JP2015029470A - Riding-type rice planting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a riding-type rice planting machine in which it is avoided that a planting work machine arrives at a planting start distance before being grounded, even if a vehicle speed during turning at a butt is faster than a reference vehicle speed.SOLUTION: A riding-type rice planting machine includes: turning start determination means for determining that a traveling machine body 1 starts turning by detecting a steering operation from the straight traveling position side of a front wheel 9 using front wheel steered angle detection means to a predetermined steering angle; planting work machine automatic lowering means for automatically lowering a planting work machine 3, when a travel distance L from a turning start arrives at a predetermined lowering start distance L1; planting clutch automatic input means for automatically inputting a planting clutch, when the travel distance L from the turning start arrives at a predetermined planting start distance L2; and lowering start distance correcting means for correcting the lowering start distance L1 according to a vehicle speed Vs during turning.

Description

  The present invention relates to a riding type rice transplanter that automates a lowering operation of a planting work machine and an operation of engaging a planting clutch performed after a headland turns.

  When a turning start operation by the steering handle is determined, and the traveling distance from the turning start reaches a predetermined lowering starting distance, the planting work machine is automatically lowered, and further, the traveling distance from the turning start is set to a predetermined distance. A riding-type rice transplanter that automatically turns a planting clutch into when a planting start distance is reached is known (for example, see Patent Document 1). According to such a riding type rice transplanter, since the operation of lowering the planting work machine and the operation of engaging the planting clutch performed after the headland turning is unnecessary, the operation burden on the operator can be reduced.

JP 2010-200770 A

  However, in this type of riding rice transplanter, the descending speed of the planting work machine is almost constant regardless of the vehicle speed (aircraft traveling speed), so if the vehicle speed in headland turning is faster than the standard vehicle speed, the turning starts Even if the planting machine is automatically lowered at the timing when the mileage from the vehicle reaches the predetermined descent start distance, the planting machine reaches the planting start distance before the planting machine touches down, and the planting start timing Could be delayed.

The present invention has been created in order to solve these problems in view of the above circumstances, and is capable of moving up and down to a traveling body that is steered according to the operation of a steering handle and a rear portion of the traveling body. Is a riding type rice transplanter comprising a planting work machine for planting seedlings in a field in a lowered state and a planting clutch for turning on / off the power supply to the planting work machine, wherein the traveling distance of the traveling machine body By detecting the steering operation from the straight-running position side of the front wheel to the predetermined turning angle by the front wheel turning angle detecting means. Turning start determination means for determining that the aircraft has started turning, and planting work machine automatic for automatically lowering the planting work machine when the travel distance from the start of turning reaches a predetermined lowering start distance The descending means, the planting clutch automatic engagement means for automatically entering the planting clutch when the travel distance from the start of the turn reaches the predetermined planting start distance, and the descending start distance are set as the vehicle speed during the turn. And a descent start distance correcting means for correcting according to the above.
The descent start distance correcting means corrects the descent start distance within a range not exceeding a predetermined shortest descent start distance when the descent start distance is corrected to the decreasing side.
Further, the descent start distance correction means corrects the descent start distance using a predetermined correction value when the vehicle speed during the turn is equal to or higher than a predetermined vehicle speed.
In addition, a traveling machine body that is steered according to the operation of the steering handle, a planting work machine that is connected to the rear part of the traveling machine body so as to be movable up and down, and planting seedlings in a lowered state, and power supply to the planting machine A riding type rice transplanter comprising a planting clutch for turning on and off the vehicle, a travel distance detecting means for detecting a travel distance of the traveling machine body, a front wheel break angle detecting means for detecting a front wheel break angle by a steering wheel operation, A turning start judging means for judging that the aircraft has started turning by detecting a steering operation from the straight traveling position side of the front wheel to a predetermined turning angle by the front wheel turning angle detecting means, and a predetermined start of lowering of the travel distance from the start of turning. When the distance is reached, the planting machine automatic lowering means that automatically lowers the planting machine and when the travel distance from the start of turning reaches the predetermined planting start distance, Planting clutch automatic engagement means for automatically entering, and start distance correction means for correcting the descending start distance and the planting start distance according to the vehicle speed during turning, the start distance correction means Is within the predetermined vehicle speed range, the descent start distance is corrected in proportion to the vehicle speed.If the vehicle speed exceeds the predetermined vehicle speed range, the planting start distance is corrected according to the vehicle speed, and a default correction value is set. It is used to correct the descent start distance.

