JP7601035B2 - Agricultural machinery - Google Patents

Description

The present invention relates to an agricultural machine equipped with a fertilizer application device on the running body.

One example of a conventional agricultural machine that performs fertilization work is a riding rice transplanter equipped with a variable fertilization device that automatically adjusts the amount of fertilizer applied by the fertilization device according to the detection results of a fertility sensor that detects the fertilizer concentration in the field (see, for example, Patent Document 1).

JP 2017-063671 A

However, conventional fertility sensors are installed on the left and right front wheels that are driven to rotate, and the amount of fertilizer applied by the fertilizer applicator must be automatically adjusted immediately after fertility detection. This can lead to situations where the adjustment cannot be made in time, making it difficult to automatically adjust the appropriate amount of fertilizer applied.

The present invention was made in consideration of the above, and aims to provide an agricultural machine that can automatically adjust the amount of fertilizer applied appropriately and perform good fertilization work.

The present invention relates to
In an agricultural machine having a working section 4 and a fertilizer application device 100 in which the amount of fertilizer is adjusted by a fertilizer amount adjustment device 400 mounted on a traveling vehicle body 2 and a GPS control device 120 for acquiring the position information of the machine, a fertility sensor 700 is provided for detecting the fertility of the field for the next process while traveling in the current process,
A controller 210 is provided which calculates the position where the fertility sensor 700 detects the fertility of the field from the position information of the machine acquired by the GPS control device 120, stores the fertility and its position information for the next process, and in the next process, operates the fertilizer amount adjustment device 400 based on the stored fertility and its position information to automatically adjust the amount of fertilizer applied by the fertilizer application device 100;
A line drawing marker 16 for forming a guide line in the field as a guide for moving straight in the next process is provided so as to be freely switched between a working state and a state in which the line drawing marker 16 is retracted upward from the field, and a fertility sensor 700 is provided for entering the field when the line drawing marker 16 is in the working state and detecting the fertility of the field;
The fertility sensor 700 is composed of a pair of electrode rods 701 attached to the guide rod 16b of the line drawing marker 16 in a state of being parallel to the guide rod 16b,
Each of the pair of electrode rods 701 is formed of an elastic body such as a spring material, and is configured in an identical arc shape with the tip side positioned rearward in the direction of travel.
The electrode rod 701 is an agricultural machine whose base is detachably fixed to the guide rod 16b of the line drawing marker 16.
The first invention related to the present invention is an agricultural work machine having a working unit 4 and a fertilizer application device 100 in which the amount of fertilizer is adjusted by a fertilizer amount adjustment device 400 mounted on a running body 2, and a GPS control device 120 that acquires position information of the machine, a fertility sensor 700 that detects the fertility of the field in the next process, calculates the position at which the fertility sensor 700 detects the fertility of the field from the machine position information acquired by the GPS control device 120, stores the fertility for the next process and its position information, and operates the fertilizer amount adjustment device 400 based on the fertility stored in the next process and its position information, to automatically adjust the amount of fertilizer applied by the fertilizer application device 100.

According to the first invention related to the present invention , a fertility sensor 700 is provided to detect the fertility of the field in the next process, and the position at which the fertility sensor 700 detects the fertility of the field is calculated from the position information of the body acquired by the GPS control device 120, the fertility for the next process and its position information are calculated, and a controller 210 is provided to operate the fertilizer amount adjustment device 400 based on the fertility stored in the next process and its position information to automatically adjust the amount of fertilizer applied by the fertilizer application device 100.Therefore, the fertility of the field in the next process can be measured in advance, and the fertilizer amount adjustment device 400 is operated in the next process according to the measured fertility to automatically adjust the amount of fertilizer, so that fertilization can be appropriately performed at a precise timing according to the fertility.

A second invention related to the present invention is an agricultural work machine of the first invention related to the present invention, which is provided with a line drawing marker 16 that forms a guide line in the field as a guide for proceeding straight in the next process, which can be freely switched between a working state and a state retracted above the field, and is provided with a fertility sensor 700 that enters the field when the line drawing marker 16 is in the working state and detects the fertility of the field.

According to the second invention related to the present invention , in addition to the advantageous effects of the first invention related to the present invention, a line drawing marker 16 which forms a guide line in the field as a guide for proceeding straight in the next process is freely switchable between a working state and a state retracted above the field, and a fertility sensor 700 is provided which enters the field when the line drawing marker 16 is in the working state and detects the fertility of the field, so that the fertility of the field for the next process can be measured with a simple configuration and is easy to maintain.

In addition, when the line drawing marker 16 is retracted upward from the field, the fertility sensor 700 does not enter the field, so wear can be prevented compared to when the sensor is constantly in the field.

A third invention related to the present invention is the agricultural machine of the second invention related to the present invention , in which the fertility sensor 700 is composed of a pair of electrode bodies 701 attached to the line drawing marker 16.

A fourth invention related to the present invention is an agricultural working machine having a working unit 4 mounted on a traveling body 2 so that it can be raised and lowered freely and a GPS control device 120 that acquires position information of the machine, in which when the working unit 4 is lowered on one side of a field to work toward the other side and the working unit 4 is raised and turned to work on the other side, a work start position A where the working unit 4 is lowered on one side of the field and a turning start position B where the working unit 4 is raised on the other side are acquired by the GPS control device 120, and a controller 210 calculates the distance and direction from work start position A to turning start position B and stores them as a standard work process distance and a standard work direction, and when the working unit 4 is lowered to work toward the other side in the next process, autonomous straight-line control is performed based on the standard work direction, and an alert is given by a buzzer, audio alert, etc. when the machine has traveled the standard work process distance.

