JP6523898B2 - Farm work machine - Google Patents

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an agricultural work machine provided with a working device for supplying agricultural materials to a field.

  For example, Patent Document 1 discloses a rice transplanter that controls the amount supplied to be proportional to the traveling speed of a traveling vehicle when supplying agricultural granular material as agricultural material to a field. However, in the rice transplanter according to Patent Document 1, since the rotation speed of the axle of the traveling aircraft is detected as the traveling distance of the traveling aircraft, when the wheel slips and is idle, powder of an appropriate amount in the field It becomes impossible to supply granules.

  In order to solve the problem caused by such a slip, in the agricultural work machine according to Patent Document 2, driving wheel rotation number detecting means for detecting the number of rotations of the driving wheel for drivingly moving the traveling machine body, and the moving amount of the traveling machine body An aircraft movement amount detection means for detecting is provided, and the slip ratio of the drive wheel is calculated from the rotation amount of the drive wheel and the aircraft movement amount based on the detection result of the aircraft movement amount detection means. Granule feed rate is adjusted. The moving amount detecting means of the body detects the number of rotations of the free running body which rolls on the weir surface along with the movement of the running body at the tip of the swing arm attached to the running body It consists of a sensor. In this case, depending on the condition of the wedge surface, the rotation defect of the rotating body occurs, which directly leads to an error of the slip ratio.

  As another method of measuring the slip ratio more accurately, in the field work machine according to Patent Document 3, the movement distance of the field work machine calculated based on the rotation of the driving wheel provided in the field work machine and the GPS module A slip ratio calculation unit is provided that calculates the slip ratio of the field work machine from the travel distance of the traveling vehicle calculated based on the output positioning data. The slip ratio calculated by the slip ratio calculation unit is used to correct the operation control of the supply mechanism of agricultural particulates in order to avoid improper supply of agricultural particulates to the field.

Unexamined-Japanese-Patent No. 05-292811 gazette JP, 2009-268418, A JP, 2015-112070, A

  The slip ratio can be accurately calculated by using positioning data such as GPS. However, during acceleration and deceleration of the vehicle, the slip ratio fluctuates in a complicated manner, so even if the amount of agricultural materials supplied to the field is adjusted based on such slip ratio, satisfactory results can not be obtained. I understand. For this reason, there is a demand for an agricultural material supply technology for appropriately distributing agricultural materials in a field in various traveling states including acceleration and deceleration of an airframe as well as linear operation travel.

The agricultural work machine according to the present invention, provided with a working device for supplying agricultural materials to a field, is slipped from the drive wheel, the estimated travel distance of the vehicle calculated based on the rotation of the drive wheel, and the actual travel distance of the vehicle. A slip ratio calculation unit for calculating a fuel supply rate, a supply amount adjustment unit for adjusting the supply amount of agricultural material by the work device according to the slip ratio, and the detection conditions of the following (1) to (3)
(1) Estimation of rapid deceleration or acceleration of the traveling vehicle based on various manual operation signals such as an accelerator lever, a shift lever, or a brake pedal
(2) Detection of sudden acceleration or deceleration based on speed monitoring of the traveling vehicle
(3) Detection of the start of traveling of the traveling aircraft,
Instability slippage in which even if the supply amount adjustment unit adjusts the supply amount according to the slip ratio based on one or any combination thereof, satisfactory uniformity of agricultural material supply distribution can not be obtained The adjustment of the supply amount according to the slip ratio by the supply amount adjustment unit is stopped based on the unstable slip state detection unit that detects a state and the detection of the unstable slip condition by the unstable slip state detection unit It has an adjustment stop part.

  According to this configuration, the unstable slip state detection unit detects an unstable slip state where fluctuation of the slip ratio is complicated and is considered to be inconvenient for supply adjustment, and under such unstable slip state , The adjustment of the supply of agricultural materials to the field according to the slip rate is discontinued. Since supply of agricultural materials to the place is not stopped but only adjustment thereof is stopped, supply of agricultural materials itself is continued, and unstable slip condition occurs only for a short time, so sudden occurrence Even if irregular slippage occurs, agricultural materials are properly distributed in the field.

