KR20210141441A - packaging work system - Google Patents

Abstract

A pavement work system for driving a transplanter (1) having a seedling planting device (3) while performing an operation in a field, comprising: a disc depth detection unit (61) for detecting a disc depth (D) at the position of the planting machine (1); , a seedling planting based on the slip rate calculating part 62 which calculates the slip ratio S of the transplanting machine 1 based on the slat depth D and the moving speed of the transplanting machine 1, and the slip ratio S and an operation control unit 63 for controlling the operation of the device 3 .

Description

packaging work system

The present invention relates to a paving work system in which a work vehicle having a work device is driven while performing work on pavement.

Patent Document 1 below describes a technique for calculating the hardness of the pavement by measuring the slip ratio of the rice transplanter and the depth of the tiller at the place where the rice transplanter is located, respectively.

Japanese Laid-Open Patent Publication No. 11-89351

In Patent Document 1, the slip ratio is calculated using a satellite navigation system. However, the satellite navigation system is expensive, and as a means for calculating the slip ratio, there is a problem in terms of cost. Moreover, it has become clear that there are also factors other than the hardness of a pavement and the depth of a pavement described in patent document 1 in the fluctuation|variation of a slip rate, and it is necessary to compute a slip rate in consideration also of other factors.

Then, in view of the said subject, an object of this invention is to provide the paving work system which can calculate the accurate slip rate which considered various fluctuation factors with a simple structure.

The paving work system of the present invention is a paving work system for driving a work vehicle having a work device while performing work on paving,

a disc depth detection unit for detecting a disc depth at the position of the work vehicle;

a slip rate calculator configured to calculate a slip rate of the work vehicle based on the depth of the wheel and a vehicle state of the work vehicle;

and a work control unit for controlling an operation of the work device based on the slip rate.

According to the pavement work system of the present invention, since the slip rate is calculated based on the vehicle condition of the work vehicle as well as the depth of the wheel, it is possible to calculate an accurate slip rate in consideration of various fluctuation factors. In addition, since the slip rate is calculated based on the disc depth and the vehicle condition without using a satellite navigation system, the slip rate can be calculated with a simple configuration.

BRIEF DESCRIPTION OF THE DRAWINGS It is a left side view of the implantation machine which concerns on this embodiment.
Fig. 2 is a plan view of the implantation device according to the present embodiment.
3 is a control block diagram of the implanted device according to the present embodiment.
4 : is a figure which shows an example of a slip rate map.
5 : is a figure which shows the correction example of a slip rate map.

EMBODIMENT OF THE INVENTION Below, embodiment of this invention is described, referring drawings. In addition, in the following description, the advancing direction (left direction in FIG. 1) of the traveling body 2 is made forward, the left is simply called the left toward the advancing direction, and similarly, the right is simply referred to as the advancing direction. called the right

1 to 3 , a transplant device 1 (an example of a working vehicle) according to the present embodiment includes a traveling body 2 , and front wheels 1a and rear wheels supporting the traveling body 2 . It is provided with (1b), a drive source (engine) 1c mounted on the traveling body 2, and the transmission part 1d which transmits the drive of the drive source 1c to each part. Moreover, the transplant machine 1 is equipped with the seedling planting apparatus 3 for planting a seedling behind the traveling body 2 . And when planting a seedling, the transplant machine 1 travels toward the front.

The traveling body 2 is equipped with the seat 2a for an operator to sit down, the operation part 2b operated by the operator, and the spare part 2c for loading a spare seedling mat. For example, the operation part 2b is equipped with the operation lever for operating the control handle for operating the traveling direction, the shift lever for operating the traveling speed, and the seedling planting apparatus 3 .

In order that the seedling planting apparatus 3 supplies a seedling mat to the planting part 4 which scrapes and plants some seedlings from a seedling mat, and the planting part 4, the seedling loading apparatus 5 on which a seedling mat is loaded ) is provided.