According to the invention of claim 1, since the descent start distance is corrected according to the vehicle speed during the turn, even if the vehicle speed in the headland turn is faster than the reference vehicle speed, Thus, the planting start distance is not reached, and as a result, the planting start timing can be avoided and the planting start positions can be well aligned.
According to the second aspect of the present invention, when the descent start distance is corrected to the decreasing side, the descent start distance is corrected within a range that does not exceed the predetermined minimum descent start distance. Thus, it is possible to prevent the planting work machine from colliding with the ridge or the grounding of the planting work machine during the turning and dragging in the lateral direction.
According to the invention of claim 3, when the vehicle speed during the turn is equal to or higher than the predetermined vehicle speed, the descent start distance is corrected using a predetermined correction value. Can be aligned.
According to the invention of claim 4, when the vehicle speed is within a predetermined vehicle speed range, the descent start distance is corrected in proportion to the vehicle speed, so that the planting start positions can be well aligned. In addition, when the vehicle speed exceeds the predetermined vehicle speed range, the planting start distance is corrected according to the vehicle speed, and the descent start distance is corrected using a predetermined correction value. Correspondingly, not only can the planting start timing be delayed so that the planting start positions are aligned well, but the descent start timing of the planting work machine can also correspond to the slip.

It is the whole left side view of a riding type rice transplanter. It is a whole top view of a riding type rice transplanter. It is a block diagram which shows the input / output of a control part. It is a flowchart which shows the main routine of work implement control. It is a flowchart of work implement operation control. It is explanatory drawing which shows the fundamental operation | movement of descent | fall timing control and planting automatic control. It is explanatory drawing which shows operation | movement of the fall timing control and planting automatic control in case a vehicle speed is V0 or more. It is explanatory drawing which shows operation | movement of the fall timing control and planting automatic control in case a vehicle speed is V1 or more. It is explanatory drawing which shows operation | movement of the fall timing control and planting automatic control in case a vehicle speed is V2 or more. It is a flowchart of descending planting timing control. It is a flowchart of planting automatic control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1 and FIG. 2, reference numeral 1 denotes a traveling machine body of a riding type rice transplanter, and a planting work machine 3 is connected to a rear portion of the traveling machine body 1 via a lifting link mechanism 2. A lift cylinder 4 is interposed between the traveling machine body 1 and the planting work machine 3, and the planting work machine 3 is raised and lowered according to the hydraulic expansion and contraction operation of the lift cylinder 4.

  The planting machine 3 includes a seedling stage 5 on which mat seedlings are placed, a planting mechanism 6 for scraping seedlings from the seedling stage 5 and planting them on a farm field, a float 7 that slides down the rice field, and the like. The planting operation is performed with the planting power transmitted from the traveling machine body 1.

  An engine (not shown) and a transmission 8 are mounted on the front portion of the traveling machine body 1. The power output from the engine is shifted by the transmission 8 and transmitted to the planting work machine 3, the front wheel 9, and the rear wheel 10. The transmission 8 is provided with a planting clutch (not shown), and transmission of planting power to the planting machine 3 is switched on / off based on the switching of the planting clutch.

  The traveling machine body 1 is provided with a working machine operation cam (not shown) linked to the planting clutch and the hydraulic control valve of the lift cylinder 4. The work implement operation cam is operated to the “up”, “fix”, “automatic (down)”, and “planting” positions based on the drive of the work implement operation cam motor 11. In the “up” position, the planting machine 3 is raised (planting clutch is disengaged), and in the “fixed” position, the planting machine 3 is fixed at an arbitrary height (planting clutch is disengaged). In the “automatic (lowering)” position, the planting work machine 3 is lowered (the planting clutch is disengaged), and in the “planting” position, the planting clutch is engaged. In the “automatic (descent)” and “planting” positions, mechanical automatic elevation control based on detection of ground height by the sensing float is executed.