While the adjustment of the supply amount of agricultural materials to the field according to the slip rate is stopped, the slip rate immediately before the unstable slip state is detected is adopted, and immediately before the unstable slip state is detected. It is good to maintain the amount of In addition, when the state of the airframe at the time of occurrence of the unstable slip state is estimated, the slip rate suitable for adjustment of the supply of agricultural materials in the unstable slip state is set in advance, It is also possible to use the slip ratio when the unstable slip condition occurs.
From this, in one of the preferred embodiments of the present invention, a temporary slip ratio is generated while the adjustment of the supply amount is stopped by the adjustment stop unit, and the supply amount is calculated using the temporary slip ratio. A supply amount adjustment auxiliary unit is provided to adjust the supply amount by the adjustment unit. A suitable example of this temporary slip ratio is a preset preset slip ratio or a slip ratio calculated before detection of the unstable slip condition. Thereby, the continuity of the supply amount accompanying the vehicle travel can be obtained. In addition, when the preset slip ratio set in advance is zero, when the unstable slip state occurs, the agricultural material is supplied to the field without adjustment of the supply amount, that is, the basic supply amount.

  According to the findings of the inventor of the present invention, most of the unstable slip conditions as described above occur in the acceleration and deceleration states of the vehicle. For this reason, the unstable slip state detection unit can detect the acceleration state and the decelerating state of the vehicle as the unstable slip state. The acceleration state and the deceleration state of the vehicle can be easily calculated from the vehicle speed, and can also be estimated from the operations of the accelerator lever and the shift lever.

  The technology for adjusting the supply amount of agricultural material according to the present invention can be applied particularly effectively to fertilization, seedling planting, sowing, etc., and the distribution of the agricultural material can be realized according to the agricultural work plan. For this reason, it is appropriate that the working device of the agricultural working machine according to the present invention is a fertilizing device or a seedling planting device or a seeding device or a drug spraying device.

It is explanatory drawing which shows the basic principle of the agricultural material supply technique which adjusts the supply amount of agricultural materials appropriately by this invention. It is a side view of a riding rice transplanter which is an example of a farm work machine by the present invention. It is a top view of a riding rice transplanter. It is a schematic diagram which shows a seedling taking amount adjustment mechanism and a fertilizer supply amount adjustment mechanism. It is a functional block diagram of a control device mounted in a riding rice transplanter.

  Before describing a specific embodiment of the agricultural work machine according to the present invention, the basic principle of the agricultural material supply technology for appropriately adjusting the supply amount of agricultural material, which characterizes the present invention, will be described using FIG. Do. Here, as a farm work machine, a working machine 2 such as a rice transplanter, a seeder, a fertilizer applicator, etc. performs work supply (seedling planting) and fertilizer supply (fertilization) and seed (sowing) supply to the fields. A farm work machine attached to 1 is assumed. This agricultural work machine is provided with the supply amount adjusting mechanism 3 as a controlled function in the work device 2, and in the control system, the slip ratio calculating unit 51, the unstable slip state detecting unit 52, the adjustment stopping unit 53 and the supply amount adjusting unit 50 And have.

  The supply amount adjustment mechanism 3 is a planting amount adjustment mechanism if the work device 2 is a seedling planting device, and is a fertilization amount adjustment mechanism if the work device 2 is a fertilization device. Those mechanisms themselves are well known, and adjust the supply amount of agricultural materials to the field set for the working device 2. At this time, the amount of agricultural material supplied to the field is adjusted by the operation of an actuator such as an electric motor based on the control signal sent from the control system.