Since the seedling planting apparatus 3 is connected to the traveling body 2 so that rotation is possible, it moves up and down with respect to the traveling body 2 . A link frame 2d is erected on the rear end of the traveling body 2 . The seedling planting apparatus 3 is connected to the link frame 2d via the raising/lowering link mechanism 22 which consists of the row link 20 and the top link 21 so that raising/lowering is possible. The seedling planting apparatus 3 moves up and down by rotating the raising/lowering link mechanism 22 up and down by the expansion/contraction movement of the raising/lowering cylinder 23. As for the lifting cylinder 23, the cylinder base end side is supported by the traveling body 2 so that a vertical rotation is possible, and the rod front-end|tip side is connected with the low link 20 so that rotation is possible. An angle sensor 24 (refer FIG. 3), such as a potentiometer, is arrange|positioned in either joint part of the raising/lowering link mechanism 22. As shown in FIG. The height of the seedling planting apparatus 3 is detected by the detection angle from the angle sensor 24, and from the difference between this seedling planting apparatus 3 and the rear wheel 1b, of the soil layer from the hardwood. The thickness (also referred to as the warp depth (D)) can be calculated.

The planting part 4 is arrange|positioned below the seedling loading apparatus 5. And the planting part 4 is equipped with the rotating planting claw 40, When the planting claw 40 revolves, some seedlings are scraped from the seedling mat located in the lower end of the seedling loading apparatus 5. Lapped and planted on the pavement.

The planting part 4 is the planting input case 41 to which the motive power which passed through the transmission part 1d is transmitted from the drive source 1c, and 4 sets for 8 rows connected to the planting input case 41 The planting transmission case 42 of 2 sets of 1 set), the seedling planting mechanism 43 provided in the rear end side of each planting transmission case 42, and the paddy field floor leveling arrange|positioned at the lower surface side of each planting transmission case 42 A dragon float 45 is provided. In the seedling planting mechanism 43, the rotary case 44 which has two planting claws 40 is provided. By one rotation of the rotary case 44, the two planting claws 40 cut out and hold the seedling of each 1 pole, respectively, and plant it in a pavement.

The seedling loading apparatus 5 is the seedling loading table 51, the seedling loading table transverse feeding mechanism which performs horizontal feeding of the seedling loading table 51 in the left-right direction, and the top and bottom of the seedling mat on the seedling loading table 51 The seedling longitudinal feed mechanism which performs longitudinal feed of a direction is provided. Since the seedling loading stand 51 is reciprocally moved horizontally by the seedling loading stand lateral feed mechanism, the seedling mat on the seedling loading stand 51 is horizontally conveyed reciprocally continuously. On the other hand, when the seedling loading stand 51 arrives at a reciprocating end, the seedling mat on the seedling loading stand 51 is vertically conveyed intermittently by the conveyance belt 52 of a seedling vertical feeding mechanism.

Moreover, the transplant device 1 is equipped with the speed detection part 25 (refer FIG. 3) which detects the moving speed of the traveling body 2, and the input device 26 (refer FIG. 3). Although the speed detection part 25 is not specifically limited, For example, the moving speed is detected from the rotation speed measured with the rotation speed sensor provided in the rear wheel 1b.

The input device 26 is provided with the input part, and can input various information (for example, instruction|indication information) with respect to the implantation device 1 . Moreover, the input device 26 is equipped with the display part, and can display various information of the implantation device 1 . For example, the input device 26 is constituted by an information processing device such as a tablet-type personal computer having a touch panel, and by operating the touch panel, various types of information can be input, and various types of information can be displayed on the touch panel. do. In addition, the input device 26 is provided outside the implantation machine 1, and the thing which can communicate with the implantation machine 1 may be sufficient.

Moreover, the transplanting machine 1 is equipped with the control part 6 which controls the traveling body 2 and the seedling planting apparatus 3 . The control part 6 is equipped with the storage part 60 which memorize|stores various information. In addition, the control unit 6 includes a disc depth detection unit 61 that detects the disc depth D at the position of the transplanting machine 1 , a slip rate calculating unit 62 , and a seedling planting device 3 (of the working device). An operation control unit 63 for controlling the operation of an example) and a traveling control unit 64 for controlling the operation of the traveling body 2 are provided.

The mirror depth detection part 61 calculates the mirror depth D based on the detection angle from the angle sensor 24 mentioned above. Moreover, you may correct the angle of the angle sensor 24 by detecting the pitching angle (front-back inclination angle) of the implantation device 1 .

