JP5862239B2 - Vegetable harvesting method and harvesting device under snow - Google Patents

Description

  The present invention relates to a harvesting method and a harvesting device for vegetables under snow that grow on the surface in winter.

Forms that grow under snow in winter, such as spinach and cabbage, are commonly used in the region based on the knowledge that sweet and delicious vegetables can be obtained depending on the local weather conditions.
According to this growth method, the plant grows under the so-called snow and becomes a harvest time, and the snow removal work is forced before the harvesting work.

  In the past, manual work required snow removal, which required heavy labor and improved mechanization. In addition, although the snow removal apparatus using an agricultural tractor is well-known (for example, patent document 1), it does not presuppose the harvest of the vegetables under snow.

JP 2001-295314 A

  As described above, the snow removal means for harvesting vegetables under the snow is only by hand, and the present invention reduces the labor by mechanizing the snow removal work.

The invention according to claim 1 is an engine 5;
Left and right traveling devices 2L, 2R;
A method for harvesting vegetables under snow in a self-propelled traveling vehicle body 1 having an operation unit 6,
The snow removing device 15 is mounted on the traveling vehicle body 1 and the container-type accommodation portion 7 is mounted on the traveling vehicle body 1 , and the traveling vehicle body 1 grows on the ridge surface U and the ridge surface U while traveling along the ridges formed in the field. The snow accumulated on the vegetables V, V... Is removed by leaving the vegetables V, V... Grown by the snow removal device 15 , and harvested vegetables V, V. and Yukika vegetables yield Kakata method to be accommodated in part 7.

This configuration removes the snow that accumulates on the surface and vegetables when harvesting vegetables under the snow growing on the surface, and harvests the vegetables immediately after removing the snow, and accommodates the vehicle body in a container type Store in the part.
According to a second aspect of the present invention, the snow removing device 15 is mounted on the traveling vehicle body 1 so as to be movable up and down, and the snow removing device 15 is automatically controlled to move up and down based on the saddle surface U or a predetermined vertical distance L. and under vegetables yield Kakata method.

  With this configuration, the snow removal device 15 automatically performs snow removal work at a predetermined height position from the saddle surface U without any interference with vegetables under the snow even when the traveling vehicle body 1 is pitched. The snow removal operation can be continued.

The invention according to claim 3, the snow removing device 15 left and right rolling freely mounted on the vehicle body 1, the snow under vegetables yield Kakata method according to claim 1 or claim 2, automatic horizontal control of the snow removing device 15 And If comprised in this way, since the snow removal apparatus 15 is hold | maintained in a substantially horizontal state irrespective of the right-and-left rolling of the traveling vehicle body 1, it performs snow removal work without interfering with vegetables under snow.

The invention according to claim 4 is an engine 5;
Left and right traveling devices 2L, 2R straddling the field fence,
In the under- vegetable vegetable harvesting apparatus in which the snow removal device 15 is mounted on the front part of the frame 3 of the traveling vehicle body 1 having the operation unit 6 so as to be adjustable up and down via the up-and-down interlocking mechanism 13 .
The engine 5 is mounted on the rear side of the traveling vehicle body 1 and the operation unit 6 is disposed behind the engine 5 to output the speed-change power changed in the transmission case 20 linked to the drive output of the engine 5. and Yukika vegetable yield KaSo location where the structure for driving the snow removing device 15 and connected by universal joint shaft 22 between the working machine input shaft 15f of the working machine output shaft 21 and snow device 15 side to be. While traveling the traveling vehicle body 1 along the ridges formed in the field, the snow accumulated on the ridge surface U and the vegetables growing on the ridge surface U is removed while leaving the grown vegetables while adjusting the snow removal device 15 up and down. . The snow removal device 15 is driven from an engine 5 that causes the traveling vehicle body 1 to travel.