According to a fourth invention related to the present invention , when the working unit 4 is lowered on one side of the field to work toward the other side and then the working unit 4 is raised and turned on the other side to work, the work start position A where the working unit 4 is lowered on one side of the field and the turning start position B where the working unit 4 is raised on the other side are obtained by the GPS control device 120, and the controller 210 calculates the distance and direction from the work start position A to the turning start position B and stores them as the standard work process distance and the standard work direction, and when the working unit 4 is lowered in the next process to work toward the other side, autonomous straight-line control is performed based on the standard work direction, and when the machine travels the standard work process distance, an alert is sounded, an audio alert is issued, etc., so that the machine can work while traveling in a straight line appropriately and the turning time is also notified, allowing appropriate turning and good work to be performed.

A fifth invention related to the present invention is an agricultural work machine of the fourth invention related to the present invention, in which the controller 210 does not recognize the turning start position B when the working unit 4 is raised within a predetermined distance from the turning start position A, and does not recognize the work starting position A when the working unit 4 is lowered at a position traveled a predetermined distance or more from the turning start position B.

FIG. 1 is a perspective view of a riding rice transplanter according to an embodiment of the present invention. FIG. 2 is a front view for explaining the operation of the riding rice transplanter. FIG. 2 is a side view for explaining the operation of the fertility sensor of the riding rice transplanter. FIG. 2 is a block diagram mainly showing the controller of the riding rice transplanter. FIG. 2 is a front view showing a fertilizer transmission mechanism between the fertilizer device and the rear wheel gear case of the riding rice transplanter. FIG. 2 is a side cross-sectional view of the delivery section of the fertilizer applicator of the riding rice transplanter. FIG. 2 is a cross-sectional plan view of the fertilizer application device of the riding rice transplanter. FIG. 2 is a side cross-sectional view of the fertilizer amount adjustment motor part of the rice transplanter. FIG. 2 is a plan view for explaining the operation of the riding rice transplanter. FIG. 2 is a plan view for explaining the operation of the riding rice transplanter. FIG. 11 is a plan view for explaining the operation of another embodiment of the present invention. FIG. 11 is a plan view for explaining the operation of another embodiment of the present invention. FIG. 11 is a plan view for explaining the operation of another embodiment of the present invention. FIG. 11 is a plan view for explaining the operation of another embodiment of the present invention.

Below, a riding rice transplanter equipped with a fertilizer applicator, which is an example of an agricultural machine of the present invention, will be described in detail with reference to the drawings. In addition, the components in the following embodiment include those that are easily replaceable by a person skilled in the art, or those that are substantially the same, that is, those within the scope of what is called equivalents. Furthermore, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.

Figure 1 is a perspective view showing a riding rice transplanter as an agricultural machine according to an embodiment, and Figure 2 is a front view showing the riding rice transplanter. In the following, the riding rice transplanter is assumed to plant eight rows, and the riding rice transplanter may be referred to as the machine body. In addition, when defining the front-rear and left-right directions in the embodiment, the traveling direction of the traveling vehicle body 2 as seen from the driver's seat 31 is used as the reference.

As shown in Figures 1 and 2, the riding rice transplanter has a seedling planting unit 4 as a working unit mounted on the rear of the traveling body 2 via a lifting link mechanism so that it can be raised and lowered, and the main body of the fertilizer applicator 100 is provided on the upper rear side of the traveling body 2. The seedling planting unit 4 is one example of a working device, and may be any agricultural work machine that has a fertility sensor 700 as shown and is capable of fertilizing. For example, the agricultural work machine may be one that has a sowing device that supplies seeds or a tilling rotary that tills a field as a working device.

The traveling vehicle body 2 is a four-wheel drive vehicle equipped with a pair of left and right front wheels 10 and a pair of left and right rear wheels 11 as driving wheels. A transmission case is disposed at the front of the vehicle body, and a front wheel final case 13 as a traveling transmission case is provided on the left and right sides of the transmission case. The front wheels 10 are attached to left and right front axles that protrude outward from the left and right front wheel final cases 13, respectively.

In addition, left and right line drawing markers 16 are provided on both the front left and right sides of the traveling body 2, and behind the left and right spare seedling frames 38, to form guide lines in the field that serve as a guide for moving straight in the next process.

The left and right line drawing markers 16 are composed of a water wheel marker 16a that comes into contact with the field, a guide rod 16b to which the water wheel marker 16a is attached, and a marker rotation motor 16c that rotates the guide rod 16b outward and inward of the machine body.

When the left and right line drawing markers 16 are in a working state, one side of the left and right line drawing markers 16 is lowered by the operation of the marker rotation motor 16c during planting work, and when the left and right side are in a working state, the other side is retracted upward, and when turning, one side of the left and right is retracted upward and the other side is in a working state. When turning or planting work is not being performed, both the left and right line drawing markers 16 are in a retracted upward state. By aligning the center mascot 17, which is located at the front end of the traveling body 2 and in the center of the left and right, with the guide line formed by the left and right line drawing markers 16, planting work can be performed in line with the previous working position, improving work efficiency and planting accuracy.

Depending on the soil quality of the field, the guide lines formed by the left and right line-drawing markers 16 may quickly become buried, causing the guide for going straight to disappear. In this case, the left and right side markers 19, which are located behind the left and right line-drawing markers 16, can be moved toward the outside of the machine body and positioned above the planted seedlings, making it possible to perform planting work in line with the planting of the seedlings in the previous work row.

In particular, the left and right line drawing markers 16 are each provided with a left and right fertility sensor 700.

