JP2760970B2 - Automatic running tea picking machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic traveling tea-pruning machine that travels across a tea ridge (a series of ridge-shaped tea trees).

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 4, an automatic traveling type tea picking machine 1 runs across a tea ridge 2 to pick up fresh tea leaves.

[0003] In this automatic traveling tea-pruning machine 1, an infinite traveling device (not shown) is located between the right ridges of the tea garden ridge 2, while a left infinity traveling device (not shown) is located between the left ridges of the tea garden ridge 2. (Not shown), and run across the tea garden ridge 2. The course of the automatic traveling tea-picking machine 1 is changed by operating the operation handle 4 by the driver and controlling the infinite traveling device.

[0004]

The above-mentioned tea garden ridges 2 are not always arranged in a straight line, but are often curved depending on the topography, the divisions or the growing state of the tea trees constituting the tea garden ridges 2. . In that case, the driver operates the operation handle 4 visually, and the automatic traveling tea-picking machine 1 is operated.
Is caused to travel along the curved portion of the tea garden ridge 2.

[0005] The quality of tea production is greatly affected by the condition of freshly picked tea leaves. Therefore, fresh tea leaves
It is necessary to extract only the shoots without mixing with old leaves and without causing shallow or deep picking. However, there is a case where the tea garden ridge 2 is curved as described above or a case where the tea garden ridge 2 is missing (the tea tree is partially absent). Further, the tea-plucking machine 1 may meander depending on the unevenness of the ground. Therefore, in such a case, if the tea-plucking machine 1 moves forward as it is, the center axis of the tea-plucking machine 1 is displaced from the center line of the tea garden ridge, and old leaves are mixed, and shallow or deep picking occurs. Therefore, the driver must constantly and delicately operate the operation handle 4 so that the tea-plucking machine 1 travels correctly along the tea garden ridge, and the driving requires skill. That is, the above-mentioned conventional automatic traveling tea-plucking machine 1 cannot be easily operated by anyone.

An object of the present invention is to provide an automatic traveling tea-plucking machine which can be easily operated by anyone and does not cause mixing of old leaves, shallow or deep picking.

[0007]

To achieve the above object, an automatic traveling tea-pruning machine according to the first aspect of the present invention comprises two sets of traveling devices arranged on the left and right, a hydraulic pump and a hydraulic motor. The main line is connected in a closed loop, and two sets of closed circuits for independently driving the two sets of traveling devices, an on-off valve are provided, and the high pressure side and the low pressure side of the main line are connected to each other. And two sensors for detecting both sides of the tea garden ridge formed by a series of tea trees and outputting signals indicating the positions of both sides of the tea garden ridge, and signals from the two sensors. Based on the above 2
The present invention is characterized in that a valve control device is provided which controls opening and closing of the on-off valve so that the set of traveling devices travels along the tea garden ridge.

[0008] According to the above configuration, signals representing the positions of both sides of the tea garden ridge are output from each of the two sensors. Then, based on the signals from the two sensors, for example, in accordance with the difference between the outputs from the two sensors, the valve control device controls the high-pressure side of the main line connecting the hydraulic pump and the hydraulic motor as follows. An on-off valve provided on a bypass line connecting the pressure control valve and the low-pressure side is controlled to open and close. That is, when the tea garden ridge is curved to the right, for example, the open / close valve provided on the bypass line in the closed circuit that drives the right traveling device is opened. Then, a flow through the bypass line is generated in the closed circuit on the right side, the amount of oil supplied from the hydraulic pump to the hydraulic motor is reduced, the speed of the right traveling device is reduced, and the automatic traveling tea pruning machine is moved to the right side. Turn around. In this way, the automatic traveling tea-plucking machine automatically travels along the tea ridges with the traveling direction corrected. Therefore, this automatic traveling tea-picking machine
Anyone can operate, and it is possible to prevent the mixing of old leaves, shallow picking and deep picking, and secure fresh leaves of good quality.

According to a second aspect of the present invention, in the automatic traveling tea-plucking machine according to the first aspect of the present invention, a throttle is provided in the bypass line.

In the above configuration, the flow rate of the bypass line is limited by the operation of the throttle provided in the bypass line connecting the high pressure side and the low pressure side of the main line connecting the hydraulic pump and the hydraulic motor, The sensitivity of the rotation speed change in the hydraulic motor is adjusted. In this way, when the position of one tea tree constituting the tea garden ridge is shifted or overhanging, or when there is a lack of stock, the present tea pruning machine is prevented from turning excessively.