The invention according to claim 5 is provided with means 31 for detecting the position of the snow removal device 15 with respect to the predetermined horizontal reference Z or the saddle surface U, and the snow removal device 15 is compared with a position set in advance by the lift interlocking mechanism 13. It is configured to move up and down,
A laser beam irradiation device 30 provided at the end of the field, the predetermined horizontal reference Z is a snow under vegetables yield KaSo location according to claim 4 in which the laser light Z which is irradiated from the laser beam irradiation device 30. With this configuration, the snow removal device 15 is controlled to move up and down with respect to the traveling vehicle body based on the detection result of the detection means 31, and the snow removal device 15 automatically performs snow removal work at a predetermined height position from the saddle surface U at all times. Even if the traveling vehicle body is pitched, the snow removal operation can be continued without interfering with the vegetables under the snow. In particular, since the predetermined horizontal reference Z is the laser beam Z, the accuracy is improved.

According to the sixth aspect of the present invention, the snow removal device 15 is mounted on the traveling vehicle body 1 so that it can freely roll left and right, and a rolling interlock mechanism 18 is provided between the snow removal device 15 and the traveling vehicle body 1 so that the snow removal device 15 is tilted left and right. a detection unit 33, and snow under vegetables yield KaSo location according to claim 4 or claim 5 for self leveling snow removal device 15 via a rolling interlocking mechanism 18 based on the detection result of the left and right inclination detecting unit 33 To do. According to this configuration, the snow removal device 15 is controlled to be tilted to the left and right with respect to the traveling vehicle body 1 based on the detection result of the left and right tilt detection means 33, and the snow removal device 15 is automatically placed in a horizontal state and grows on a substantially horizontal ridge surface U. The snow removal operation can be continued with little risk of interference with the under-snow vegetables V.

According to the invention described in claim 1 or claim 4, the harvesting operation mainly relying on the manual operation by removing the snow accumulated on the ridge surface and the vegetables simultaneously with the harvesting operation of the vegetables under the snow growing on the ridge surface. The snow removal work at the time can be eliminated or labor-saving, and the harvesting work can be lightened and the efficiency can be improved.

According to the invention described in claim 2 and claim 5, the snow removal device automatically performs snow removal work at a predetermined height position from the ridge surface at all times, and the vegetables that are under snow even when the traveling vehicle body is pitched. The snow removal operation can be continued without interfering with the snow. Since the predetermined horizontal reference is laser light, the accuracy is improved.

  According to the third and sixth aspects of the invention, since the snow removal device is held in a substantially horizontal state regardless of the left and right rolling of the traveling vehicle body, the snow removal work can be performed without interfering with the vegetables under the snow.

It is a whole side view of the 1st example. FIG. FIG. It is a general | schematic side view which shows an example of raising / lowering control. It is a control block diagram. It is a top view which shows the outline | summary of an adjacent operation | work. It is a whole side view of 2nd Example. FIG. FIG. It is a side view of 3rd Example. FIG. FIG. It is a top view which shows the example from which a snow removal apparatus differs. It is a top view which shows the example of another snow removal apparatus. It is a top view which shows the effect | action.

Embodiments of the present invention will be described with reference to the drawings.
The traveling vehicle body 1 is supported by left and right crawler type traveling devices 2L and 2R, a work machine mounting hitch member 4 is erected on the front portion of the frame 3, and an engine 5 is mounted on one side of the rear portion (left side in the illustrated example). In addition, the operation unit 6 is disposed immediately after that. The upper side of the middle part of the frame 3 constitutes a storage part 7 surrounded by a protective frame in a container shape.

  The left and right crawler type traveling devices 2L and 2R are equipped with narrow crawlers and the ground height of the frame 3 is set to be large. The crawler type traveling devices 2L and 2R are configured to be enlarged or reduced by a non-illustrated adjusting device. By configuring in this way, it is possible to travel along the ridges by straddling the ridges in the field and running the crawlers at the bottom of the ridge interval.