The fertility sensor 700 is composed of a pair of electrode rods 701 made of an elastic body such as a spring material, the base of which is detachably fixed to the guide rod 16b of the line drawing marker 16. The surfaces of the pair of electrode rods 701 are covered with an electrically non-conductive material, and the electrodes are exposed only at the tips.

When electricity is passed through the pair of electrode rods 701 of the fertility sensor 700, the electrical resistance changes depending on the fertilizer concentration contained in the soil (mud) between the electrodes at the tips of the pair of electrode rods 701, and the change in electrical resistance is sent to the controller 210 (Figure 4) described below as a signal of the fertilizer concentration at that point. Note that the electrical resistance is low when the fertilizer concentration is high, i.e., when there is a lot of electrolytes, electricity flows easily, and is high when the fertilizer concentration is low, i.e., when there is a little electrolyte, electricity does not flow easily, and is high.

As shown in FIG. 3, when either the left or right line drawing marker 16 is lowered by the marker rotation motor 16c and placed in a grounded operating state, the electrodes at the tips of the pair of electrode rods 701 of the fertility sensor 700 penetrate into the soil (mud) in the field to measure the fertility of the soil (mud) as described above. However, since the pair of electrode rods 701 are formed of an elastic body such as a spring material and are configured in an arc shape that is positioned further rearward in the direction of travel toward the tip, the tip electrodes penetrate into the soil (mud) appropriately to follow the hardness of the soil (mud) in the field and press down on the soil (mud) with elastic force, allowing for proper fertility measurement.

In addition, since the fertility sensor 700 is provided on the left and right line drawing markers 16, the left and right line drawing markers 16 that are not in operation are retracted upward away from the field, and therefore the left and right line drawing markers 16 that are not in operation are also necessarily retracted from the field, and are not constantly submerged in the mud (soil), preventing wear.

Furthermore, the fertility sensor 700 has a pair of electrode rods 701 whose bases are detachably fixed to the guide rod 16b of the line drawing marker 16, so that they can be easily replaced when worn, and are easy to maintain.

Furthermore, the fertility sensor 700 can be composed of a pair of electrode rods 701 and a harness, allowing fertility to be measured inexpensively.

Furthermore, since the fertility sensor 700 is provided on the left and right line drawing markers 16, the fertility of the soil (mud) for the next process can be measured in advance, and the controller 210 stores the measured fertility for the next process and controls the fertilizer amount adjustment motor 400 as a fertilizer amount adjustment device in the next process to automatically adjust the amount of fertilizer according to the fertility.

That is, as shown in FIG. 9, the controller 210 acquires the position information of the riding rice transplanter using the GPS control device 120 described below, and taking into account the distance between the receiving antenna 710 and the left and right fertility sensors 700 that measure the fertility of the soil (mud) in the next process, sequentially stores the fertility of the soil (mud) detected by the fertility sensor 700 in the next process and its position information.

Then, in the next step, the controller 210 acquires the position information of the riding rice transplanter using the GPS control device 120, and automatically adjusts the amount of fertilizer by controlling the fertilizer amount adjustment motor 400, which acts as a fertilizer amount adjustment device, according to the stored fertility level corresponding to the position of the fertilizer guide calculated taking into account the distance between the receiving antenna 710 and the fertilizer guide that applies fertilizer in the field.

This allows for proper fertilization control at precise timing according to fertility.

The method for automatically adjusting the amount of fertilizer is as follows: as shown in FIG. 10, in the preparation stage for starting rice planting and fertilization work in the field, the left and right line-drawing markers 16 are lowered on both sides to the left and right, the machine travels along the diagonal of the field in the working state, and the fertility is measured by the left and right fertility sensors 700, and the controller 210 stores the average value as the reference fertility of the field.

Then, rice planting and fertilization work is started, and the amount of fertilizer applied is automatically adjusted by controlling the fertilizer amount adjustment motor 400 as a fertilizer amount adjustment device as described above. If the reference fertility is the same as the measured fertility at that position, the amount of fertilizer applied is adjusted to the standard amount. If the measured fertility at that position is lower than the reference fertility, the amount of fertilizer applied is adjusted to be more than the standard amount (the amount of fertilizer applied is adjusted to be more in accordance with the degree to which the measured fertility is lower than the standard amount so that the fertility of the entire field is uniform). If the measured fertility at that position is higher than the reference fertility, the amount of fertilizer applied is adjusted to be less than the standard amount (the amount of fertilizer applied is adjusted to be less in accordance with the degree to which the measured fertility is higher than the standard amount so that the fertility of the entire field is uniform).

In addition, since the fertility level has not been measured in the first process of the field, the left and right line drawing markers 16 are lowered on both the left and right to put the field into a working state, and the machine is advanced while working, and the average value measured by the left and right fertility sensors 700 is taken as the fertility level at that position, and the fertilizer amount adjustment motor 400 is controlled to automatically adjust the amount of fertilizer applied.

Returning to Figures 1 and 2, we will continue with the explanation. The front end of the main frame is fixed to the rear part of the transmission case, and rear wheel gear cases 18 are provided on both the left and right sides of the rear part of the main frame, and rear wheels 11 are attached to the left and right rear axles that protrude outward from the rear wheel gear cases 18, respectively.

An engine 20 is mounted on the main frame. The rotational power of the engine 20 is transmitted to the transmission case via a belt transmission and a hydrostatic continuously variable transmission (HST). The rotational power transmitted to the transmission case is changed in speed by the transmission inside the transmission case, and then separated into driving power and external extraction power, which are then extracted.