  A driving unit 12 on which an operator gets on the upper part of the traveling machine body 1 is configured. The driving unit 12 includes a steering wheel 14 for steering the front wheels 9, a planting work machine, in addition to a driver seat 13 on which the operator sits. 3 working machine operating lever 15 for performing the lifting operation and setting / disengaging operation of the planting clutch, main transmission lever 16 for shifting the traveling speed, working machine operation button 17 provided on the main transmission lever 16, ON operation during planting work Operation tools such as a work preparation switch 18 to be performed and a planting automatic switch 19 for performing ON / OFF operation of planting automatic control described later are provided.

  Further, the traveling machine body 1 is provided with a control unit 20 that performs raising / lowering control of the planting work machine 3 and on / off control of the planting clutch. As shown in FIG. 3, on the input side of the control unit 20, in addition to the work preparation switch 18 and the planting automatic switch 19 described above, an upper side of the work implement operating tool (work implement operating lever 15, work implement operating button 17) is provided. A work implement operation switch (upper) 21 for detecting an operation, a work implement operation switch (lower) 22 for detecting a lower operation of the work implement operating tool, a work implement operation cam potentiometer 23 for detecting a position of the work implement operation cam, Lift angle potentiometer 24 that detects the elevation height of the planting work machine 3, rotation sensor 25 (travel distance detection means) that detects the rotation (travel distance) of the rear wheel power transmission path, and front wheel 9 that accompanies the operation of the steering handle 14. A front wheel turning angle sensor 26 (front wheel turning angle detection means) for detecting a change in the turning angle of the vehicle is connected to the output side of the control unit 20, and the above-described working machine operation cam motor 11 is connected. It has been.

  As shown in FIG. 4, the work machine control performed by the control unit 20 is a work machine operation control that raises and lowers the planting work machine 3 and engages / disengages the planting clutch according to the operation of the work machine operating tool. (S1) and automatically performing the ascending operation of the planting work machine 3 and the disengaging operation of the planting clutch at the start of the headland turning, and the lowering operation of the planting work machine 3 and the planting clutch at the end of the headland turning. Automatic planting control (S3) that automatically performs the entering operation, and descent planting timing control that corrects the descent start timing and planting start timing of the planting work machine 3 according to the vehicle speed (S2: descent start distance correction) Means, start distance correction means) a descent start distance and a planting start distance.

  As shown in FIG. 5, in the work implement operation control, first, the lower operation and the upper operation of the work implement operation tool are determined (S101, S102). Here, when it is determined that the lower operation of the work implement operating tool has been performed, it is subsequently determined whether the work preparation switch 18 is ON or OFF (S103). When the determination result is ON, the state of the planting work machine 3 is determined (S104 to S106). When the state of the planting work machine 3 is “up”, the work machine operation cam is “fixed”. Switching to the position (S107) stops the ascent operation of the planting work machine 3. If the state of the planting work machine 3 is “automatic (down)”, it is determined whether or not the descent operation is stopped (grounding state) (S108). If the determination result is NO, On the other hand, when the determination result is YES, the working machine operation cam is switched to the “planting” position to engage the planting clutch (S110). If the state of the planting work machine 3 is “fixed”, the work machine operation cam is switched to the “automatic (down)” position (S111).

  Even when the determination result in step S103 is OFF, the state of the planting work machine 3 is determined (S112, S113). If the state of the planting work machine 3 is “rising”, the work machine operation cam Is switched to the “fixed” position (S107), and the ascent operation of the planting work machine 3 is stopped. When the state of the planting work machine 3 is “fixed”, the work machine operation cam is switched to the “automatic (down)” position (S114).

  On the other hand, when it is determined in step S102 that the upper operation of the work implement operating tool has been performed, the state of the planting work machine 3 is determined (S115 to S117), and the state of the planting work machine 3 is “fixed”. In this case, the work machine operation cam is switched to the “up” position (S118), and the planting work machine 3 is raised. If the state of the planting work machine 3 is “planting”, the work machine operation cam is switched to the “automatic (down)” position to disengage the planting clutch (S119). Further, when the state of the planting work machine 3 is “automatic (down)”, it is determined whether or not the planting work machine 3 is in the descent operation stop state (S120). The working machine operation cam is switched to the “up” position (S118), and the planting work machine 3 is raised. If the determination result is NO, the work machine operation cam is switched to the “fixed” position (S121), The lifting / lowering operation of the attached work machine 3 is stopped.