The operation unit 6 includes a forward / reverse switching lever 8, left and right side clutch switching levers 9L and 9R, an elevating lever 10, a deadman clutch lever 11, and the like.
The work implement mounting hitch member 4 is configured to be connected to the front frame 3a of the traveling vehicle body 1 so as to be rotatable around a pivot axis 4P in the front-rear direction by forming two horizontal frames 4a and 4b parallel in the vertical direction as a rigid frame. ing. Parallel link brackets 12 and 12 are mounted on the horizontal frames 4a and 4b on the left and right via hook members 12a and 12b, and a bracket 4c for mounting a cylinder 13a of a lifting hydraulic cylinder mechanism 13 as a lifting interlock mechanism is provided at the center. Provide. The other ends of the left and right parallel links 14, 14 that connect one end to the parallel link brackets 12, 12 are attached to the frame portion 15 a of the snow removal device 15 as a working machine, and the piston portion 13 b of the elevating hydraulic cylinder mechanism 13 is parallel. It is attached to a connecting frame 16 that connects the lower links of the links 14 and 14 together. The snow removal device 15 is raised with respect to the traveling vehicle body 1 by shortening the hydraulic lift cylinder mechanism 13, and conversely, the snow removal device is lowered by extension.

  On one side of the work implement mounting hitch member 4 (the left side in the traveling direction F in the illustrated example), between the lower horizontal frame 4b of the hitch member 4 and the bracket 17 extending from the fixing member on the traveling vehicle body 1 side. A hydraulic rolling cylinder mechanism 18 is provided as a hydraulically interlockable rolling interlocking mechanism. The snow removing device 15 is provided in a relative relationship in which the left side of the snow removing device 15 rises around the pivot axis 4P with respect to the traveling vehicle body 1 by the extension operation of the hydraulic rolling cylinder mechanism 18, and conversely the left side of the snow removing device 15 is lowered by the shortening operation. .

  The snow removal device 15 has a known configuration, and includes an auger member 15a, 15a that rotates about a horizontal axis, a cover member 15b that surrounds the advancing direction rear side of the auger member 15a, 15a, a blower 15c, a discharge cylinder 15d, and the like. . Of these, the auger members 15a and 15b have a configuration in which a spiral shape is wound and fixed around a rotationally driven horizontal shaft 15e. The spiral shape is divided into a right half portion and a left half portion, and is formed into a left spiral or a right spiral, respectively. And fixed to the horizontal axis. When the auger members 15a, 15a are driven, the snow that comes into contact is drawn to the center side in a spiral shape, and the snow that has joined together with the rotation of the blower 15c is sent to the upper discharge cylinder 15d and discharged from the tip of the discharge cylinder 15d. It is a configuration.

  The horizontal shaft 15e of the snow removal device 15 and the drive shaft (not shown) of the blower 15c have a work machine input shaft 15f projecting rearward and a transmission in the transmission case 20 linked to the drive output of the engine 5 on the traveling vehicle body 1 side. A universal joint shaft 22 interlocks with the work machine output shaft 21 that outputs speed change power via the mechanism. The driving force of the work machine input shaft 15f is configured to drive the horizontal shaft 15e via the side transmission mechanism 15g after the blower 15c is driven.

  The transmission case 20 in the traveling vehicle body 1 is provided with a traveling transmission mechanism (not shown) for driving the crawlers 2L and 2R as traveling devices, and in addition to the main clutch capable of turning on and off the engine power, A continuously variable transmission mechanism, a turning side clutch linked to the side clutch switching levers 9L and 9R, and the like are provided.

  The frame 3 of the traveling vehicle body 1 is configured in a trapezoidal shape, and includes a left and right frame, a front and rear frame, an intermediate frame that connects the left and right and the front and rear, and the like. .