  The slip ratio calculating unit 51 is calculated from the estimated movement distance of the traveling vehicle 1 calculated based on the rotation of the driving wheels 11 that are front wheels and / or rear wheels, and the vehicle position measured using GPS or the like. The actual movement distance of the traveling vehicle 1 is input. The slip ratio calculating unit 51 calculates the slip ratio of the drive wheel 11 from the estimated movement distance and the actual movement distance. The supply amount adjustment unit 50 generates a control signal for the supply amount adjustment mechanism 3 according to the slip ratio, and sends the control signal to the supply amount adjustment mechanism 3. Thereby, the supply amount of the agricultural material by the working device 2 is adjusted. That is, if the slip ratio becomes large, the moving distance per hour of the traveling airframe 1 decreases and the supply amount of agricultural material per traveling distance increases, so the supply amount of agricultural material decreases. Thereby, supply distribution of agricultural materials in a field is equalized.

  The unstable slip state detection unit 52 evaluates the behavior of the slip ratio calculated by the slip ratio calculation unit 51 and detects an unstable slip state in which the correlation between the fluctuation of the slip ratio and the supply amount of agricultural material is low. . The unstable slip state is, for example, a state in which the slip ratio suddenly increases, or a state in which the slip ratio fluctuates unstablely in a short time, and is likely to occur at the time of deceleration or acceleration of the traveling body 1. Moreover, not only such a condition but also a condition in which a continuously fluctuating small slip ratio occurs is regarded as an unstable slip condition here. This is because such continuously fluctuating small slip rates do not adversely affect the supply distribution of agricultural materials, so it is possible to keep adjusting the supply rate in accordance with the fluctuation of the slip rates. It is a burden on 3 and is not a good idea. When the unstable slip state detection unit 52 detects the unstable slip state, the unstable slip state detection unit 52 outputs a signal indicating the unstable slip state.

  When receiving the signal indicating such an unstable slip state, the adjustment stop unit 53 outputs an adjustment stop command to the supply amount adjustment unit 50. When the supply amount adjustment unit 50 receives the adjustment stop command, the supply amount adjustment unit 50 does not adjust the supply amount based on the slip ratio sent from the slip ratio calculation unit 51.

  While receiving the adjustment stop command, the supply amount adjusting unit 50 ignores the slip ratio sent from the slip ratio calculating unit 51, and maintains the supply amount before receiving the adjustment stop instruction. However, depending on the situation in which the unstable slip state is occurring, it is not always appropriate to maintain the current supply amount. For this reason, the temporary slip ratio setting unit 54 and the supply amount adjustment assisting unit 55 are provided. The temporary slip ratio setting unit 54 generates the temporary slip ratio and supplies the temporary slip ratio to the supply amount adjustment assisting unit 55 while the adjustment stop unit 53 stops the adjustment of the supply amount. With regard to the generation of the temporary slip ratio by the temporary slip ratio setting unit 54, a configuration is adopted in which the preset temporary slip ratio (that is, the preset slip ratio set in advance) is read and given to the supply amount adjustment auxiliary unit 55. Alternatively, the temporary slip ratio may be derived based on the slip ratio calculated by the slip ratio calculation unit 51, or may be selected from a plurality of temporary slip ratios according to the unstable slip state. May be Furthermore, the slip rate calculated before detection of the unstable slip state or a value obtained by multiplying the slip rate by a coefficient may be used as the temporary slip rate.

