JPH0851807A - Rice transplanter - Google Patents

Abstract

(57) [Summary] [Purpose] A rice transplanter that runs on a predetermined route without inconvenience even if an operator releases his or her hand from the steering handle and looks back behind the aircraft to replenish seedlings at low cost. A seedling planting device A is connected to a rear portion of the riding type machine body 3, and a steering wheel is operated based on a detection result of a sensor S that detects a deviation amount of the machine body 3 with respect to a predetermined traveling route. Is provided with an automatic piloting means for causing the vehicle to travel along a predetermined route, and an alarm lamp 25 that is activated when the machine body 3 deviates from the predetermined traveling route by a predetermined value or more based on a signal from the sensor S during traveling by the automatic piloting means Is located behind the driver's seat 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice transplanter, and more particularly to improvement of a technique for automatically controlling a body.

[0002]

2. Description of the Related Art Conventionally, as a technique for automatically operating a working machine such as a rice transplanter, an angular acceleration sensor, a gyroscope or the like for measuring a deviation in a traveling direction of a machine about a vertical axis when the machine is traveling. Or a directional sensor that detects the geomagnetism, or a sensor that detects the infrared rays that are formed in advance along the travel route in the work area, etc. A technique for automatically driving has been proposed.

[0003]

Further, considering the form of automatic piloting, this automatic piloting is effective not only when the vehicle is unmanned but also when it is used as a riding type rice transplanter. That is, in a riding-type rice transplanter equipped with a seedling planting device on the rear part of the machine, the operator needs to release his / her hand from the steering handle when seedling is supplied to the seedling planting device. Had been stopped. Therefore, by equipping this type of rice transplanter with an automatic piloting device, when replenishing the seedlings, the worker can look back and replenish the seedlings without releasing the operation handle of the airframe while keeping the machine running. The efficiency can be improved.

Further, in the case where the automatic control is performed even temporarily as described above, it is desirable that the automatic control is performed with high accuracy. However, in order to perform automatic piloting with high accuracy, a sensor with high performance, a control system for performing high-speed processing, etc. are required, which leads to an increase in cost and there is room for improvement.

An object of the present invention is to allow the operator to automatically travel on a predetermined route even when the operator releases his hand from the steering handle and looks back at the rear of the machine when supplying seedlings to the seedling planting device. The point is to configure rice transplanters rationally without increasing costs.

[0006]

A feature of the present invention is that a seedling planting device is connected to the rear portion of a riding type airframe equipped with steering wheels and the amount of displacement of the airframe with respect to a predetermined traveling route is sensed. Based on the detection result of the sensor, the aircraft is equipped with an automatic piloting means for operating the steered wheels so as to run the aircraft along a predetermined route, and the aircraft is driven from a predetermined traveling route based on a signal from the sensor when the automatic piloting device travels The alarm means that operates to display when the value exceeds the set value is located behind the driver's seat, and the operation and effect are as follows.

[0007]

According to the above characteristics, the automatic piloting means can be used even when the operator looks back behind the machine body with the hands released from the steering handle, such as when the seedling planting device is replenished with seedlings during work. Auto-piloting allows the aircraft to travel along a predetermined route based on the detection results from the sensors.If the aircraft deviates from the predetermined route by more than a set value during this traveling, the warning means arranged at the rear part. The operator can visually recognize that the inconvenience has occurred in the automatic pilot due to the notification operation.

In other words, in the riding type rice transplanter, the work in which the operator releases his / her hand from the steering handle and turns around the rear of the machine is temporary, so that the control accuracy of the automatic control means is not so high. It is possible to use inexpensive sensors and control systems. However, if the autopilot is performed with not so high accuracy, the aircraft may deviate from the predetermined route during the autopilot. In such a case, the operator can visually recognize the inconvenience in the automatic pilot through the alarm means and easily handle the steering wheel, etc. Can be supplemented.