According to a third aspect of the present invention, in the automatic traveling tea-plucking machine according to the first aspect of the present invention, each of the sensors is formed in a plate shape having a substantially rectangular shape elongated in a vertical direction. It is characterized in that it comprises a sensing plate abutting on a side portion of the tea garden ridge and rotating about a rotation axis, and a rotation angle detecting means for outputting a signal indicating a rotation angle of the sensing plate.

According to the above configuration, since the sensing plate has a substantially rectangular shape which is long in the longitudinal direction, even if there are tea trees constituting the tea garden ridges having different heights, the sensing plates accurately contact the side portions of the tea garden ridges. To rotate around the rotation axis. Then, a signal indicating the rotation angle of the sensing plate is output by the rotation angle detection means. Therefore, it is possible to always detect the side portion of the above-mentioned tea garden ridge and make the present automatic traveling tea-pruning machine run along the above-mentioned tea garden ridge.

According to a fourth aspect of the present invention, in the automatic traveling tea picking machine according to the third aspect of the present invention, a cross section of the sensing plate in a horizontal direction has a central portion extending in a forward direction of the traveling device. It is characterized by being convexly curved toward.

According to the above configuration, since the surface of the sensing plate is convexly curved in the forward direction, the side portion of the tea garden ridge is guided without being caught when the traveling device is moving forward. Therefore, the automatic traveling tea-plucking machine can advance smoothly without damaging the tea tree.

According to a fifth aspect of the present invention, in the automatic traveling tea-picking machine according to the third aspect of the present invention, the cross section of the sensing plate in the horizontal direction is such that the center portion is in the retreating direction of the traveling device. It is characterized by being convexly curved toward.

According to the above configuration, since the surface of the sensing plate is convexly curved in the retreating direction, the side portion of the tea garden ridge is guided without being caught when the traveling device is retreating. Therefore, the automatic traveling tea-plucking machine can retreat smoothly without damaging the tea tree.

According to a sixth aspect of the present invention, in the automatic traveling tea-pruning machine according to the first aspect of the present invention, the two sets of traveling devices are attached to lower portions on both sides of a portal frame, and the tea garden ridge is provided. The two sensors are provided inside the lower portions on both sides of the portal frame.

According to the above configuration, the actual direction of the tea ridge in relation to the automatic traveling tea-plucking machine is appropriately detected by the two sensors provided inside the portal frame. That is, if the above-mentioned sensor protrudes forward, rearward or sideward from the portal frame, the automatic traveling tea-plucking machine cannot be accurately moved along the tea garden ridge. Further, since the sensor is provided inside the portal frame, the space inside the portal frame can be effectively used, and the automatic traveling tea-picking machine can be made compact.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments. FIG. 1 is a drive circuit diagram of the automatic traveling tea-picking machine of the present embodiment. FIG. 2 is a side view of an automatic traveling tea-picking machine equipped with the drive circuit.

As shown in FIG. 2, the automatic traveling tea-pruning machine 11 has an infinite traveling device 13 attached to each of the lower sides of a portal frame 12. This infinite traveling device 13
Is composed of a front wheel 14, a drive wheel 15 driven by a hydraulic motor, and a crawler belt 16 wound around both wheels 14,15. The two infinite traveling devices 13 and 13 travel in the furrows of the tea garden furrow. Therefore, the gate-shaped frame 12 (that is, the present automatic traveling tea picking machine 11) runs across the tea ridge.

Thus, when the automatic traveling tea-pruning machine 11 travels across the tea ridges, the fresh tea leaves plucked by the cutting blade 17 are passed through the suction hose 18 and the blow-down hose 19 to form a leaf-collecting bag. Leaf bag hung on the rack 20 (not shown)
Collected in. Reference numeral 21 denotes an engine for driving a hydraulic pump or the like for driving the hydraulic motor. Also, 22
Controls the discharge port and discharge amount of a hydraulic pump that independently drives each of the endless traveling devices 13 provided on both sides of the portal frame 12 to change the traveling direction, course, and speed. It is a handle. Reference numeral 44 denotes a sensing plate for detecting the position of the side of the tea garden ridge as described in detail later.