The external output power, which is separated from the rotational power transmitted to the transmission case, is transmitted to a planting clutch case provided at the rear of the traveling body 2. It is then transmitted from the planting clutch case to the seedling planting section 4 by a planting transmission shaft.

The top of the engine 20 is covered by an engine cover 30, and a driver's seat 31 is installed on top of that. A bonnet 32 equipped with various operating mechanisms is provided in front of the driver's seat 31, and a steering wheel 34 for steering the front wheels 10 is provided on top of that.

In addition, the bonnet 32 is provided with a sub-speed change lever that switches the traveling transmission of the traveling body 2 between a "working speed" when working in a field and a "traveling speed" when traveling on the road.

A GPS receiving antenna (sometimes simply referred to as the receiving antenna) 710, which constitutes the GPS control device 120, is mounted on the top of the front mast 33, the base of which is fixed in the center position on the left and right at the front end of the aircraft. The signal received by the receiving antenna 710 is sent to the controller 210 (see Figure 4).

The controller 210 is a control device that controls the operation of the fertilizer application device 100, and is stored inside the bonnet 32. The controller 210 has, for example, a CPU, ROM, and RAM, and controls each part of the riding rice transplanter by executing a program stored in the ROM.

A roughly horizontal floor step 35 is formed on both the left and right sides of the lower part of the engine cover 30 and the bonnet 32. Part of the floor step 35 is latticed, so that mud on the shoes of a worker walking on the floor step 35 falls into the field.

The lifting link mechanism that raises and lowers the seedling planting unit 4 connected to the rear of the traveling body 2 has a parallel link configuration and is equipped with one upper link and a pair of lower links on the left and right. The upper and lower links are rotatably attached to a link base frame that is shaped like a portal when viewed from the rear and stands at the rear end of the main frame at their base sides, and a vertical link is connected to their tip sides. A connecting shaft that is rotatably supported by the seedling planting unit 4 is inserted and connected to the lower end of the vertical link, and the seedling planting unit 4 is connected to be able to roll freely around the connecting shaft.

A lifting hydraulic cylinder 46 is provided between a cylinder support member (not shown) provided on the main frame and the tip of a swing arm (not shown) formed integrally with the upper link. By hydraulically extending and retracting this lifting hydraulic cylinder 46, the upper link rotates up and down, and the seedling planting section 4 rises and falls while maintaining an almost constant posture.

As mentioned above, the seedling planting section 4 has an eight-row planting configuration and is equipped with a planting transmission case that also serves as a frame, a seedling loading platform 51, and a planting device. The seedling loading platform 51 carries mat seedlings (not shown) and moves back and forth from side to side, supplying the seedlings one by one to the seedling outlet of each row. Once all the seedlings in a horizontal row have been supplied to the seedling outlet, the seedlings are transported downward by the seedling feed belt 51a. The planting device plants the seedlings supplied to the seedling outlet in the field using a seedling planting tool. Two seedling planting tools are provided per row and are attached to a rotating case so that the seedlings can be picked up alternately and planted in the field.

In addition, a center float in the middle and side floats on the left and right are each rotatably mounted under the seedling planting section 4. When the machine is advanced with these floats in contact with the muddy surface of the field, the floats glide across the muddy surface while leveling it, and the planting device plants seedlings in the leveled area.

The center float is equipped with a float sensor 58 that detects the amount of rotation of the center float due to changes in the field depth (Figure 4). When the float sensor 58 detects a change in angle, the controller 210 determines that the field depth has changed and automatically adjusts the working height of the seedling planting section 4 by extending and retracting the lifting hydraulic cylinder 46 so that the seedling planting section 4 is at an appropriate height according to the detected angle.

The detection value of the float sensor 58 is set to 0 degrees when the center float touches the field surface in a substantially horizontal position. When the detection value is in the elevation angle direction (upward), the controller 210 determines that the field depth has become shallower and the gap between the seedling planting unit 4 and the field surface has narrowed, and contracts the lifting hydraulic cylinder 46 to raise the seedling planting unit 4, preventing the seedlings from being planted too deeply. On the other hand, when the detection value is in the depression angle direction (downward), the controller 210 determines that the field depth has become deeper and the gap between the seedling planting unit 4 and the field surface has widened, and extends the lifting hydraulic cylinder 46 to lower the seedling planting unit 4, preventing the seedlings from being planted too shallow.

Next, the fertilizer applicator 100 will be described. Figure 5 is a schematic front view showing the fertilizer transmission mechanism between the fertilizer applicator 100 and the rear wheel gear case 18, Figure 6 is a cross-sectional explanatory diagram of the payout section of the fertilizer applicator 100, and Figure 7 is a plan view of the fertilizer applicator 100. As shown in Figures 1, 2 and 5 to 7, the fertilizer applicator 100 includes a left fertilizer hopper 60L and a right fertilizer hopper 60R separated by a certain gap, a payout section 61, a fertilizer hose 62, a fertilizer guide, and an air duct 68.

The left and right fertilizer hoppers 60L, 60R each have four rows that are shared, and an openable lid 60a is attached to the top. The lower parts of the left and right fertilizer hoppers 60L, 60R are branched into the number of fertilizer rows (four rows) to form a funnel-shaped flow section 60b, the lower part of which is connected to the upper end of each payout section 61. In addition, a frame-shaped shutter case 80 is provided for each row between the lower part of the flow section 60b and the payout section 61, and a plate-shaped fertilizer application shutter 81 is slidably provided in a shutter hole that is long in the left-right direction and short in the up-down direction and is formed in the front and rear of the shutter case 80.