The slip rate calculating unit 62 calculates the slip rate S of the implanted device 1 based on the disk depth D and the vehicle state of the implanted device 1 . Here, the vehicle state includes various information related to the vehicle, such as the moving speed of the implanted device 1 , the weight of the implanted device 1 , the center of gravity of the implanted device 1 , and the presence or absence of accessories attached to the implanted device 1 . In this embodiment, the example which uses the moving speed of the implantation device 1 as a vehicle state is shown.

The slip rate calculation unit 62 includes a slip rate map acquisition unit 62a and a slip rate map correction unit 62b.

The slip-rate map acquisition part 62a acquires the slip-rate map which shows the slip ratio S with respect to the hard disk depth D. The slip rate map is previously stored in the storage unit 60 . Fig. 4 is a schematic diagram of a slip rate map showing the relationship between the warp disk depth (D) and the slip rate (S). A slip rate map is an approximate curve or approximate straight line computed from the correlation data which matched the slip rate (S) with the depth of a wheel (D). Correlation data of the disk depth (D) and the slip rate (S) are obtained in advance by experiments, simulations, or the like. In the example of FIG. 4 , the slip rate S is a quadratic function of the warp disk depth D. As shown in FIG.

The slip rate map correction unit 62b corrects the slip rate map obtained by the slip rate map acquisition unit 62a according to the moving speed of the implanted device 1 . That is, the slip rate map correction unit 62b changes the characteristics of the slip rate map according to the moving speed of the implanted device 1 . Specifically, the slip rate map correction unit 62b changes the coefficients or constants of the approximate curve or approximate straight line representing the slip rate map. By changing the coefficients or constants of the approximation curve, it is possible to move the approximation curve in parallel as shown in Fig. 5(a) or to change the inclination of the approximation curve as shown in Fig. 5(b). For example, when the moving speed of the implanter 1 increases, the slip ratio S tends to increase, so that the approximate curve is moved in parallel as shown in Fig. 5(a). Moreover, you may make it move a part of approximation curve in parallel and change the inclination of a part.

Moreover, the slip-rate map correction|amendment part 62b can also perform correction|amendment of the slip-rate map based on the instruction|indication information manually input by the input device 26 . Accordingly, the slip rate map can be appropriately corrected by the operator's judgment.

The slip rate calculating unit 62 acquires the slip rate S associated with the hard disk depth D from the corrected slip rate map corrected by the slip rate map correcting unit 62b.

The operation control part 63 controls operation|movement of the seedling planting apparatus 3 based on slip rate S. Specifically, based on the slip rate S, the number of seeds to be planted and the seedling removal amount by the planting claw 40 are controlled. In general, at the slipping point, the ground speed is decelerating, and since it becomes a state denser than the target work interval, for example, the number of poles is changed so that the poles become wider. In addition, a detailed description is abbreviate|omitted since it is well-known about the specific mechanism which adjusts the number of seedlings and a seedling amount.

Moreover, as the transplant machine 1, the transplant machine with a fertilization device is known. The operation control unit 63 may control the operation of the fertilization apparatus based on the slip rate S to control the fertilization amount or the reagent amount. Generally, at the point where the slip rate is large (that is, the point where the tillage depth D is large), the soil is fertile and there are many places where it is easy to get muddy. Therefore, it leads to suppression of agricultural material consumption by implementing a reduction in fertilizer etc. In addition, about the specific mechanism which adjusts the fertilization amount of a fertilization apparatus, since it is well-known, detailed description is abbreviate|omitted.

Moreover, the traveling control unit 64 controls the operation of the traveling body 2 based on the slip ratio S. Specifically, based on the slip ratio S, the vehicle speed, the engine speed, the steering angle, and the like are adjusted. Generally, a point with a large slip ratio is a point prone to slipping, and since a steering operation becomes difficult to hear, a steering operation angle is enlarged or a steering operation is made quickly.

As described above, the pavement operation system of the present embodiment is a pavement operation system in which the transplanter 1 having the seedling planting apparatus 3 travels while performing the operation in the field,

a disc depth detection unit 61 for detecting the disc depth D at the position of the implanter 1;

a slip rate calculating unit 62 that calculates the slip rate S of the implantation device 1 based on the warp disk depth D and the moving speed of the implantation device 1;

It is equipped with the operation|work control part 63 which controls operation|movement of the seedling planting apparatus 3 based on slip rate S.