The drive wheels 15, 15 of the two infinite traveling devices 13, 13 are provided with a first drive circuit 25 as shown in FIG.
And is independently driven by the second drive circuit 26.
Each of the drive circuits 25 and 26 has variable displacement hydraulic pumps 27 and 28 as the above-described hydraulic pumps which are rotationally driven by the engine 21, and hydraulic motors 29 and 30 driven by the variable displacement hydraulic pumps 27 and 28. . Then, the variable displacement hydraulic pumps 27, 28 and the hydraulic motors 29,
30 and main lines 31 and 32 connecting in a closed loop
And main lines 33 and 34 are electromagnetic two-position switching valves
(Hereinafter simply referred to as a switching valve) 35, 36 and a throttle 37, 3
8 are connected by bypass lines 39 and 40 interposed in series. Therefore, by switching one of the two switching valves 35 and 36 from the symbol a to the symbol b, a driving circuit (for example, the first driving circuit 25) in which the switched switching valve (for example, the switching valve 35) exists. )
The rotation speed of the hydraulic motor (e.g., the hydraulic motor 29) decreases, and the infinity traveling device 13 driven by the hydraulic motor (e.g., the hydraulic motor 29) having the reduced rotation speed
The automatic traveling type tea picking machine 11 automatically turns. Although not shown in FIG. 1, a charge pump is provided coaxially with the two variable displacement hydraulic pumps 27 and 28, and the main lines 31, 33; 32 and 34 are operated via variable displacement hydraulic pumps. It is designed to supply oil.

The switching valves 35 and 36 are automatically switched as described below. That is, as shown in FIGS. 1 and 3, the automatic traveling tea-pruning machine 11 is placed above and below the pillars 41, 42 on both sides of the portal frame 12.
The upper and lower ends of the rotating shafts 45, 46 of the sensing plates 43, 44 for detecting the positions of the side portions 53a, 53b of the tea garden ridge 53 straddling are mounted rotatably. A variable resistor 4 serving as the rotation angle detecting means is provided at the upper end of the rotation shafts 45 and 46.
7 and 48 are attached so that the resistance values of the variable resistors 47 and 48 fluctuate according to the amount of rotation of the rotating shafts 45 and 46. Then, from the variable resistors 47 and 48, as shown in FIG. 1, a voltage signal representing the changed resistance value is sent to a valve control unit 51 housed in a control box (not shown). Then, the valve control unit 51 detects whether or not the output voltage difference between the two variable resistors 47, 48 has reached a predetermined voltage based on the voltage signal (that is, the rotation angle of the two sensing plates 43, 44). ), And when the predetermined voltage is reached, one of the switching valves (for example, the switching valve) according to the magnitude of the output voltage from the variable resistors 47 and 48. The control signal for switching 35) is output to the solenoid (for example, the solenoid 49).

Here, for simplicity of description, the variable resistors 47, 44 are used when the surfaces of the sensing plates 43, 44 are oriented at right angles to the central axis of the automatic traveling tea-picking machine 11.
It is assumed that the resistance value at 48 becomes a maximum value (hereinafter, this position is referred to as a neutral position), and the resistance value decreases as the sensing plates 43, 44 rotate back and forth. However, it is assumed that the sensing plates 43 and 44 are urged by a spring or the like so that the position in the no-load state is the neutral position.

The automatic traveling tea-plucking machine 11 having the above configuration
Automatically travels along the tea ridge 53 as follows. Here, the first driving circuit 25 is a circuit for driving the right infinity traveling device 13 (hereinafter, referred to as a right driving circuit), and the second driving circuit 26 is a circuit for driving the left infinity traveling device 13 (hereinafter, referred to as a right driving circuit). , Left driving circuit).

