the left side marker 610 is attached to the rear of the battery case 620 as shown in FIGS. 15 and 16.

Here, FIG. 15 is a partial plan view of the rice transplanter according to the embodiment of the modified example of the present invention, and FIG. 16 is a partial plan view of the vicinity of the side marker 610 of the rice transplanter according to the embodiment of the modified example of the present invention. is there.

Of course, at least one of the side marker stay 611 of the left side marker 610 and the side marker stay 611 of the right side marker 610 may be attached to the rear of the battery case 620.

When the side marker stay 611 is attached to the so-called seedling frame support, the battery case 620 exists, so that a bent side marker shape is required to avoid the battery, and the side marker shapes and the like are different from each other on the left side. The marker 610 and the right side marker 610 must often be utilized.

When the side marker stay 611 is mounted behind the battery case 620, no curved side marker shape is required to avoid the battery and both side marker shapes are straight and the same, left side marker 610 And the right side marker 610 is commonly available, reducing the number of parts.

The arrangement of the side marker stays 611 is performed so that the left and right side markers 610 having the same side marker length are available.

The side marker length for each number of planted rows is adjusted so that the side marker position corresponds to the number of planted rows, but the basic side marker configuration is the same regardless of the number of planted rows of 5 to 7. As such, the types of side markers are reduced and no cost increase is incurred.

The arrangement of the side marker stays 611 is performed so that excellent side marker visibility is realized with a side marker length corresponding to the number of planting rows.

For example, when the number of planting rows is 5, the visibility of the side markers of the adjacent planting strips tends to decrease with the recent wide step, so the side corresponding to the planting locus separated by the width of the two planting strips. The marker length may be adopted. Planting loci separated by the width of two planting strips are more easily visible without being hidden behind wide steps compared to planting loci of adjacent planting strips separated by the width of one planting strip. Since the side marker length in the above matches the normal side marker length when the number of planting rows is 7, the types of side markers are reduced and the cost is not increased.

(C) Next, the work route memory of the robot rice transplanter will be specifically described.

Regarding the work route memory of the robot rice transplanter, it is desirable that an information link recording function, which is also called a partial planting strip clutch, is implemented to link the on / off information of the so-called ridge clutch with the position information.

This is because labor saving in rice planting work can be promoted.

(D) Next, switching of the automatic turning position of the robot rice transplanter will be specifically described.

Regarding the switching of the automatic turning position of the robot rice transplanter, it is desirable that the rear wheel drive shaft pulse value that determines the turning start timing can be adjusted on the operation panel.

This is because the automatic turning position corresponds to the distance from the ridge, but the turning method differs depending on the area, field, user preference, etc., so various turning positions can be selected according to the distance from the ridge. Is desirable.

The turning start timing may be adjusted by, for example, a dial switch on the operation panel.

(E) Next, the automatic turning before replenishing seedlings from the ridges of the passenger rice transplanter will be specifically described.

Regarding the automatic turning before replenishing the seedlings from the ridges of the passenger rice transplanter, it is desirable that the automatic turning control is performed so that the vehicle body 10 stops in parallel with the ridges.

This is because it is possible to promote labor saving in the work of supplying seedlings from the ridges.

The automatic turning is started based on the stock shortage detection by the stock shortage sensor of the seedling stand, which is also called a seedling tank, but since the forward movement for planting is performed until just before the ridge, the turning movement is a predetermined distance. It is performed after the reverse operation is performed. Such a reverse operation may be performed using GPS position information. When the steering rotation angle reaches a predetermined angle and the rear wheel drive shaft pulse value of the rear wheel rotation speed sensor 210 on the outside of turning reaches a predetermined value, the main transmission mechanism 41, which is an HST mechanism, stops in a neutral state. The restart after the main transmission mechanism 41 is stopped may be performed by a remote control operation.

The program of the invention related to the present invention is for causing the computer to perform the operation of all or a part of the automatic turning control method of the invention related to the present invention described above (or steps, operations, actions, etc.). It is a program that operates in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention is an operation of all or a part of all or a part of the steps (or steps, operations, actions, etc.) of the automatic turning control method of the invention related to the present invention described above. Is a recording medium on which a program for causing a computer to execute a program is recorded, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

The above-mentioned "partial step (or process, operation, action, etc.)" means one or several steps among the plurality of steps.

Further, the above-mentioned "operation of a step (or process, operation, action, etc.)" means an operation of all or a part of the above-mentioned steps.