The left end of the air duct 68, through which the transport wind that moves the fertilizer to the fertilizer hose 62 passes, is connected via an air switching pipe (not shown) to a blower 67 driven by an electric blower motor 66. Then, when the air from the blower 67 passes through the air duct 68 and the connecting pipe and passes through the discharge port 61a of the payout part 61, it is blown into the fertilizer hose 62 while picking up the fertilizer.

The granular fertilizer stored in the fertilizer hoppers 60L, 60R is dispensed in fixed amounts by the dispenser 61 provided for each seedling planting row. The dispensed fertilizer is guided by the fertilizer hose 62 to the fertilizer guides attached to both the left and right sides of the center float, side float, and outer float. The furrow making body provided in front of the fertilizer guide allows the fertilizer to be dropped into the fertilizer furrows formed near the sides of the seedling planting rows.

As shown in FIG. 6, the payout unit 61 incorporates two rolls, a first payout roll 73A and a second payout roll 73B, which pay out fertilizer stored in, for example, the right fertilizer hopper 60R (or the left fertilizer hopper 60L) downward. The first and second payout rolls 73A and 73B are rotating bodies with groove-shaped recesses 74 formed on their outer peripheries, and are fitted to the square shaft portion 75a (square shaft in the illustrated example) of a common payout shaft 75 provided in the left-right direction in such a manner that they rotate together.

Then, as the first and second payout rolls 73A and 73B rotate in the direction of the arrows in FIG. 6, the fertilizer dropped from the left fertilizer hopper 60L (or the right fertilizer hopper 60R) is stored in the recess 74 and paid out downward. The fertilizer paid out by the first and second payout rolls 73A and 73B is discharged from the discharge outlet 61a at the lower end. A connecting pipe (not shown) is connected to the discharge outlet 61a of the payout unit 61, the front end of which is inserted and connected in the front-rear direction to the rear part of the air duct 68, and the rear end of which is connected to the discharge outlet 61a of the payout unit 61.

As shown in FIG. 6, a brush 76 is detachably provided inside the payout section 61, which comes into sliding contact with the outer circumferential surfaces of the first payout roll 73A and the second payout roll 73B on the side (front side) where the recess 74 moves downward. This brush 76 allows the fertilizer to be stored in the recess 74 of the first payout roll 73A and the second payout roll 73B in a leveled state, and the amount of fertilizer paid out by the first payout roll 73A and the second payout roll 73B is kept constant.

As shown in Fig. 5, an intermediate rod 463 that changes the transmission direction of the driving force from the fertilizer transmission drive rod 462 to the fore-and-aft direction of the machine body is arranged in the left-right direction. In addition, a connecting plate 464 whose front and rear ends swing up and down around a connecting fulcrum pin 464a in conjunction with the up and down movement of the fertilizer transmission drive rod 462 is arranged between the fertilizer transmission drive rod 462 and the intermediate rod 463, and a sub-driving rod 465 that transmits the driving force to a payout pivot arm 467 (Fig. 7) described later is arranged at the other end of the intermediate rod 463, thereby forming the fertilizer transmission mechanism 300.

Also, as shown in FIG. 5, a fertilizer amount adjustment motor 400 that can rotate forward and reverse at high speed is disposed below near the center of the left-right direction of the left fertilizer hopper 60L as a fertilizer amount adjustment device. As shown in FIG. 7, the fertilizer amount adjustment motor 400 is disposed at a distance behind the left side of the engine cover 30 that covers the periphery of the engine 20.

In this way, by positioning the fertilizer amount adjustment motor 400 below near the center in the left-right direction of the left fertilizer hopper 60L, the fertilizer amount adjustment motor 400 is positioned so that it does not interfere with tasks such as replenishing fertilizer to the left and right fertilizer hoppers 60L, 60R, improving work efficiency. In addition, because the forward and backward rotation of the left and right fertilizer hoppers 60L, 60R is not restricted, the left and right fertilizer hoppers 60L, 60R can be tilted backward when discharging fertilizer, and any remaining fertilizer can be quickly discharged.

In addition, on the inside of the rear wheel gear case 18 and further forward of the rear axle, there are provided a fertilizer transmission output shaft 461 that transmits power to the fertilizer transmission mechanism 300 of the fertilizer application device 100, and a fertilizer clutch mechanism 460 that switches power transmission to the fertilizer transmission output shaft 461 on and off.

By transmitting power from the fertilizer transmission output shaft 461 provided in the rear wheel gear case 18 to the fertilizer transmission mechanism 300, the fertilizer application device 100 can be operated using the driving force to the rear wheel 11, eliminating the need to configure a separate transmission path to the fertilizer application device 100, reducing the number of parts and simplifying the structure.

As shown in Figures 7 and 8, the fertilizer amount adjustment motor 400 is surrounded by a motor case 400a, and the upper end surface of the motor case 400a is positioned below the fertilizer shutter 81, near the center of the right fertilizer hopper 60R in the left-right direction. Specifically, it is placed in the space between the second and third payout sections 61, 61 counting from the right end of the machine, and the flow sections 60b, 60b. The fertilizer amount adjustment motor 400 is provided with a rotatable ball screw 420, and a ball nut 430 that is screwed into a spiral groove formed on the surface of the ball screw 420 and moves at high speed in the front-rear direction of the machine. The ball nut 430 is provided with a payout rotation pin 469.

Furthermore, the payout rotation pin 469 is positioned closer to the upper side of the machine body than the vertical center of the ball nut 430, offset from the ball screw 420 in side view, and positioned above the ball screw 420.

With this configuration, the fertilizer amount adjustment motor 400 does not interfere with the opening and closing operation of the fertilizer shutter 81, and there is no need to attach or detach parts when operating the fertilizer shutter 81 according to the working conditions, improving work efficiency.