Now, the automatic traveling tea-pruning machine 11 is correctly oriented in the extending direction of the tea ridge 53, and the central axis of the automatic traveling tea-pruning machine 11 is located on the center line of the tea ridge 53. Shall be. In that case, each of the sensing plates 43 and 44 provided on both sides of the gate-shaped frame 12
The positions of both side portions 53a and 53b are detected at substantially the same angle. Therefore, the output voltages of the two variable resistors 47 and 48 are substantially equal, and the two switching valves 35 and 36
It is located in. In this state, the operation handle 22
Unless is operated, the same amount of pressure oil is supplied to both hydraulic motors 29 and 30, and the automatic traveling tea-plucking machine 11 goes straight. At this time, when the operation handle 22 is further tilted forward, the discharge amounts of the two variable displacement hydraulic pumps 27 and 28 increase at the same rate, and the forward speed increases. When the operation handle 22 is tilted backward, the two variable displacement hydraulic pumps 2 are moved.
The discharge ports 7, 28 are switched, and the automatic traveling tea-plucking machine 11 retreats.

As described above, it is assumed that the tea ridge 53 is gently curved to the right when the automatic traveling tea-plucking machine 11 is moving forward. Here, in the conventional automatic traveling tea-pruning machine 1 shown in FIG. 4, if the driver does not notice the curvature of the tea garden ridge 2, the automatic traveling tea-pruning machine 1 goes straight as it is, and the tea garden ridge is moved. In the second curved portion, the right side is deeply pinched, while the left side is shallowly pinched. When the degree of curvature of the tea garden row 2 is large, the old leaves on the right side are also trimmed, and the old leaves are mixed.

On the other hand, the automatic traveling tea-pruning machine 11
In the case of, when the driver does not notice the curvature of the tea garden ridge 53 and the automatic traveling tea pruning machine 11 goes straight, the right sensing plate 44 gradually approaches the center line of the tea garden ridge 53, and The sensing plate 43 gradually moves away from the center line. As a result, the right sensing plate 44 rotates backward, the resistance of the variable resistor 48 increases, and the output voltage increases.
On the other hand, the left sensing plate 43 rotates toward the neutral position, the resistance of the variable resistor 47 decreases, and the output voltage decreases.

In this way, the two variable resistors 4
When the difference between the output voltages at 7, 48 exceeds the predetermined voltage, a control signal is output from the valve control unit 51 to the solenoid 49 of the right drive circuit 25 on the same side as the variable resistor 48 having a high output voltage. Thus, the switching valve 35 is switched to the symbol b, and the rotation speed of the hydraulic motor 29 decreases. on the other hand,
Since the switching valve 36 of the left drive circuit 26 remains at the symbol a, the rotation speed of the hydraulic motor 30 does not change. As a result, the automatic traveling tea-picking machine 11 automatically turns rightward. Then, when the automatic traveling tea-picking machine 11 keeps turning rightward, contrary to the above case,
The right sensing plate 44 rotates toward the neutral position and the resistance of the variable resistor 48 decreases, and the output voltage decreases. On the other hand, the left sensing plate 43 rotates rearward to rotate the variable resistor 47.
And the output voltage increases.

As a result, the difference between the two output voltages falls below the predetermined voltage, and the switching valve 35 is switched to the symbol “a” based on the control signal from the valve control section 51 to increase the rotation speed of the hydraulic motor 29. I do. On the other hand, since the switching valve 36 of the left drive circuit 26 remains at the symbol a, the rotation speed of the hydraulic motor 30 does not change. As a result, the automatic traveling tea picking machine 11 goes straight again.

Then, the automatic traveling tea-pruning machine 11 approaches the apex of the curved portion of the tea garden ridge 53, so that the center line of the tea garden ridge 53 is shifted to the automatic traveling tea-pruning machine 1.
1 is shifted leftward with respect to the central axis. Therefore, this time, the left sensing plate 43 rotates further rearward, the resistance of the variable resistor 47 further increases, and the output voltage increases. When the difference between the two output voltages exceeds the predetermined voltage,
A control signal is output from the valve control unit 51 to the solenoid 50 of the left drive circuit 26 on the same side as the variable resistor 47 having a high output voltage. Thus, the switching valve 36 is switched to the symbol b, and the rotation speed of the hydraulic motor 30 decreases. As a result, the automatic traveling tea-picking machine 11 automatically turns to the left. In this way, when the automatic traveling tea-picking machine 11 keeps turning leftward, the left sensing plate 43 rotates toward the neutral position, and the resistance of the variable resistor 47 decreases,
Output voltage decreases. Then, when the difference between the two output voltages falls below the predetermined voltage, the switching valve 36 is switched to the symbol a, and the rotation speed of the hydraulic motor 30 increases. As a result, the automatic traveling tea picking machine 11 goes straight.