  Further, in a state where there is no upper operation and lower operation of the work implement operating tool, it is determined whether or not the planting clutch is in a waiting state (S122), and whether the planting work implement 3 is in the descent operation stop state. It is determined whether or not (S123). If both the determination results are YES, the work implement operation cam is switched to the “planting” position to engage the planting clutch (S124).

  In the planting automatic control, as shown in FIG. 6, the turning start operation by the steering handle 14 is determined, and the travel distance L from the turning start operation reaches the descent start distance L1 (the initial value is the reference descent start distance L0). The planting work machine 3 is automatically lowered, and when the travel distance L from the turning start operation reaches the planting start distance L2, the work machine is set to automatically enter the planting clutch. Controls the position of the operation cam.

  Usually, in the riding type rice transplanter, the descending speed of the planting work machine 3 is substantially constant regardless of the vehicle speed. Therefore, when the vehicle speed Vs in the headland turning is faster than the reference vehicle speed V0, the travel distance L from the start of the turn Even if the planting work machine 3 is automatically lowered at the timing when the plant reaches the reference lowering start distance L0, the planting work machine 3 reaches the planting start distance L2 before the planting work machine 3 contacts the ground, and the planting start timing is There was a possibility of being late.

  In order to solve such a problem, the control unit 20 according to the embodiment of the present invention performs descending planting timing control for correcting the descending start timing and planting start timing of the planting work machine 3 according to the vehicle speed. Prepare. For example, as shown in FIG. 7, the descending planting timing control calculates the correction value Lx proportional to the vehicle speed Vs and calculates the reference descending start distance L0 when the vehicle speed Vs in headland turning is faster than the reference vehicle speed V0. The distance obtained by subtracting the correction value Lx from is set as the descent start distance L1. In this way, when the vehicle speed Vs in the headland turning is faster than the reference vehicle speed V0, the planting work machine 3 starts to descend at a timing earlier than usual, so before the planting start distance L2 is reached. Therefore, it is possible to reliably ground the planting work machine 3, and as a result, it is possible to avoid a delay in the timing of the planting start and to align the planting start positions satisfactorily.

  Further, in the descending planting timing control of the present embodiment, when the descending start distance L1 is corrected to the decreasing side, the descending start distance L1 is corrected within a range not exceeding the predetermined shortest descending start distance Ls. For example, as shown in FIG. 8, when the vehicle speed Vs in headland turning is faster than a predetermined vehicle speed V1 (where V1> V0), the shortest descent start distance Ls is set as the descent start distance L1. If it does in this way, the planting work machine 3 will start descending too early and the planting work machine 3 will collide with the kite or prevent the planting work machine 3 from being grounded and dragged laterally during turning. it can. Moreover, since the descent start distance L1 is corrected using a predetermined correction value (shortest descent start distance Ls), the planting start positions can be satisfactorily aligned with simple control.

  Further, in the descending planting timing control of this embodiment, as shown in FIG. 9, when the vehicle speed Vs exceeds a predetermined vehicle speed V2 (however, V2> V1), slip occurs in the front wheels 9 and the rear wheels 10. The planting start distance L2 is corrected according to the vehicle speed Vs, and the descent start distance L1 is corrected using a predetermined correction value Lm. In this way, not only can the slip due to the vehicle speed be too fast, the planting start timing can be delayed so that the planting start position can be properly aligned, and the descent start timing of the planting work machine 3 can be handled in response to the slip. Can be delayed. Thereby, it is possible to prevent the planting work machine 3 from starting to descend too early and the planting work machine 3 to collide with the ridge or to be grounded and dragged in the lateral direction during turning.

  Hereinafter, specific processing procedures of descending planting timing control and planting automatic control according to the embodiment of the present invention will be described with reference to FIGS. 10 and 11.

  As shown in FIG. 10, in the descending planting timing control of the present embodiment, first, it is determined whether or not the planting automatic mode (planting automatic switch 19) is ON (S201). In this case, the process returns to the upper routine as it is. On the other hand, if the determination result is YES, the vehicle speed Vs at the start of turning is compared with predetermined vehicle speeds V2, V1, and V0 (S202 to S204).