  The automatic control of the snow removal device 15 will be described. As shown in FIG. 4, a laser beam irradiation device 30 that can irradiate laser beam Z horizontally at the end of the field is provided, and a predetermined reception range is configured as a reception range in the vertical direction on the snow removal device 15 side. Detection means 31 is provided. The received signal from the laser detecting means 31 is output to the control unit 32, and the control unit 32 determines whether the received signal matches the preset snow removal surface F or not from the laser light Z line to the snow removal surface F. When the measurement distance L ′ to the snow removal surface F is detected as “smaller” than the reference vertical distance L based on the detection result by the laser detection means 31, the output is extended to the hydraulic lifting cylinder mechanism 13. The snow removal device 15 is lowered (lowering output). On the other hand, when it is determined that it is “larger” than the reference vertical distance L, the output is shortened and the snow removal device 15 is raised (upward output). Note that a certain reference vertical distance L is determined by the operator. That is, the growth condition of the vegetables under snow is confirmed in advance, the snow removal device 15 is adjusted up and down by the elevating lever 10, and the vertical distance L is set by setting switch means or the like not shown. Therefore, even if the snow accumulation surface S is uneven and the vegetables under the snow cannot be visually recognized, the snow amount (removal height) h to be removed by the snow removal device 15 is automatically determined, and snow removal work is performed based on the reference vertical distance L. be able to. In general, since the tilling and raising work by the agricultural tractor is performed by the horizontal control means of the tractor, the ridge surface U is formed in a horizontal plane. For this reason, the snow removal operation can be performed without damaging the vegetables under the snow by setting the reference vertical distance L.

  In the above embodiment, the control by the laser beam Z is used as the lifting control means. However, a contact type grounding sensor is simply constructed from the frame portion of the snow removal device 15 and the work is performed while the sensor is in sliding contact with the heel surface U. Thus, the height (snow removal height) h from the saddle surface U to the snow removal surface F can be detected, and the elevation control can be performed while comparing this with the preset snow removal height H.

  In addition, as shown in FIG. 2, left and right inclination angle detection means 33 is provided on the work implement mounting hitch member 4. The detected tilt angle θ by the left / right tilt angle detection means 33 is input to the control unit 32, calculates the angle deviation Δθ from the horizontal state, and outputs the output to the hydraulic rolling cylinder mechanism 18 as an extension output or shortening output, thereby removing the snow removal device 15 Is controlled horizontally to maintain a substantially horizontal posture.

  With regard to the above example, the operator confirms the growth of the growing vegetables on the surface, such as spinach, and at the time of harvesting, the traveling body 1 travels along the fence and harvesting work along with snow removal work as pre-harvest processing. I do. The reference vertical distance L of the snow removal device 15 is determined in consideration of the amount (height) h of the accumulated snow as the growing vegetables grow, and is set in the control unit 32. Note that this set setting is performed by a known configuration such as inputting a numerical value in advance or operating a selection switch. Then, both the elevation control automatic selection switch 34 and the horizontal control automatic selection switch 35 are turned ON.

  When each part is driven in this manner and the traveling vehicle body 1 is moved forward, the snow removing device 15 removes snow at a predetermined height H on the heel surface while the crawler traveling devices 2L and 2R are running in the groove portion between the ridges. In addition, the snow removal device 15 maintains a horizontal posture and performs snow removal work as the traveling vehicle body 1 moves. The worker digs up the snowy vegetables V, V... Grown on the surface U after the pre-snow removal process and stores them in the container-type storage unit 7 while the traveling vehicle body 1 is traveling on its own.

  The snow removal width W of the snow removal device 15 is a width that can cover the width S of the saddle surface U across the span, the span width 2T through which the left and right crawler travel devices 2L and 2R pass, and the half S / 2 of the adjacent kite ( W = S + 2T + S / 2). Therefore, as shown in FIG. 6, the adjacent work can be easily performed.

  The discharge cylinder 15d is provided so as to be rotatable around the longitudinal axis with respect to the base end side, and its discharge port is configured to be capable of changing its direction at 360 degrees, so that the snow discharge destination can be set. In the snow removal work of the pre-harvest pre-harvest harvesting, it is better to release it to the already harvested culvert.

  The second example shown in FIGS. 7 to 9 is different from the above example, and relates to the harvesting of 1 per 1 grown vegetable (cabbage in the illustrated example). In this case, snow removal is performed on the underside snowy vegetables that the traveling vehicle body 1 straddles. In this case, a predetermined space is required for the turning operation at the end of the farm field. In addition, by setting it as the structure which can expand / contract the crawler travel apparatus 2L and 2R on either side, and can be adjusted so that it may correspond to the width | variety of a kite, it can respond to a different kite width | variety and can work without destroying a kite. Moreover, it can be made to respond | correspond to two or more ridges like 2 畝 2 items.