As described above, the two sensing plates 43, 44,
By operating both the variable resistors 47 and 48 and both the driving circuits 25 and 26, the automatic traveling tea-pruning machine 11 automatically moves along the first half of the curved portion of the tea garden ridge 53 that the driver did not notice. To the top of the curved portion. Thereafter, the above-described operation is repeated in reverse, and the automatic traveling tea-pruning machine 11 automatically changes the direction along the latter half of the curved portion of the tea garden ridge 53 to reach the straight portion of the tea garden ridge 53. The sensing plates 43 and 44 can rotate back and forth around the neutral position, and the variable resistors 47 and 48 rotate the sensing plates 47 and 48 in the front and rear directions with the neutral position as the minimum resistance value. The resistance value increases according to the angle. Therefore, even when the present automatic traveling tea-plucking machine 11 retreats, similarly, it can automatically travel along the curved portion of the tea ridge 53.

By the way, the above tea garden ridge 53 is 1
Although arranged in a row, only one tea tree is in the tea garden
3 may grow slightly off the center line, branches may be overhanging, or there may be a lack of stock. In such a case, there is no need to change the direction of the automatic traveling tea-pruning machine 11 along the above-mentioned shift or overhang. Therefore, in the present embodiment, the bypass lines 39, 40 are provided with throttles 37, 38 to restrict the bypass flow rate, and the hydraulic motors 29, 30 are used for the above-mentioned shift, overhang, or lack of stock of one tea tree. The sensitivity of the rotation speed fluctuation of the hydraulic motors 29 and 30 is adjusted so that the rotation speed does not fluctuate.

As described above, the automatic traveling tea-picking machine 11
The side 5 of the tea garden ridge 53 is
By detecting the positions of 3a and 53b, the vehicle advances and retreats along the tea ridge 53. Therefore, the sensing plates 43 and 44 are
It is necessary to accurately detect the side position of the vehicle. By the way, the tea trees constituting the tea garden ridge 53 have different shapes one by one, and the vertical position of the outermost position of each tea tree is also different. Therefore, in the present embodiment, the sensing plates 43 and 44 are formed in a rectangular shape. in this way,
By forming the sensing plates 43 and 44 in a rectangular shape, it is possible to accurately detect the side position of the tea tree whose position changes in the vertical direction at the outer edges of the sensing plates 43 and 44 extending in the vertical direction. Further, as shown in FIG. 1, the cross section of the sensing plates 43 and 44 in the horizontal direction has a shape in which the central portion is curved in the front-rear direction like the wing of an aircraft. The planes of the sensing plates 43 and 44 are not caught by the tea ridges when the machine 11 moves forward or backwards.

As described above, the automatic traveling tea-pruning machine 11 according to the present embodiment is configured such that the infinite traveling device 13 on the right side and the infinite traveling device 13 on the left side are mutually connected by the first drive circuit 25 and the second drive circuit 26. Independently driven, the side portions 53a, 53 of the tea garden ridge 53
Sensing plates 43 and 44 for detecting b are provided. Also, the variable displacement hydraulic pumps 27, 2 in both drive circuits 25, 26
Main line 3 connecting hydraulic motors 8 and hydraulic motors 29 and 30
1, 32 and the main lines 33, 34
5, 36 and throttles 37, 38 are connected by bypass lines 39, 40 interposed. Then, the variable resistors 47, 48 are changed according to the rotation angles of the rotation shafts 45, 46 of the sensing plates 43, 44.
Of the switching valves 35 and 36 are controlled by the valve control unit 51 based on the output voltages of the variable resistors 47 and 48.

Therefore, when a difference between the output voltages of the two variable resistors 47 and 48 is caused by a predetermined voltage because the tea garden ridge 53 is curved, the switching valve on the curved side (for example, the right switching valve) is used. The valve 35) is switched to the symbol b, and the rotation speed of the hydraulic motor (for example, the hydraulic motor 29) decreases. In this way, the automatic traveling tea pruning machine 11 is
Can be automatically turned to the curved side. That is, according to the present embodiment, the automatic traveling tea-plucking machine 11 can automatically travel along the tea garden ridges 53, and thus does not require a skilled maneuvering technique for traveling along the tea garden ridges 53. Anyone can drive easily. Also,
The center axis of the automatic running tea picking machine 11 is always the tea garden ridge 53.
Since the vehicle travels so as to coincide with the center line of the above, it is possible to pluck fresh tea leaves of good quality without mixing of old leaves, shallow or deep plucking.