Further, one usage form of the program of the invention related to the present invention is a form in which the program is transmitted in a transmission medium such as the Internet, light, radio waves, sound waves, etc., read by a computer, and operates in cooperation with the computer. It may be.

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

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

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

The transplanter in the present invention can perform automatic turning control of the vehicle body, and is useful for the purpose of using it for a transplanter such as a rice transplanter.

10 Body 20 Engine 30 Traveling device 31 Front wheel 32 Rear wheel 41 Main speed change mechanism 42 Auxiliary speed change mechanism 43 Rear wheel gear case 45 Steering motor 50 Driving unit 51 Seat 52 Steering handle 53 Main speed change lever 54 Secondary speed change lever 55 Straight-ahead assist lever 56 Assist mode Switch 60 Ground leveling device 61 Ground leveling rotor mechanism 62 Ground leveling float mechanism 70 Fertilizer application device 80 Line drawing marker 90 Planting device lifting device 100 Planting device 101 Spare seedling stand 200 Control device 210 Rear wheel rotation speed sensor 220 Planting device lifting sensor 300 Positioning system 400 Deflock Shaft 410 Cable member 411 One end 420 Gear member 421 Rotation stopper 430 Motor device 431 Meshing part 440 Motor device Attitude switching mechanism 441 Limit switch 442 Potential meter 443 Straight machine Steering rotation angle sensor assembly 450 Spring member 510 Small handrail member 520 Large handrail member 530 Handrail member mounting frame 610 Side marker 611 Side marker stay 620 Battery case

Claims (4)

A work device (100) attached to the vehicle body (10) so as to be able to move up and down,
A steering member driving device (45) that drives the steering member (52), and
A control device (200) that automatically turns the vehicle body (10) by driving the steering member (52) on the steering member driving device (45).
With
In the automatic turning control performed after the working device (100) is raised, the state of the steering member (52) is changed from the straight traveling state to the turning state, and is changed from the turning state to the straight traveling state. , The straight state is changed again to the turning state, and the turning state is changed again to the straight state.
The timing at which the state of the steering member (52) is changed from the turning state to the straight traveling state and the timing at which the state of the steering member (52) is changed again from the turning state to the straight traveling state are described above. A transplanter characterized in that the azimuth angle of the vehicle body (10) is determined as the timing at which a predetermined azimuth angle is reached. The azimuth angular velocity of the vehicle body (10), which indicates the temporal change of the azimuth angle of the vehicle body (10), is acquired.
The predetermined azimuth angle can be obtained by adjusting the predetermined standard azimuth angle based on the comparison between the predetermined standard azimuth angular velocity and the acquired azimuth angular velocity of the vehicle body (10). The transplanting machine according to claim 1, wherein the transplanting machine is characterized. The azimuth angular velocity of the vehicle body (10), which indicates the temporal change of the azimuth angle of the vehicle body (10), is acquired.
The predetermined azimuth is a predetermined standard azimuth.
The state of the steering member (52) is changed from the turning state to the straight traveling state based on a comparison between a predetermined standard directional angular velocity and the acquired directional angular velocity of the vehicle body (10). The transplanter according to claim 1, wherein the transplanter can be changed from the turning state to the straight traveling state again. A gear member (420) to which one end (411) of a cable member (410) towed so that a diff lock is turned on is connected.
A motor device meshing posture in which the meshing portion (431) of the motor device (430) meshes with the gear member (420), and a non-meshing posture of the motor device in which the meshing portion (431) does not mesh with the gear member (420). Motor device posture switching mechanism (440) that switches the posture of the motor device between
A spring member (450) that applies an urging force to pull back the towed cable member (410) so that the diff lock is turned on.
With
The motor device (430) has the gear member (430) so that when the meshing portion (431) is engaged with the gear member (420), the cable member (410) is towed and the diff lock is turned on. 420) drive and
When the automatic turning control is started, the control device (200) causes the motor device posture switching mechanism (440) to switch the motor device posture from the motor device non-meshing posture to the motor device meshing posture. , The gear member (420) is driven so that the cable member (410) is pulled by the motor device (430) and the differential lock is turned on.
When the automatic turning control is completed, the control device (200) causes the motor device posture switching mechanism (440) to switch the motor device posture from the motor device meshing posture to the motor device non-meshing posture. The spring member (450) is characterized in that the differential lock is turned off by applying the urging force that pulls back the towed cable member (410) so that the differential lock is turned on. The transplant machine described in.

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