The following two will be shown as an example of determination conditions for detecting the unstable slip state in the unstable slip state detection unit 52.
(1) Since the unstable slip state is likely to occur at the time of deceleration or acceleration of the traveling machine body 1, the acceleration control and the deceleration state of the traveling machine body 1 are regarded as the unstable slip state, and the speed control provided on the traveling machine body 1 And an unstable slip state in response to the input of a signal indicating the acceleration state and the deceleration state of the traveling body 1 from the sensor related to.
(2) The slip ratio calculated by the slip ratio calculating unit 51 is monitored, and when the slip ratio is out of a preset application range, it is regarded as an unstable slip condition and an unstable slip condition is output. According to the knowledge of the inventor of the present application, assuming that the slip ratio is calculated by (wheel speed-vehicle speed) / vehicle speed) x 100%, if the slip ratio is a% or more and less than b%, the supply amount It is considered that it may be used to adjust the If the slip ratio is less than a%, it is regarded as a slip ratio not suitable for adjustment of the supply amount (a kind of unstable slip condition), and preferably, the slip ratio calculated before detection of this unstable slip condition is As slip ratio, adjustment of supply amount is performed. If the slip ratio is b% or more, it is regarded as abnormal and adjustment of the supply amount at a predetermined temporary slip ratio is performed. a% and b% are determined through computer simulation and field experiments. Moreover, it is convenient to make a% and b% changeable and settable for each agricultural work machine according to the type of field, the specification of the work device 2 and the like.

  Next, a riding rice transplanter which is one of the specific embodiments of the agricultural working machine according to the present invention will be described using the drawings. FIG. 2 is a side view of the riding rice transplanter, and FIG. 3 is a plan view. As shown in FIG. 2, the traveling body 1 is provided with a pair of left and right front wheels 11 a and a pair of left and right rear wheels 11 b as driving wheels 11 at a lower part of the body frame 10. At the rear of the machine frame 10, there is provided a link mechanism 7 which is pivotable up and down. An 8-row planting type seedling planting apparatus 2A as one of the work apparatuses 2 is supported via the link mechanism 7 so as to be able to move up and down. The link mechanism 7 is driven to move up and down by the hydraulic cylinder 70. Furthermore, the fertilization apparatus 2B is also provided as another one of the working apparatus 2.

  In this embodiment, the own-machine position required to determine the slip ratio is determined using a satellite positioning system using GPS or the like. For example, in the GPS system, in order to receive GPS signals from satellites, the GPS antenna 90 is attached to a location where radio wave reception sensitivity is good. In this embodiment, the center mascot 14 provided at the front end of the bonnet 13 located in front of the control unit 4 in the traveling machine body 1 is preferably used as a guide for traveling when carrying out planting work. Attached to the tip area.

  As shown in FIG. 2 and FIG. 3, the power of the engine 17 is provided in the transmission case 18 for a hydrostatic stepless transmission (not shown) for traveling, an inter-gear transmission (not shown), planting From the clutch (not shown), the power is transmitted to the seedling planting device 2A via the transmission shaft 19.

  As shown in FIG. 2 and FIG. 3, the fertilizing device 2B corresponds to the hopper 36 and two planting streaks, which are arranged on the rear side of the driver's seat 12 and store the granular fertilizer (equivalent to agricultural material). Four delivery units 37 are provided. The fertilizer dispensed by the dispensing unit 37 is conveyed by a blower disposed below the driver's seat 12. A groover 15 is fixed to the ground float 25, and eight hoses 16 are connected across the delivery portion 37 and the groover 15. The power of the delivery unit 37 is supplied from the engine 17.

  As shown in FIGS. 2 and 3, the seedling planting mechanism 21 of the seedling planting apparatus 2A includes a planting transmission case 22, a pair of rotation cases 23 rotatably supported at the rear of the planting transmission case 22, and A pair of planting arms 24 provided at both ends of the rotation case 23, a ground contact float 25, a seedling platform 20 and the like are provided.

  The planting arm 24 of the seedling planting mechanism 21 is driven by the driving force transmitted to the planting transmission case 22, and the tips of the planting claws provided on the two planting arms 24 have a vertically long turning locus. Perform a planting exercise that moves up and down while drawing. At the time of seedling planting operation, each seedling planting mechanism 21 takes out one planted seedling from the mat-like seedling on the seedling platform at the lower end of the seedling platform 20 alternately with two planting arms 24 Then, the planted seedlings taken out are transported downward to the field and planted on the mud part cleaned by the ground contact float 25. The seedling loading stand 20 is reciprocally transferred in the lateral direction of the vehicle body in conjunction with the seedling planting motion of the seedling planting mechanism 21 by the lateral feed mechanism, and the mat-like seedlings are reciprocated in the lateral direction of the vehicle body with respect to the seedling planting mechanism 21. To transport. As a result, each seedling planting mechanism 21 takes out the seedlings from one lateral end side to the other end side of the lower end portion of the mat-like seedling placed on the seedling platform 20, and plant it on the paddy field surface.