The throttle lines 37, 38 provided in the bypass lines 39, 40 provide the bypass lines 39, 4
By limiting the flow rate of 0, the sensitivity of the rotation fluctuation of the hydraulic motors 29 and 30 is adjusted. Therefore, an automatic traveling tea-pruning machine 1 due to misalignment, overhanging branches, or lack of one tea tree
The fluctuation in the direction 1 can be eliminated.

Further, since the sensing plates 43 and 44 are formed in a rectangular shape, the sensing plates 43 and 44 for detecting the side portions of the tea tree are provided.
The edge of 44 extends vertically. Therefore, even if the vertical position of the side portions 53a, 53b in the tea ridge 53 moves as the automatic traveling tea picking machine 11 advances, the fluctuating side portions 53a, 53b of the tea ridge 53 are accurately detected. it can. Further, the front and back surfaces of the sensing plates 43 and 44 are curved outward. Therefore, when the automatic traveling tea picking machine 11 moves forward and backward, the surfaces of the sensing plates 43 and 44 do not catch on the tea tree.

In the above embodiment, the sensing plates 43 and 44 are formed in a rectangular shape, but the present invention is not limited to this. In short, any shape may be used as long as it can accurately detect the side portion of the tea ridge where the position changes with the progress of the automatic traveling tea-plucking machine 11. Further, in the above embodiment, when the surfaces of the sensing plates 43 and 44 are at the neutral position, the resistance values of the variable resistors 47 and 48 become the minimum value, and the sensing plates 43 and 44 rotate back and forth. It is assumed that the above-described resistance value increases as the value of the resistance increases. However, the present invention is not limited to this, and the resistance values of the variable resistors 47 and 48 may be maximized when the sensing plates 43 and 44 are at one end of the rotation range. Absent. In the above embodiment, the rotation angle detecting means is constituted by the variable resistors 47 and 48.
Other equivalent devices such as an operation transformer may be used.

[0040]

As is apparent from the above description, the automatic traveling tea-pruning machine according to the first aspect of the present invention has two sets of running devices arranged on the left and right sides and independently drives the two sets of running devices. Two sets of closed circuits, a bypass line connecting the high pressure side and the low pressure side of the main line of each closed circuit, two sensors,
A valve control device, based on signals representing the positions of both sides of the tea garden ridge from the two sensors, the valve control device causes the two sets of traveling devices to travel along the tea ridge. Since the opening and closing of the on-off valve provided on the bypass line is controlled, for example, when the right-side on-off valve is opened, part of the hydraulic oil to be supplied to the hydraulic motor of the right closed circuit is bypassed and The rotation speed of the hydraulic motor decreases, and the speed of the traveling device on the right side decreases, so that the present automatic traveling tea-picking machine can turn right. Therefore, the automatic traveling tea-pruning machine of the present invention can automatically travel along the above-mentioned tea garden ridge, and can be easily operated by anyone without having to operate the operation handle along the curved portion of the tea garden ridge. Further, since the vehicle runs along the tea ridges, it is possible to prevent the mixing of old leaves and shallow or deep picking. Therefore, high quality fresh leaves can be secured.

In the automatic traveling tea-pruning machine according to the second aspect of the present invention, the throttle is provided in the bypass line connecting the high pressure side and the low pressure side of the main line connecting the hydraulic pump and the hydraulic motor. By limiting the flow rate of the bypass line, the sensitivity of the hydraulic motor to the change in the number of revolutions can be adjusted. Therefore, when the position of one tea tree constituting the above tea garden ridge is displaced, one tea tree branch is overhanging other tea trees, or there is a lack of stock, the automatic traveling tea pruning is performed. The aircraft can be prevented from changing direction too quickly.

Each sensor in the automatic traveling tea-plucking machine according to the third aspect of the present invention is formed in a plate shape having a substantially rectangular shape which is long in the vertical direction, and rotates in contact with the side of the tea ridge. Since the sensing plate is provided, it is possible to always accurately detect the side of the tea garden ridge even if there are different heights on the side of the tea tree constituting the tea garden ridge. Furthermore, since each of the sensors has a rotation angle detecting unit that outputs a signal indicating a rotation angle of the sensing plate, the valve control device indicates a rotation angle of the sensing plate to indicate a position on both sides of the tea ridge. As the information, it is possible to control the opening and closing of an on-off valve provided on the bypass line of the closed circuit.