  7 to 9, the components related to the rolling control are omitted, and the traveling vehicle body 1 and the snow removal device 15A are integrated. This rolling control can be omitted in a field where the furrow can be stably driven, leading to cost reduction. In addition, the code | symbol common to the 1st example of FIGS. 1-3 is the same code | symbol.

  10 to 12, the front wheels 40L and 40R and the rear wheels 41L and 41R that support the traveling vehicle body are configured to have the same diameter as a tractor, and a snow removal device 15B is mounted on the rear portion of the traveling vehicle body 1B. To do. That is, the rear bracket 42 of the traveling vehicle body 1B is configured to be movable up and down, and the work bracket elevating work machine hitch 4B is provided on the rear bracket 42. The work machine hitch 4B is provided with a snow removal device 15B having the same form as the snow removal device 15. The work implement hitch 4B is slidably connected to the receiving portion 42a of the rear bracket 42 so as to be slidable left and right, and the sliding cylinder mechanism 43 provided between the rear bracket 42 and the work implement hitch 4B is extended and retracted. Thus, the snow removal device 15B can be changed to a state positioned at the rear portion of the traveling vehicle body 1B and a state offset to the right (imaginary line in FIG. 11). Reference numeral 44 denotes a container.

  As shown in FIGS. 10 and 11, in this embodiment, the harvesting operation is performed while the traveling vehicle body 1B is traveling backward. The occupant worker sets the vertical height of the snow removal device 15 </ b> B according to the set height of the rear bracket 42, and sets the offset amount by extending and contracting the sliding cylinder mechanism 43. After these settings, the traveling vehicle body 1B is caused to travel backward. Other workers harvest the under-snow vegetables V, V... After snow removal while walking in the field and store them in the container 44. When a situation occurs such as the movement of the traveling vehicle body 1B and the work speed of the walking worker do not match, the emergency vehicle body 1B stops when the emergency clutch lever 45 provided on the front side of the traveling vehicle body 1B is operated. Corrections with speed can be made.

  10 to 12, the traveling vehicle body 1B has an engine 47 in the front bonnet 46, a steering handle 48 and a passenger seat 49 in the middle, and a space 50 in which the container 44 is placed in the rear. It is said.

  The cover member 15b of the snow removal device 15B in the third example can be exchanged in the front-rear inverted state as shown by the phantom line in FIG. 10, and in this state, snow removal can be performed while the traveling vehicle body 1B is moved forward F. A walking worker performs harvesting work at the rear of the snow removal device 15B.

  The example shown in FIG. 13 shows an alternative configuration of the snow removal device 15. A tool bar 51 is mounted in a horizontal posture on the rear bracket 42 in FIG. 11, and a snow removal plow 52 is mounted on one end of the tool bar 51. The snow removal plow 52 moves up into the snow accumulating portion and reverses and moves up the snow that has entered the snow plow 52 so that the snow plow 52 rises in the vicinity. With this configuration, the snow above the vegetables under the snow can be raised and discharged to another position with a simple configuration.

  The examples shown in FIGS. 14 and 15 show different examples of the snow removal device. Since the snow removal device 15 and the snow removal device 15B in the first to third examples constitute the snow removal devices 15, 15A, 15B by arranging a pair of auger members 15a, 15a having different spiral shapes in a row, The position of the discharge cylinder 15d and the position of the discharge cylinder 15d must become the center, and the scattering distance from the snow discharge opening to be removed accordingly must be increased. Therefore, as shown in FIGS. 14 and 15, in the snow removal device 15 </ b> C, the spiral 53 is formed in the same form so that the removed snow is brought to one side, and the gathered snow is discharged by the blower 54 and the discharge cylinder 55. However, it is not necessary to throw the snow destination farther to the left, and energy is not consumed. The snow removal device 15C is provided so as to be rotatable about a longitudinal axis on one side, and whether the position of the snow removal device 15C is located at the rear portion of the traveling vehicle body 1 by the forward / reverse interlocking of the electric motor 56 disposed at the axial center position. (FIG. 14) or a position offset in either the left-right direction (FIG. 15). If the auger member and blower are driven by an electric motor (not shown), the configuration can be simplified. Reference numeral 57 denotes a lifting cylinder mechanism.