  By changing the vertical length at which the mat seedlings placed on the seedling platform 20 are taken out by the planting claws of the planting arm 24, the seedling removal amount is adjusted. The seedling amount adjustment mechanism 3A for adjusting the seedling amount is an example of the supply amount adjustment mechanism 3 and is schematically shown in FIG. When the seedling platform 20 reaches the left and right stroke ends of the lateral transfer, it is longitudinally fed by a length corresponding to the take-out length of the seedlings in the longitudinal direction.

  The seedling removal amount adjustment mechanism 3A changes the position of the seedling platform 20 and the guide rail 20a up and down, so that the planting claws of the planting arm 24 take out the seedling removal port formed in the guide rail 20a and take out the seedling Adjust the seedling yield of The seedling amount adjustment mechanism 3A engages with an electric motor 41 with a reduction mechanism, which is an actuator for changing the positions of the seedling loading stand 20 and the guide rail 20a up and down, and a pinion gear provided on an output shaft of the electric motor 41. And a fan-shaped gear 42. Further, the seedling amount adjustment mechanism 3A includes a support arm 45 inserted at the front of the guide rail 20a, and a support shaft 44 that supports the support arm 45 so as to be able to pivot. The support arm 45 and the sector gear 42 are linked by a connection arm 43. The turning shaft 46 of the sector gear 42 is provided with a seedling removal amount sensor 47 for detecting the rotation angle (seedling removal amount) of the sector gear 42, and the detection value (seedling removal amount) of the seedling removal amount sensor 47 is controlled It is input to the device 5. The electric motor 41 is driven based on the drive signal from the control device 5. By driving the electric motor 41 in one direction, the seedling platform 20 and the guide rail 20a move upward, and by driving the electric motor 41 in the other direction, the seedling platform 20 and the guide rail 20a move downward. When the positions of the seedling loading stand 20 and the guide rails 20a are set to the upper side, the planting arms 24 pass through the seedling outlet of the guide rails 20a while entering the seedling outlet of the guide rails 20a shallowly, and the seedling removal amount decreases. When the positions of the seedling loading stand 20 and the guide rails 20a are set to the lower side, the planting arms 24 pass through the seedling outlet of the guide rails 20a while deeply entering, and the seedling removal amount increases.

  The fertilizer application device 2B includes a fertilizer supply amount adjustment mechanism 3B which is an example of the supply amount adjustment mechanism 3 for adjusting the supply amount of fertilizer. The structure of the fertilizer supply amount adjusting mechanism 3B is well known, for example, from Japanese Patent Application Laid-Open No. 2015-65890 and the like, and thus the detailed description thereof is omitted here. The fertilizer supply control mechanism 3B is schematically shown in FIG. In this embodiment, the fertilizer supply amount adjustment mechanism 3B rotates the screw shaft 30 in the forward direction and the reverse direction through the screw shaft 30 for displacing the adjustment body for adjusting the delivery amount in the delivery portion 37 and the gear. And a position detection sensor 32 for detecting the displacement position of the adjuster based on the rotation of the screw shaft 30. The detection value of the position detection sensor 32 is input to the control device 5. The electric motor 31 is driven based on the drive signal from the control device 5. When the fertilizer supply amount adjustment mechanism 3B of the fertilizer application device 2B is a delivery roll type, it is preferable to set the number of revolutions of the roll higher than the target value because the increase in the number of revolutions of the roll and the increase in the delivery amount are not linear. .