In the automatic running tea picking machine according to the fourth aspect of the present invention, the cross section of the sensing plate in the horizontal direction is such that the central portion is convexly curved in the forward direction of the running device. When the traveling device moves forward, the detection plate can be guided without being caught on the side of the tea garden ridge. Therefore, the vehicle can travel smoothly forward without damaging the tea tree.

In the automatic running tea picking machine according to the fifth aspect of the present invention, the cross section of the sensing plate in the horizontal direction is such that the central portion is convexly curved in the retreating direction of the running device. When the traveling device retreats, the sensing plate can be guided without being caught on the side of the tea ridge. Therefore, the tea tree can be smoothly retracted without being damaged.

Further, two sets of running devices in the automatic running tea picking machine of the invention according to claim 6 are attached to the lower portions on both sides of the gate-shaped frame so as to run between the left and right ridges of the tea garden ridge. Since the two sensors are provided inside the lower portions on both sides of the portal frame, it is possible to appropriately detect the actual direction of the tea garden ridge to be detected in relation to the automatic traveling tea-plucking machine. Further, the space inside the portal frame can be effectively used, and the entire apparatus can be made compact.

[Brief description of the drawings]

FIG. 1 is a drive circuit diagram of an automatic traveling tea picking machine of the present invention.

FIG. 2 is a side view of the automatic traveling tea-picking machine of the present invention.

FIG. 3 is an enlarged external view of the vicinity of an infinite traveling device in FIG. 2;

FIG. 4 is an external view of a conventional automatic traveling tea-plucking machine.

[Explanation of symbols]

11: automatic traveling tea-plucking machine, 12: portal frame, 13: infinite traveling device, 17: cutting blade,
Reference numeral 21: engine, 22: operation handle, 25, 26: drive circuit, 27, 28 ...
Variable displacement hydraulic pump, 29, 30 ... hydraulic motor,
31, 32, 33, 34 ... main line, 35, 36
... Electromagnetic two-position switching valve, 37,38 ... Throttle, 39,4
0: bypass line, 43, 44: sensing plate, 4
7,48… variable resistor, 49,50… solenoid.

Claims (6)

(57) [Claims] 1. Two sets of traveling devices arranged on the left and right sides, and two sets of a hydraulic pump and a hydraulic motor connected in a closed loop by a main line, and independently driving the two sets of traveling devices. And a bypass line connecting the high-pressure side and the low-pressure side of the main line, and detecting both sides of a tea garden ridge formed by a series of tea trees. Outputs a signal indicating the position of both sides of the ridge 2
An automatic control system, comprising: a sensor for controlling the opening and closing of the on-off valve so that the two sets of traveling devices travel along the tea garden ridge based on signals from the two sensors. Traveling tea picking machine. 2. The automatic traveling tea-picking machine according to claim 1, wherein a throttle is provided in the bypass line. 3. The automatic traveling tea-picking machine according to claim 1, wherein each of the sensors is formed in a plate shape having a substantially rectangular shape that is long in a vertical direction.
An automatic traveling type, comprising: a sensing plate that rotates on a rotation axis in contact with a side portion of the tea garden ridge; and a rotation angle detection unit that outputs a signal indicating a rotation angle of the sensing plate. Tea plucking machine. 4. The automatic traveling tea-plucking machine according to claim 3, wherein a cross-sectional shape of the sensing plate in a horizontal direction is such that a central portion is convexly curved in a forward direction of the traveling device. An automatic running tea picking machine characterized by the following. 5. The automatic traveling tea-picking machine according to claim 3, wherein a cross-sectional shape of the sensing plate in a horizontal direction is such that a central portion is convexly curved in a retreating direction of the traveling device. An automatic running tea picking machine characterized by the following. 6. The automatic traveling tea-plucking machine according to claim 1, wherein the two sets of traveling devices are attached to lower portions on both sides of a gate-shaped frame so as to travel between left and right ridges of the tea garden ridge. An automatic traveling tea-plucking machine, wherein the two sensors are provided inside lower portions on both sides of the portal frame.