  When the vehicle speed Vs is less than the predetermined vehicle speed V0, the reference descent start distance L0 is set as the descent start distance L1 (S205). When the vehicle speed Vs is equal to or higher than the predetermined vehicle speed V0 and lower than the predetermined vehicle speed V1, a correction value Lx proportional to the vehicle speed Vs is calculated (S206), and the correction value Lx is subtracted from the reference descent start distance L0. The descent start distance L1 is set (S207). If the vehicle speed Vs is equal to or higher than the predetermined vehicle speed V1 and lower than the predetermined vehicle speed V2, the shortest descent start distance Ls is set to the descent start distance L1 (S208). When the vehicle speed Vs is equal to or higher than the predetermined vehicle speed V2, a predetermined lower start distance Lm (where Lm> L0) is set as the lower start distance L1 (S209), and a correction value Ly proportional to the vehicle speed Vs is calculated. Then, the planting start distance L2 is corrected based on the correction value Ly (S211). For example, the correction value Ly is added to the planting start distance L2.

  As shown in FIG. 11, in the planting automatic control of this embodiment, first, it is determined whether or not the planting automatic mode (planting automatic switch 19) is ON (S301), and this determination result is NO. In this case, the process returns to the upper routine as it is. On the other hand, if the determination result is YES, the headland turning start determination is performed. That is, it is determined whether or not it is immediately after the front wheel turning angle becomes equal to or greater than a predetermined turning start determination value α (S302: turning start determining means), and whether or not a planting traveling more than a predetermined distance has occurred (S302: S303) When both judgment results are YES, it is determined that the headland turning is started. When it is determined that the headland turning is started, the working machine operation cam is switched to the “up” position to raise the planting work machine 3 and disengage the planting clutch (S304). Is started (S305).

  Thereafter, whether or not it is immediately after the front wheel turning angle becomes equal to or greater than a predetermined turning determination value β (where β> α) (S306), whether or not the work implement operating tool has been operated (S307). It is sequentially determined whether or not the travel distance L is greater than or equal to the planting start distance L2 (S308) and whether or not the travel distance L is greater than or equal to the descending start distance L1 (S309). If it is determined in step S306 that the front wheel turning angle is immediately after the predetermined turning turning determination value β or more, a vehicle speed Vs for determining the turning vehicle speed is calculated (S310).

  If it is determined in step S309 that the travel distance L is equal to or greater than the descent start distance L1, the work implement operation cam is switched to the “down” position, and the planting work implement 3 is lowered (S311: planting work implement automatic descent). means). If it is determined in step S308 that the travel distance L is greater than or equal to the planting start distance L2, the work implement operation cam is switched to the “planting” position to engage the planting clutch (S312: planting clutch automatic Entry means), the travel distance L counter is cleared (S313). In the present embodiment, the travel distance L counter is cleared even when the work implement operating tool is operated during turning (S314).

  According to the present embodiment configured as described, the traveling machine body 1 steered in response to the operation of the steering handle 14 and the rear part of the traveling machine body 1 are connected to be movable up and down, and seedlings are planted in the field in the lowered state. A riding type rice transplanter including a planting work machine 3 to be attached and a planting clutch for turning on / off the power supply to the planting work machine 3, a travel distance detecting means for detecting a travel distance L of the travel machine body 1; The traveling vehicle body 1 starts turning by detecting the front wheel turn angle detecting means for detecting the front wheel turn angle by the steering wheel operation and the steering operation from the straight traveling position side of the front wheel 9 to the predetermined turn angle by the front wheel turn angle detecting means. A turning start judging means for judging that the planting work machine is automatically lowered, a turning work machine automatic lowering means for automatically lowering the planting work machine 3 when the travel distance L from the turning start reaches a predetermined lowering start distance L1, start When the travel distance L reaches the predetermined planting start distance L2, the planting clutch automatic engagement means for automatically entering the planting clutch and the lowering start distance L1 according to the vehicle speed Vs during the turn. And the descent start distance correction means for correcting the planting distance, the planting start distance L2 is reached before the planting work machine 3 contacts the ground even if the vehicle speed Vs in the headland turning is faster than the reference vehicle speed V0. As a result, the planting start position can be well aligned by avoiding a delay in planting start timing.