1,1A, 1B Car body
2L, 2R left and right traveling device
3 frames
5 engines
6 operation unit
7 Container type storage part 13 Elevating interlock mechanism (hydraulic elevating cylinder mechanism)
15,15A, 15B, 15C Snow removal equipment
15f Work machine input shaft 18 Rolling interlock mechanism (rolling cylinder mechanism)
20 transmission cases
21 work machine output shaft
22 universal joint shaft
30 Laser beam irradiation device 31 Height detection means (laser detection means)
33 Left-right tilt detection means L Reference vertical distance h Snow removal height U Surface V Vegetable
Z predetermined horizontal reference (laser beam)

Claims (6)

An engine (5),
Left and right traveling devices (2L, 2R);
A method for harvesting vegetables under snow in a self-propelled traveling vehicle body (1) having an operation part (6),
The snow removing device (15) is mounted on the traveling vehicle body (1), and the container-type housing portion (7) is mounted on the traveling vehicle body (1) , and the traveling vehicle body (1) is moved along a fence formed in the field. Snow removal accumulated on the surface (U) and the vegetables (V, V ...) growing on the surface (U) is removed by leaving the vegetables ( V, V ... ) grown by the snow removal device (15) . Yukika vegetables yield Kakata method to accommodate the vegetables were harvested by performing a post-harvest in simultaneous (V, V ...) the container-type housing part (7). The snow removal device (15) is mounted on the traveling vehicle body (1) so as to be movable up and down, and the snow removal device (15) is automatically lifted and lowered based on the saddle surface (U) or a predetermined vertical distance (L). Yukika vegetables yield Kakata method. Snow removal device to the traveling body (1) to (15) left and right rolling freely mounted, the snow under vegetables yield Kakata method according to claim 1 or claim 2, automatic horizontal control of the snow removing device (15). An engine (5),
Left and right traveling devices (2L, 2R) straddling the field fence;
Vegetable harvesting under snow in which a snow removal device (15) is mounted on a front part of a frame (3) of a self-propelled traveling vehicle body (1) having an operation unit (6) via a lifting / lowering interlocking mechanism (13) so as to be adjustable up and down. In the device
The engine (5) is mounted on the rear side of the traveling vehicle body (1) and the operation unit (6) is disposed behind the engine (5), and the transmission case is interlocked with the drive output of the engine (5). The work machine output shaft (21) for outputting the speed-change power within (20) and the work machine input shaft (15f) on the snow removal device (15) side are connected by a universal joint shaft (22) to remove snow. configuration and the Yukika vegetable yield KaSo location for drive (15). Means (31) for detecting the position of the snow removal device (15) with respect to the predetermined horizontal reference (Z) or the saddle surface (U) is provided, and the snow removal device (15) is set to a position set in advance by the lift interlocking mechanism (13). Based on the comparison, it is configured to move up and down,
The under snow according to claim 4 , wherein a laser beam irradiation device (30) is provided at an end of a farm field, and the predetermined horizontal reference (Z) is a laser beam (Z) irradiated from the laser beam irradiation device (30). vegetable yield KaSo location. A snow removal device (15) is mounted to the traveling vehicle body (1) so as to be freely rollable left and right, and a rolling interlock mechanism (18) is provided between the snow removal device (15) and the traveling vehicle body (1) to remove the snow removal device (15). The left and right inclination detecting means (33) is provided on the left and right sides, and the snow removal device (15) is automatically level-controlled through the rolling interlocking mechanism (18) based on the detection result of the left and right inclination detecting means (33). snow under vegetables yield KaSo location described.

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