[0009]

[Effects of the Invention] Accordingly, a rice transplanter capable of automatically traveling along a predetermined route even when an operator releases his or her hand from the steering handle and looks back behind the machine body when supplying seedlings to the planting apparatus. Was reasonably constructed without incurring higher costs.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is provided at the front of a traveling machine body 3 having a drive-type front wheel 1 and a drive-type rear wheel 2 that are operated by a steering operation, and power from the engine 4 is continuously variable. A belt tension type continuously variable transmission 5 for shifting gears is mounted, a driver's seat 6 is arranged at the center of the traveling machine body 3, and a hydraulic cylinder 7 is used to move up and down with respect to the rear end portion of the traveling machine body 3. The seedling planting device A is connected through the mechanism 8 to form a riding type rice transplanter.

An elevating lever 9 is provided on the right side of the driver's seat 6 to control the raising and lowering of the seedling planting device A and to open and close a planting clutch (not shown). A gear shift lever 10 for operating the continuously variable transmission 5 is provided, and further in the vicinity of the steering handle 11, the seedling planting device A is forcibly raised to a predetermined level by its operation, and the seedling planting is carried out again by the operation. A switching lever 12 for lowering the device A to a working level is provided, and a preliminary seedling mounting table 13 is provided at the front part of the machine body. In addition, the planting clutch is configured to be able to interrupt the power transmitted from the traveling machine body 3 to the seedling planting device A, and the cutting operation is allowed only in a rotation phase that avoids a posture in which a planting arm (described later) contacts the field. It is linked to a mechanical restraint system (not detailed).

As shown in FIG. 6, the elevating lever 9 is constructed so as to be operated along a path formed in the guide plate 14, and when the elevating lever 9 is set to the front side of the "down" position in the path, seedling planting is performed. When the setting device A is lowered and is set to the rear side from the “elevation” position, the seedling planting device A is raised, and when it is set to the “neutral” position, the seedling planting device A is maintained at that level. Further, when the elevating lever 9 is set to the "ON" position, the planting clutch is engaged and operated, and when it is set to the "OFF" position, the planting clutch is disengaged. Further, if the switching lever 12 is operated upward with the elevating lever 9 set to the "automatic" position, the seedling planting device A at the working level is raised to the upper limit and the planting clutch is automatically disengaged. When the switching lever 12 is operated again upward, the seedling planting device A in the raised state is lowered to the working level, and thereafter, when the switching lever 12 is operated downward, the planting clutch is operated.

Incidentally, as shown in FIGS. 4 and 6, the elevating lever 9 is linked with a potentiometer 15 for measuring the fact that it is operated in a predetermined range, and it is confirmed that it is set in a predetermined operation position.
The reed switch 17 operated by the magnetism of the magnet 16 provided on the elevating lever 9 senses. In addition, a pair of reed switches 17 are arranged so as to sandwich the operation path of the elevating lever 6, and each of them is electrically connected in parallel to the detection path 18 as shown in FIG. Is configured to reduce.

The seedling planting device A is rotated by the seedling mount 19 on which the mat-shaped seedling W is placed, the transmission case 20 to which power is transmitted from the traveling machine body 3, and the power transmitted from this transmission case 20 via the chain case 21. Rotary case 22,
From the lower end of the mat-like seedling W placed on the seedling placing table 19 at the time of work, the rotary case 22 is provided with a pair of planting arms 23 provided one by one and a plurality of ground leveling floats 24, respectively, and configured for multiple row planting. The planting arm 23 cuts out the seedlings one by one and planted in a field scene.

In this rice transplanter, the deviation amount of the traveling machine body 3 with respect to the straight traveling path is sensed by the angular acceleration sensor S, and the front wheel 1 is steered based on the signal from the sensor S to travel along the straight traveling path. Equipped with an automatic piloting means for traveling the airframe 3,
Further, as shown in FIG. 1 and FIG. 2, an alarm lamp 25 as an alarm means that is activated and displayed when the traveling machine body 3 deviates from the route by a predetermined amount or more while traveling by the automatic pilot means is provided at the rear of the driver seat 6, that is, It is provided on the upper surface of the rear fender 26. In addition, the buzzer 2 is provided near the alarm lamp 25.
7 is provided.

As shown in FIG. 3, a double-acting steering cylinder 28 for steering the front wheels 1 is provided, and
A potentiometer type steering sensor 29 for measuring the steering operation amount of the steering operation system is provided, and as shown in FIG. 2, a selection switch 30 for performing automatic steering is provided near the steering handle 11. ing. The angular acceleration sensor S is provided in the central portion of the traveling machine body 3, and changes in the traveling direction of the traveling machine body 3 around the axis of the vertically oriented posture (traveling machine body 3
Change of posture) is picked up by an electric signal.