  Further, when the descent start distance L1 is corrected to the decrease side, the descent start distance L1 is corrected within a range not exceeding the predetermined shortest descent start distance Ls. It is also possible to prevent the work machine 3 from colliding with the heel or the planting work machine 3 from being grounded and dragged laterally during turning.

  Further, when the turning vehicle speed Vs is equal to or higher than the predetermined vehicle speed V1, the descent start distance L1 is corrected using a predetermined correction value (shortest descent start distance Ls). Can be aligned.

  Further, when the vehicle speed Vs is within a predetermined vehicle speed range (V1> Vs ≧ V0), the descent start distance L1 is corrected in proportion to the vehicle speed Vs, so that the planting start positions can be well aligned.

  When the vehicle speed Vs exceeds the predetermined vehicle speed range (Vs ≧ V2), the planting start distance L2 is corrected according to the vehicle speed V2, and the descent start distance L1 is corrected using a predetermined correction value. In response to slipping due to the vehicle speed Vs being too fast, not only can the planting start timing be delayed to align the planting start position well, but the descent start timing of the planting work machine 3 can also correspond to the slip. .

1 traveling machine body 3 planting work machine 9 front wheel 14 steering handle 15 work machine operation lever 17 work machine operation button 19 planting automatic switch 20 control unit 25 rotation sensor 26 front wheel break angle sensor

Claims (4)

A traveling aircraft that is steered in response to an operation of a steering handle;
A planting work machine connected to the rear part of the traveling machine body so as to be movable up and down, and planting seedlings in the field in a lowered state;
A riding type rice transplanter comprising a planting clutch for entering / disconnecting power supply to a planting machine,
Mileage detecting means for detecting the mileage of the traveling aircraft;
Front wheel break angle detection means for detecting a front wheel break angle by steering wheel operation;
A turning start judging means for judging that the airframe has started turning by detecting a steering operation from the straight traveling position side of the front wheel to a predetermined turning angle by the front wheel turning angle detecting means;
A planting work machine automatic lowering means for automatically lowering the planting work machine when the travel distance from the start of turning reaches a predetermined lowering start distance;
A planting clutch automatic engagement means for automatically entering a planting clutch when the travel distance from the start of turning reaches a predetermined planting start distance;
A riding-type rice transplanter comprising: a descent start distance correcting unit that corrects the descent start distance according to a vehicle speed during a turn.   2. The riding type rice planting according to claim 1, wherein when the descent start distance correcting means corrects the descent start distance to a decreasing side, the descent start distance is corrected within a range not exceeding a predetermined shortest descent start distance. Machine.   The riding type rice transplant according to claim 1 or 2, wherein the descent start distance correcting means corrects the descent start distance using a predetermined correction value when the vehicle speed during the turn is equal to or higher than a predetermined vehicle speed. Machine. A traveling aircraft that is steered in response to an operation of a steering handle;
A planting work machine connected to the rear part of the traveling machine body so as to be movable up and down, and planting seedlings in the field in a lowered state;
A riding type rice transplanter comprising a planting clutch for entering / disconnecting power supply to a planting machine,
Mileage detecting means for detecting the mileage of the traveling aircraft;
Front wheel break angle detection means for detecting a front wheel break angle by steering wheel operation;
A turning start judging means for judging that the airframe has started turning by detecting a steering operation from the straight traveling position side of the front wheel to a predetermined turning angle by the front wheel turning angle detecting means;
A planting work machine automatic lowering means for automatically lowering the planting work machine when the travel distance from the start of turning reaches a predetermined lowering start distance;
A planting clutch automatic engagement means for automatically entering a planting clutch when the travel distance from the start of turning reaches a predetermined planting start distance;
Starting distance correction means for correcting the descent start distance and the planting start distance according to the vehicle speed during the turn,
The start distance correction means corrects the descent start distance in proportion to the vehicle speed when the vehicle speed is within the predetermined vehicle speed range, and corrects the planting start distance according to the vehicle speed when the vehicle speed exceeds the predetermined vehicle speed range. The riding type rice transplanter according to any one of claims 1 to 3, wherein a descent start distance is corrected using a predetermined correction value.

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