Moreover, in the paving work system of this embodiment, the slip rate calculating part 62 includes the slip rate map acquisition part 62a which acquires the slip rate map which shows the slip ratio S with respect to the hard disk depth D; You may make it provide the slip-rate map correction|amendment part 62b which correct|amends the slip-rate map acquired by the slip-rate map acquisition part 62a according to the moving speed of the implantation device 1 .

Moreover, in the paving work system of this embodiment, the slip-rate map correction|amendment part 62b may be a thing capable of performing correction|amendment of a slip-rate map based on the instruction|indication information manually input by the input device 26. As shown in FIG.

Moreover, in the paving work system of this embodiment, the slip rate map correction|amendment part 62b may change the characteristic of a slip rate map.

Moreover, in the pavement operation system of this embodiment, the slip rate map is an approximate curve calculated from correlation data in which the slip rate S is correlated with the depth of the surface D, and the slip rate map correction unit 62b includes: You may change the coefficient or constant of the said approximation curve.

Moreover, the transplanting machine 1 of this embodiment is mounted on the traveling body 2 which can drive a pavement, and the traveling body 2, and the seedling planting apparatus 3 which works in a field|pavement, and traveling body 2 In the vehicle state of the transplanting machine 1 including a mirror depth detection unit 61 that detects the disk depth D at the position of Based on the slip rate calculating part 62 which calculates the slip rate S of the traveling body 2, and the operation control part 63 which controls the operation|movement of the seedling planting apparatus 3 based on the slip rate S, it will be provided

According to the pavement operation system and transplanting machine 1 which concern on this embodiment, the accurate slip rate in consideration of various fluctuation factors with a simple structure can be computed. Moreover, the influence of the slip rate with respect to an operation|work can be reduced by controlling the operation|movement of the seedling planting apparatus 3 based on the calculated accurate slip rate.

[Other embodiment]

In a work vehicle equipped with a GNSS positioning system, the slip rate detection accuracy is improved by complementing each other, such as correcting the slip rate calculated by the GNSS or correcting the slip rate calculated by the calculation using the GNSS positioning system. may do it

As mentioned above, although embodiment of this invention was demonstrated based on drawing, it should be thought that a specific structure is not limited to these embodiment. The scope of the present invention is indicated by not only the description of the above embodiment but also the claims, and all modifications within the meaning and scope equivalent to the claims are included.

1: Transplantation
2: traveling body
3: Seedling planting device
4: planters
6: control unit
24: angle sensor
25: speed detection unit
26: input device
61: disc depth detection unit
62: slip rate calculator
62a: slip rate map acquisition unit
62b: slip rate map correction unit
63: task control
D: Warp Depth
S: slip rate

Claims (7)

A pavement work system for driving a work vehicle having a work device while performing work on pavement, comprising:
a disc depth detection unit for detecting a disc depth at the position of the work vehicle;
a slip rate calculator configured to calculate a slip rate of the work vehicle based on the depth of the wheel and a vehicle state of the work vehicle;
and a work control unit for controlling an operation of the work device based on the slip rate. The method of claim 1,
The slip rate calculating unit,
a slip rate map acquisition unit which acquires a slip rate map indicating the slip rate with respect to the depth of the wheel;
A pavement work system comprising a slip rate map correction unit configured to correct the slip rate map acquired by the slip rate map acquisition unit according to the vehicle state. 3. The method of claim 2,
The slip rate map correction unit is capable of executing correction of the slip rate map based on instruction information manually input by an input device. 4. The method according to claim 2 or 3,
The slip rate map correction unit, the pavement operation system to change the characteristics of the slip rate map. 5. The method according to any one of claims 2 to 4,
The slip rate map is an approximate curve calculated from correlation data in which the slip rate corresponds to the depth of the wheel,
The said slip rate map correction|amendment part changes the coefficient or constant of the said approximation curve, The pavement work system. 6. The method according to any one of claims 1 to 5,
The vehicle state includes a moving speed of the work vehicle, paving work system. A traveling body capable of running the pavement, and
a working device mounted on the traveling body and working in the packaging;
a disc depth detection unit that detects a disc depth at the position of the traveling body;
a slip rate calculation unit configured to calculate a slip rate of the traveling body based on the depth of the wheel and a vehicle state of a vehicle including the traveling body and the working device;
and a work control unit configured to control an operation of the work device based on the slip rate.

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