Here, the detailed configuration of the fertilizer amount adjustment motor 400 will be described based on Figure 8.

The fertilizer amount adjustment motor 400 is attached to a motor stay 410 fixed to the above-mentioned position of the left fertilizer hopper 60L.

The drive gear 400b on the motor drive shaft of the fertilizer application amount adjustment motor 400 meshes with an intermediate driven gear 400d on an intermediate shaft 400c, and an accelerating gear 400e is provided on the intermediate shaft 400c.

An adjustment driven gear 420b is provided on the adjustment drive shaft 420a, which is connected to the ball screw 420 on the same axis and drives it to rotate, and is meshed with the speed-up gear 400e.

The fertilizer application amount adjustment motor 400 therefore drives the ball screw 420 in both forward and reverse rotations via the drive gear 400b, intermediate driven gear 400d, intermediate shaft 400c, speed increasing gear 400e, adjustment driven gear 420b, and adjustment drive shaft 420a, which are provided on the motor drive shaft.

A rotation sensor 400f is provided on the motor stay 410 to which the fertilizer application amount adjustment motor 400 is attached.

A sensor gear 400h, which is a scissors gear, is provided on the detection shaft 400g of the rotation sensor 400f and meshes with an intermediate driven gear 400d provided on the intermediate shaft 400c.

The rotation sensor 400f detects the rotation speed and rotation angle of the fertilizer amount adjustment motor 400.

The rotation sensor 400f sends the detection values of the rotation speed and rotation angle to the controller 210 (Figure 4). The controller 210 calculates the rotation speed and rotation angle of the ball screw 420 from the detection values of the rotation speed and rotation angle, and calculates the amount of fertilizer to be applied.

The rotation sensor 400f is therefore attached to the motor stay 410 to which the fertilizer amount adjustment motor 400 is attached, improving the precision of the axis distances between the various components, allowing accurate detection of the rotation speed and rotation angle of the fertilizer amount adjustment motor 400, or in other words, the amount of fertilizer to be applied.

Furthermore, the sensor gear 400h uses a scissors gear that is not affected by backlash whether rotating forward or backward, so the rotation speed and rotation angle of the fertilizer amount adjustment motor 400 can be detected accurately, in other words, the amount of fertilizer to be applied can be detected accurately.

The motor stay 410 to which the fertilizer amount adjustment motor 400 is attached is attached to a stay that has a ball screw 420. This improves the concentricity of the axis of the ball screw 420 and the axis of the drive transmission system of the fertilizer amount adjustment motor 400, reducing the drive load of the fertilizer amount adjustment motor 400 and improving the fertilizer amount adjustment speed.

As shown in FIG. 7, discharge ducts 79 are arranged in the left-right direction at the rear lower parts of the left and right fertilizer hoppers 60L, 60R, which move the fertilizer discharged from the discharge passage to the discharge outlet 79a on the side of the machine body. One end of the discharge duct 79 is connected to the blower 67, and when the operation switching lever described above is operated to the fertilization side, the transport air is blown into the air duct 68, and when it is operated to the discharge side, the transport air is blown into the discharge duct 79.

With this configuration, when the work switching lever is operated to the discharge side and the switching shutters of each row are opened, the fertilizer moves through each discharge passage to the discharge duct 79, and is then carried to the discharge outlet 79a by the conveying air blown into the discharge duct 79 and discharged. A collection bag or bucket is placed in front of the discharge outlet 79a, but if a fine mesh discharge hose is provided to prevent the fertilizer from scattering, the amount of fertilizer collected will be increased.

Next, the control system of the riding rice transplanter will be described. Figure 4 is a block diagram centered on the controller 210. The controller 210 is provided with a processing unit having a CPU etc., a storage unit such as ROM and RAM, and an input/output unit, which are connected to each other and can exchange signals with each other. The storage unit stores a computer program that controls the riding rice transplanter. For example, the controller 210 can automatically adjust the amount of fertilizer applied based on the fertilizer concentration of the field obtained by the fertility sensor 700.

As shown in the figure, actuators such as motors and sensors for acquiring information from each part are connected to the controller 210. For example, actuators connected to the controller 210 include a fertilizer amount adjustment motor 400 for adjusting the amount of fertilizer, a throttle motor 201 for increasing or decreasing the rotation speed of the engine 20 by operating a throttle (not shown) that adjusts the amount of air intake of the engine 20, a marker rotation motor 16c for operating the line drawing marker 16, and a lifting hydraulic cylinder 46 for raising and lowering the seedling planting unit 4.

Sensors connected to the controller 210 include a fertility sensor 700, a rotation sensor 400f, a depth sensor 720, a float sensor 58, and a tilt sensor 830.

As mentioned above, the fertility sensor 700 is composed of a pair of electrode rods 701 attached to the left and right line drawing markers 16, and detects the fertilizer concentration in the field. The rotation sensor 400f detects the number of rotations and the rotation angle of the fertilizer amount adjustment motor 400. The depth sensor 720 measures the depth of the field. The float sensor 58 detects the amount of rotation of the front part of the center float. The tilt sensor 830 detects the left and right tilt of the machine body.

As shown in Figures 1 and 2, the depth sensor 720 is an ultrasonic sensor located at the center of the left and right front end of the machine body, and measures the depth to the water surface or soil surface by reflecting ultrasonic waves. Note that since the depth sensor 720 detects reflected waves from the water surface in the field, the higher the water surface, the shorter the reflection time, and the controller 210 determines the depth to be "deep."