  FIG. 5 shows functional units particularly related to the present invention in the control device 5 equipped in the riding rice transplanter. These functional units use the basic principle of the present invention described with reference to FIG.

  As a signal input function unit of the control device 5, a GPS module 9 and an input signal processing unit 61 are constructed. The GPS module 9 has a GPS antenna 90 and a GPS processing circuit 91, and generates positioning data indicating the position of the vehicle in real time based on the GPS signal received by the GPS antenna 90. The input signal processing unit 61 processes detection signals from various sensors that detect the traveling state and the working state of the rice transplanter. The various sensors also include a seedling removal amount sensor 47 of the seedling removal amount adjustment mechanism 3A and a position detection sensor 32 of the fertilizer supply amount adjustment mechanism 3B. Furthermore, the input signal processing unit 61 manually adjusts the adjustment signal by the manual adjustment tool 81 for manually adjusting the seedling removal amount of the seedling removal amount adjustment mechanism 3A and the fertilizer supply amount of the fertilizer supply amount adjustment mechanism 3B. An adjustment signal from the manual adjustment tool 82 is also input. Further, as other input signals, a detection signal indicating an engine rotational speed, wheel rotational speed, fuel remaining amount, seedling remaining amount, fertilizer remaining amount, shift position, attitude of working device 2 (rising state or lowering state), etc. Various manual operation signals such as an accelerator lever and a shift lever are also input to the input signal processing unit 61.

  As a signal output function unit of the control device 5, a control signal output unit 62 and a notification signal output unit 63 are constructed. The control signal output unit 62 sends control signals to various operating devices such as hydraulic devices and electric devices in order to drive the operating devices related to traveling and work of the rice transplanter. The notification signal output unit 63 outputs a notification signal to a notification device in order to notify the driver or the outside of various information. As a notification device, a display 631 for displaying image information and a speaker 632 for emitting audio information are representative, but a buzzer and a lamp are also included. When the display 631 is equipped with a touch panel, information input through the touch panel is input to the input signal processing unit 61 as an operation signal.

  A supply amount adjustment unit 50, a slip ratio calculation unit 51, an unstable slip state detection unit 52, an adjustment stop unit 53, and a temporary slip ratio setting unit 54 are constructed as an arithmetic function unit of the control device 5. . These arithmetic function units include at least a part of the functions described with reference to FIG.

  According to the slip ratio calculated by the slip ratio calculation unit 51, the supply amount adjustment unit 50 automatically adjusts the seedling removal amount of the seedling removal amount adjustment mechanism 3A or automatically adjusts the fertilizer supply amount of the fertilizer supply amount adjustment mechanism 3B. Make both automatic adjustments. At this time, the supply amount adjustment unit 50 is provided with a slip ratio-adjustment value table (control map) for deriving an adjustment value for adjusting the amount of fertilizer supply from the slip ratio.

  The slip ratio calculating unit 51 calculates the slip ratio from the actual travel distance and the estimated travel distance. In this embodiment, the slip ratio calculating unit 51 also calculates the actual travel distance and the estimated travel distance. The actual movement distance is calculated based on the positioning data sequentially sent from the GPS module 9. That is, the distance between the two vehicle positions in a predetermined time is the actual movement distance in the predetermined time. The estimated travel distance is calculated from the number of revolutions per hour of the drive wheel 11. That is, the distance obtained by multiplying the peripheral speed of the drive wheel 11 by a predetermined time is the estimated movement distance.