As shown in FIG. 7, a system for inputting signals from each of the angular acceleration sensor S, the steering sensor 29, and the selection switch 30 is formed to a control device 31 having a microprocessor as a control means, and this control is performed. Device 31
From the solenoid valve 3 to the steering cylinder 28
2, the alarm lamp 25, a buzzer 2 for generating an alarm sound
An automatic control means is configured by forming an output system for controlling the control unit 7.

In this rice transplanter, the control operation of the automatic control means is configured to be performed according to the flow chart shown in FIG. 8. In this control operation, when the selection switch 30 is turned on, a signal from the angular acceleration sensor S is input. The deviation amount of the traveling machine body 3 with respect to the straight route is measured, and when the deviation amount is equal to or larger than a value required to correct the traveling direction, the steering cylinder 28 is operated in a direction to reduce the deviation amount. (Steps # 101 to 105).

Next, the deviation amount is large, as in the case where the traveling direction of the traveling machine body 3 is greatly changed due to the wheels getting over the obstacles in the field, and the steering operation of the automatic piloting means causes the displacement within the set distance. If correction is not possible, angular acceleration sensor S
When an abnormal value is detected by the steering sensor 29 or when an abnormal value is detected by the steering sensor 29, the alarm lamp 25 is turned on and the buzzer 27 is operated to artificially instruct the worker. By operating the steering handle 11 or the like, the operator is prompted to restore the vehicle to a predetermined traveling route and to inspect the sensors and the like (# 106-109).
Steps).

That is, in this rice transplanter, the angular acceleration sensor S, the steering sensor 29, the control device 31 and the like are not so high in performance, and the traveling machine body 3 is constructed to have sufficient performance for linear traveling for a short time. In order to reduce the cost of the control system, a warning lamp 25 that operates when the traveling machine body 3 deviates from the predetermined traveling route is provided at the rear part of the machine body so that the seedling W of the preliminary seedling placing table 13 can be planted. When the worker is looking back behind when replenishing the seedling placing table 19 of the device A, the operator who is in a position in which the line of sight is directed to the rear even if the traveling direction of the traveling machine body 3 changes greatly It can be easily recognized with.

[Other Embodiments] In addition to the above embodiments, the present invention is
For example, as shown in phantom lines in FIG. 2, it is possible to implement by providing an alarm lamp 25 at the front position of the seedling placing table 19, and the sensor of the aircraft at an angular velocity around the axis in the vertical posture. It can be configured to capture posture changes,
It is also possible to use a sensor S that measures a signal from the outside of the machine body and configure the automatic pilot means so that the machine body travels straight on the basis of the signal of the sensor S.

In addition to the means for emitting light as the notification means, for example, it is also possible to expose a member of a hue which is easily noticeable from the opening or to activate it so that the abnormality can be visually recognized. .

It should be noted that although reference numerals are given in the claims for convenience of comparison with the drawings, the present invention is not limited to the configuration of the accompanying drawings by the entry.

[Brief description of drawings]

[Figure 1] Overall side view of rice transplanter

[Figure 2] Plan view of the rear part of rice transplanter

FIG. 3 is a plan view of a steering operation system.

FIG. 4 is a front view of an operation position detection system for a lifting lever.

[Figure 5] Reed switch wiring diagram

FIG. 6 is a plan view of an operation path of a lifting lever.

FIG. 7 is a block circuit diagram of a control system.

FIG. 8 is a flowchart showing a control operation.

[Explanation of symbols]

 1 Steering wheel 3 Aircraft 6 Driver's seat 25 Warning means A Plant with seedling S Sensor

Claims (1)

[Claims] 1. A seedling planting device (A) is connected to a rear portion of a riding type machine body (3) having steering wheels (1), and the deviation amount of the machine body (3) with respect to a predetermined traveling route is controlled. Based on the detection result of the sensor (S), the automatic steering means for operating the steered wheels (1) to drive the machine body (3) along a predetermined route is provided. A rice transplanter having an alarm means (25) arranged behind the driver's seat (6) when the aircraft (3) deviates from a predetermined traveling route by a signal from S) by a set value or more.