The depth detection value of the depth sensor 720 is corrected by the controller 210 based on the lateral tilt angle A of the aircraft detected by the tilt sensor 830.

The depth sensor 720 is located in the center of the front left and right ends of the aircraft, so accurate depth detection can be performed with just one sensor, resulting in an inexpensive configuration.

When working on the ridges (headlands) (planting and fertilizing), the left and right line-drawing markers 16 cannot be placed in the working position because work has already been completed and seedlings have been planted in the fields other than the ridges (headlands). In other words, the fertility sensor 700 attached to the left and right line-drawing markers 16 cannot detect fertility.

Therefore, during work (planting and fertilizing) on the ridges (headland), the controller 210 controls the fertilizer amount adjustment motor 400 to adjust the amount of fertilizer based on the field depth detected by the depth sensor 720. Note that the tillage pan is deep on the ridges (headland), so there is no problem with adjusting the amount of fertilizer based on the field depth detected by the depth sensor 720.

The riding rice transplanter also includes a GPS control device 120 and an information storage terminal 130, such as a tablet terminal, which are each connected to the controller 210.

The GPS control device 120 can obtain the position information or coordinate information of the riding rice transplanter on the earth by using GPS, and the position information obtained by the GPS control device 120 can be transmitted to the controller 210. Since the GPS control device 120 obtains the position information of the riding rice transplanter by using GPS in this way, it has a receiving antenna 710 that receives signals from the artificial satellites used by GPS (see Figures 1 and 2).

The information storage terminal 130 has a display unit that displays information, an input operation unit that performs various input operations, and a storage unit that stores information. Of these, the display unit and the input operation unit may be configured separately, or may be configured as one unit using a touch panel display. The information storage terminal 130 may be configured to be detachably attached, for example, near the driver's seat 31 of the traveling vehicle body 2.

The storage unit of the information storage terminal 130 stores the location information of one or more fields, as well as location information of a specific location derived from location information from previous work in the field, and can also store the latest location information obtained by the GPS control device 120 via the controller 210.

As described above, the riding rice transplanter according to this embodiment is provided with a fertility sensor 700 (Figs. 1 to 4) on each of the left and right line drawing markers 16 that detects the fertilizer concentration in the field. Based on the fertility concentration in the next process detected by the fertility sensor 700, the controller 210 of the riding rice transplanter determines the amount of fertilizer to be supplied to the field in the next process, and controls the rotation of the fertilizer amount adjustment motor 400 in the next process so that the determined constant amount of fertilizer is supplied.

<Other embodiments>

(1) Figure 11 shows an embodiment in which a fertility map of a field is created in advance and variable fertilization is performed based on the created fertility map of the field.

In other words, the steps for creating a fertility map are as follows:

First, in a field where rice ears have emerged and the rice has fallen over, a flight route for a small airplane (e.g., a drone) is added to a field map on an information storage terminal (remote control device) 130 such as a tablet terminal, and the field map with the added flight route is transmitted to the small airplane via a communication device, and flight commands are issued to the small airplane.

The small aircraft flies along the flight route of the received field map, takes near-infrared images with a camera, and adds areas where rice plants have fallen to the field map based on the near-infrared images.

The small aircraft transmits the farm field map with the added fallen areas to the information storage terminal (remote control device) 130 via a communication device.

The information storage terminal (remote control device) 130 stores the received farm field map with the lodging area added. Note that rice plants locate because the area is highly fertile, and the lodging area is a high fertility area.

Next, we will explain the fertilization work that will be carried out when a riding rice transplanter equipped with a fertilizer applicator performs rice planting and fertilization work in the same field the following year.

The riding rice transplanter with fertilizer applicator receives signals from a positioning satellite using the receiving antenna 710 and calculates the current position information using the satellite positioning system while performing rice planting and fertilizing operations.

Then, the controller 210 receives the field map to which the above-mentioned falling area has been added from the information storage terminal (remote control device) 130, and when the riding rice transplanter works in the falling area of the field map to which the falling area has been added, it operates the fertilizer amount adjustment motor 400 to reduce the amount of fertilizer fed by the feeding unit 61.

That is, when the riding rice transplanter works in an area other than a fallen area, the controller 210 operates the fertilizer amount adjustment motor 400 to set the amount of fertilizer fed by the feed unit 61 to the standard. And, when the riding rice transplanter works in a fallen area, the controller 210 operates the fertilizer amount adjustment motor 400 to reduce the amount of fertilizer fed by the feed unit 61.

(2) Figures 12 and 13 show an embodiment in which weeding is performed using a weeder in a field where rice is growing.

That is, in a field where rice is growing, a flight route (a route that flies back and forth along the length of the field to cover the entire field) of a small airplane S (e.g., a drone) is recorded and added to a field map on an information storage terminal (remote control device) 130 such as a tablet terminal, the field map with the flight route added is transmitted to the small airplane S via a communication device, and flight commands are issued to the small airplane S.

The small airplane S flies along the flight route of the received field map, takes near-infrared images with a camera, analyzes the rows of rice growing using the near-infrared images, identifies the rows of rice seedlings planted by the riding rice transplanter in the round trip process and the rows of rice seedlings planted in the headland process, and adds the rows of rice seedlings to the field map.

The small airplane S transmits the field map with the rows of rice seedlings added to the information storage terminal (remote control device) 130 via a communication device.

The information storage terminal (remote control device) 130 stores the received field map with the rows of rice seedlings added, and adds to the field map a work process in which weeding is performed in the reciprocating process along the rows of seedlings planted in the reciprocating process and the machine turns in the headland process. Note that the machine turns in the headland process when the rear axle of the riding weeder enters the headland process area.