When the unstable slip state detection unit 52 detects an unstable slip state, the unstable slip state detection unit 52 outputs a signal indicating the unstable slip state. As described above, when supplying agricultural materials (seedlings and fertilizer in this embodiment) to the field, the amount supplied is proportional to the speed calculated based on the rotational speed of the drive wheel 11 of the traveling airframe 1 It is controlled. However, when the drive wheel 11 slips and is idling, there is a deviation between the calculated traveling speed and the actual traveling speed of the traveling vehicle 1. Since this deviation makes the supply distribution of agricultural materials uneven, the amount of supply of agricultural materials is adjusted in consideration of the slip ratio to avoid this. In the unstable slip state, the correlation between the slip ratio and the supply amount becomes low, and even if the predetermined supply amount is adjusted based on the slip ratio, the uniformity of the distribution of the agricultural material supply can be obtained. It means that there is no condition. The unstable slip state detection unit 52 detects such unstable slip state based on one or any combination thereof of the detection conditions exemplified below.
(1) Estimation of rapid deceleration or acceleration of the traveling vehicle 1 based on various manual operation signals such as an accelerator lever, a shift lever, or a brake pedal.
(2) Detection of rapid acceleration or deceleration based on speed monitoring of the traveling vehicle 1
(3) Detection of the start of traveling of the traveling aircraft.
(4) Deviation of the slip ratio calculated by the slip ratio calculation unit 51 from the preset range (that is, the under slip ratio or the over slip ratio is regarded as the requirement of the unstable slip state). The slip ratio is determined through experiments etc.).

  When the temporary slip ratio setting unit 54 outputs a signal indicating an unstable slip state, the adjustment stop unit 53 gives an adjustment stop command to the supply amount adjustment unit 50, and the normal supply amount adjustment mechanism 3 by the supply amount adjustment unit 50 Cancel automatic adjustment. Here, the automatic adjustment for the normal supply amount adjusting mechanism 3 supplies the adjustment command based on the adjustment value derived from the slip ratio-adjustment value table according to the slip ratio calculated by the slip ratio calculating unit 51. It is to give to the quantity adjustment mechanism 3.

  When the adjustment stop unit 53 instructs the adjustment stop, in this embodiment, one of the following two control processes can be selected. In one of the control processes, the adjustment command for the supply amount adjustment mechanism 3 is not output to the supply amount adjustment mechanism 3, and as a result, the working device 2, here the seedling planting device 2A and / or the fertilization device 2B, is adjusted Continue supplying agricultural materials without, that is, without changing supply volume. In another control process, the temporary slip ratio setting unit 54 generates a temporary slip ratio, and this temporary slip ratio is given to the supply amount adjustment unit 50. When the supply amount adjustment unit 50 receives not only the adjustment stop command but also the temporary slip rate, the supply amount adjustment auxiliary unit 55 is activated, and the supply amount adjustment of the adjustment command is performed to perform the supply amount adjustment based on the temporary slip rate. Give to mechanism 3. As a result, the working device 2 may supply the agricultural material to the field with the supply amount adjusted based on the temporary slip ratio, not the supply amount adjusted based on the slip ratio calculated by the slip ratio calculation unit 51. it can.

  The supply amount adjustment mechanism 3 has a configuration in which a basic supply amount is set by the manual adjustment tools 81 and 82. Therefore, agricultural materials are supplied to the field with this basic supply amount in the state where no slip has occurred. In addition to the manual adjustment tools 81 and 82, this basic supply amount setting can also be performed remotely using a remote control or Wifi technology.