Next, we will explain the procedure by which the riding weeder performs weeding work in the field.

The riding weeder receives the field map with the above work process added from the information storage terminal (remote control device) 130, and the controller 210 receives signals from the positioning satellite with the receiving antenna and calculates the current position information using the satellite positioning system while controlling the autonomous travel along the work process to perform weeding work. When performing weeding work in the reciprocating process, the left and right front wheels and the left and right rear wheels of the riding weeder travel between the rows of seedlings.

Although the above shows an example of a weeder, any other machine such as a pest control machine, such as a herbicide applicator or insecticide applicator, a fertilizer applicator, or a tiller can also be used.

(3) Figure 14 shows the procedure for performing rice planting work with a riding rice transplanter that performs teaching travel, memorizes the work reference direction, and travels in a straight line autonomously. Below, an embodiment of the rice transplanter performing autonomous straight-line travel and rice planting work is shown.

That is, the operator starts the rice planting work by lowering the seedling planting unit 4 at work start position A on the edge of one side of the field, and then drives the machine in a straight line to turn start position B, where the operator raises the seedling planting unit 4 on the edge of the other side of the field and begins turning (teaching driving).

At that time, the controller 210 receives signals from a positioning satellite via a receiving antenna and calculates the position information of the work start position A and the turning start position B using a satellite positioning system, calculates the distance and direction from the work start position A to the turning start position B, and stores these as the reference work process distance and reference work direction.

Then, when the operator turns the machine at the edge of the other side of the field and lowers the seedling planting unit 4 to start planting work, the controller 210 receives a signal from the positioning satellite via the receiving antenna, calculates the current position information using the satellite positioning system, calculates the traveled distance and traveling direction, and operates the actuators that steer the left and right front wheels 10 to perform autonomous straight-line control so that the machine moves straight in the opposite direction to the reference working direction.

Then, when the machine travels the standard work process distance, the controller 210 recognizes that it has reached the edge of the ridge on one side and prompts the operator with a buzzer or voice notification to raise the seedling planting unit 4 and perform a turning operation.

Then, the operator raises the seedling planting unit 4 in response to the notification and performs a turning operation. At this time, the position where the seedling planting unit 4 is lowered at the other side of the ridge and rice planting work begins is set as the new work start position A, and the position where the seedling planting unit 4 is raised after reaching the ridge on one side is set as the new turning start position B, and the standard work process distance is calculated and updated.

Then, the rice planting work is carried out by repeating the same back and forth work between the ridges on one side and the other side, but the controller 210 receives signals from the positioning satellite with the receiving antenna, calculates the current position information using the satellite positioning system, calculates the traveled distance and traveled direction, and operates the actuators that steer the left and right front wheels 10 to perform autonomous straight-line control so that the machine moves in a straight line based on the standard work direction. When the machine travels the standard work process distance, it recognizes that it has reached the ridge and prompts the operator with a buzzer or voice notification to raise the seedling planting unit 4 and turn, so that neat planting work can be carried out while driving in a straight line, and the time to turn is also notified, allowing for appropriate turning and good rice planting work.

In addition, since the machine may be stopped and the seedling planting unit 4 raised during straight-line planting work to supply seedlings or adjust the machine, the controller 210 does not recognize the seedling planting unit 4 as turning start position B if the seedling planting unit 4 is raised within 8 m of work start position A, where the seedling planting unit 4 is lowered and rice planting work begins, and does not update the reference work process distance.

In addition, while turning at the edge of the field, the machine may move along the edge of the field to stop and lower the seedling planting unit 4 for auxiliary work such as supplying seedlings from the edge to the machine. Therefore, the controller 210 does not recognize the position as work start position A if the seedling planting unit 4 is lowered at a position traveled 8 m or more from the turning start position B where the seedling planting unit 4 was raised.

2 Traveling vehicle body 4 Working section (seedling planting section)
16 Line drawing marker 100 Fertilizer application device 120 GPS control device 210 Controller 400 Fertilizer amount adjustment device (fertilizer amount adjustment motor)
700 Fertility sensor 701 Electrode body A Work start position B Turning start position

Claims (1)

In an agricultural machine having a running vehicle body (2) equipped with a working section (4) and a fertilizer application device (100) in which the amount of fertilizer is adjusted by a fertilizer amount adjustment device (400) and equipped with a GPS control device (120) for acquiring the position information of the machine, a fertility sensor (700) is provided for detecting the fertility of a field for a next process while traveling in a current process ,
A controller (210) is provided which calculates the position where the fertility sensor (700) detects the fertility of the field from the position information of the machine acquired by the GPS control device (120), stores the fertility and its position information for the next step, and in the next step , operates a fertilizer amount adjustment device (400) based on the stored fertility and its position information to automatically adjust the amount of fertilizer applied by the fertilizer application device (100);
A line drawing marker (16) for forming a guide line in the field as a guide for moving straight in the next process is provided so as to be freely switched between a working state and a state in which the line drawing marker is retracted upward from the field, and a fertility sensor (700) is provided for entering the field when the line drawing marker (16) is in the working state and detecting the fertility of the field;
The fertility sensor (700) is composed of a pair of electrodes (701) attached to the guide rod (16b) of the line drawing marker (16) in a state of being parallel to the guide rod (16b) ,
Each of the pair of electrode rods (701) is formed of an elastic body such as a spring material, and is configured in an identical arc shape, with the tip side being located rearward in the direction of travel,
The electrode rod (701) has a base portion removably fixed to a guide rod (16b) of a line drawing marker (16), in the agricultural machine.

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