[Another embodiment]
(1) In the embodiment described above, the riding rice planter was taken up as the agricultural work machine, and the seedling planting device 2A and the fertilizing device 2B were mounted as the work device 2. Instead of this, the present invention may be applied to an agricultural work machine equipped with only the seedling planting device 2A, and an agricultural work machine equipped with only the fertilization device 2B. Furthermore, it is also possible to apply the present invention to a farm work machine equipped with a sowing device or a medicine spraying device as the working device 2. When the seeding apparatus is mounted, an adjustment command corresponding to the slip rate is given to the seed-wale amount adjusting mechanism that changes the feed amount of the seed meal. When the seeding apparatus is mounted, an adjustment command according to the slip ratio is automatically given to the seed amount adjustment mechanism that changes the feed amount of the seed meal. When the drug spraying device is mounted, an adjustment command according to the slip ratio is automatically given to the drug spray amount adjusting mechanism that changes the supply amount of the drug.
(2) In the above-described embodiment, satellite navigation technology such as GPS is employed to calculate the actual travel distance of the traveling vehicle 1, but instead, the actual travel distance is obtained using a photographing camera and image processing technology It is also possible to calculate
(3) Although the functional units shown in FIG. 1 and FIG. 5 are divided for ease of understanding for the purpose of explanation, each functional unit can be arbitrarily divided or integrated. For example, the slip ratio calculating unit 51 and the temporary slip ratio setting unit 54 may be integrated, or the temporary slip ratio setting unit 54 and the adjustment stopping unit 53 may be integrated. In addition, the unstable slip state detection unit 52 may be incorporated in the input signal processing unit 61.
(4) Although not described in the above-described embodiment, when the aircraft speed increases, the ground contact float 25 tends to rise upward, and the planting depth tends to be shallow. For this reason, it is preferable that the planting depth target value be corrected to a deeper side as the vehicle speed becomes higher.
(5) Although the GPS antenna 90 is attached to the center mascot 14 in the embodiment described above, it may be attached to the surface of the bonnet 13 having good radio wave reception sensitivity as well.

  The present invention is applied to an agricultural machine provided with a working device for supplying agricultural materials to a field.

1: traveling machine body 11: driving wheel 11a: front wheel 11b: rear wheel 14: center mascot 17: engine 2: work device 20: seedling platform 21: seedling planting mechanism 25: ground float 2A: seedling planting device 2B: fertilization Device 3: Supply amount adjustment mechanism 3A: Seedling amount adjustment mechanism 3B: Fertilizer supply amount adjustment mechanism 31: Electric motor 32: Position detection sensor 41: Electric motor 47: Seedling amount sensor 5: Control device 50: Supply amount adjustment unit 51: Slip ratio calculation unit 52: Unstable slip condition detection unit 53: Adjustment cancellation unit 54: Temporary slip ratio setting unit 55: Supply amount adjustment auxiliary unit 9: GPS module 90: GPS antenna 91: GPS processing circuit

Claims (3)

It is an agricultural work machine equipped with a working device that supplies agricultural materials to the field,
Driving wheels,
A slip ratio calculating unit that calculates a slip ratio from an estimated travel distance of the vehicle body calculated based on the rotation of the driving wheel and an actual travel distance of the vehicle body;
A supply amount adjustment unit configured to adjust a supply amount of agricultural material by the work device according to the slip ratio;
Detection conditions (1) to (3) below,
(1) Estimation of rapid deceleration or acceleration of the traveling vehicle based on various manual operation signals such as an accelerator lever, a shift lever, or a brake pedal
(2) Detection of sudden acceleration or deceleration based on speed monitoring of the traveling vehicle
(3) Detection of the start of traveling of the traveling aircraft,
Instability slippage in which even if the supply amount adjustment unit adjusts the supply amount according to the slip ratio based on one or any combination thereof, satisfactory uniformity of agricultural material supply distribution can not be obtained An unstable slip state detection unit that detects a state;
An agricultural work machine, comprising: an adjustment stop unit stopping adjustment of the supply amount according to the slip ratio by the supply amount adjustment unit based on detection of the unstable slip state by the unstable slip state detection unit. A temporary slip ratio is generated while the adjustment of the supply amount is stopped by the adjustment stop unit, and the supply amount adjustment assisting unit is provided to adjust the supply amount by the supply amount adjustment unit using the temporary slip ratio. , the temporary slip ratio, preset preset slip ratio or agricultural machine according to claim 1 wherein Ru slip ratio der which is calculated before the detection of the unstable slip state.   The agricultural work machine according to claim 1 or 2, wherein the work device is a fertilization device, a seedling planter, a seeding device, or a drug dispersion device.

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