JP2016202061A - Work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a growth state of raised plants on a field, and acquire more accurate information of the positional information relative to a prior art.SOLUTION: A passenger management machine 1 comprises: a travel vehicle body 2; a GPS antenna 310 and a positional information acquisition part 710 for acquiring positional information of the travel vehicle body 2; a pair of left and right growth diagnosis sensors 410L. 410R for detecting a growth state of raised plants on the field; and a control circuit part 700 for, associating the positional information acquired by the GPS antenna 310 and the positional information acquisition part 710, and the data related to the growth state of the raised plants detected by the left and right pair of the growth diagnosis sensors 410L, 410R and storing them.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a work vehicle used as an agricultural work vehicle or the like.

  2. Description of the Related Art Conventionally, there is known an agricultural work vehicle that includes a photographing device that photographs a growing state of a crop cultivated on a farm field with a camera, and that obtains positional information of the photographing location by connecting a rotary encoder to the rear of the machine body ( For example, see Patent Document 1.)

Japanese Patent No. 3225269

  However, in the work vehicle shown in Patent Document 1, since it is necessary to connect a rotary encoder to the center position in the left-right direction at the rear of the machine body in order to acquire position information, the crop cultivated in the field is normal for the rotary encoder. When it is difficult to travel smoothly or when the unevenness of the farm scene is large, there is a problem that accurate position information cannot be obtained.

  In view of such a conventional problem, an object of the present invention is to provide a work vehicle capable of detecting a growing state of a grown product in a field and obtaining more accurate information about the position information than before. With the goal.

In order to achieve the above object, the first present invention provides:
A traveling vehicle body,
A position information acquisition device for acquiring position information of the traveling vehicle body;
A growth state detection device for detecting the growth state of the cultivated product in the field;
A control device comprising: a control device that stores the positional information acquired by the positional information acquisition device and data related to the growth status of the grown product detected by the growth status detection device in association with each other. It is a vehicle.

  Thereby, the growth condition of the cultivated product and its position information can be confirmed.

The second aspect of the present invention
The work vehicle according to the first aspect of the present invention, further comprising an elevating mechanism for elevating the growth state detecting device.

  Thereby, height adjustment of a growth condition detection apparatus can be performed easily.

The third aspect of the present invention
The work vehicle according to the first aspect of the present invention, further comprising: a rotation mechanism that rotates the growth state detection device with respect to a vertical axis.

  Thereby, adjustment of the detection direction of a growth condition detection apparatus can be performed easily.

The fourth aspect of the present invention is
An elevating mechanism for elevating and lowering the growth state detecting device;
The work vehicle according to the first aspect of the present invention, further comprising: a rotation mechanism that rotates the growth state detection device with respect to a vertical axis.

  Thereby, while being able to adjust height of a growth condition detection apparatus easily, adjustment of the detection direction of a growth condition detection apparatus can be made easy.

The fifth aspect of the present invention provides
A placement unit for placing the growth state detection device;
The said growth condition detection apparatus is a work vehicle of the said 1st this invention characterized by the attachment angle with respect to the said mounting part being attached so that a change is possible.

  Thereby, adjustment of the inclination angle with respect to the mounting part of a growth condition detection apparatus can be performed easily.

The sixth aspect of the present invention provides
An elevating mechanism that elevates and lowers the growth state detecting device;
A rotation mechanism for rotating the growth state detection device with respect to the vertical axis;
A placement unit for placing the growth state detection device;
The said growth condition detection apparatus is a work vehicle of the said 1st this invention characterized by the attachment angle with respect to the said mounting part being attached so that a change is possible.

  Thereby, while being able to adjust height of a growth condition detection apparatus easily, adjustment of the detection direction of a growth condition detection apparatus can be made easy. In addition, it is possible to easily adjust the inclination angle with respect to the placement portion of the growth state detection apparatus.

The seventh aspect of the present invention
Comprising a fertilizer applying fertilizer to the cultivated product,
The said control apparatus determines the quality of the said growth condition from the detection result by the said growth condition detection apparatus, Based on the result of the said determination, the fertilizer application amount by the said fertilizer application is controlled, The said 1st characterized by the above-mentioned. It is a work vehicle of the present invention.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

In addition, the eighth aspect of the present invention
Comprising a fertilizer ejection arm of a fertilizer applying fertilizer to the cultivated material provided so as to be capable of projecting leftward or rightward from either the left direction or the right direction from the traveling vehicle body;
The said control apparatus determines the quality of the said growth condition from the detection result by the said growth condition detection apparatus, Based on the result of the said determination, the fertilizer application amount by the said fertilizer application is controlled, The said 1st characterized by the above-mentioned. It is a work vehicle of the present invention.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

The ninth aspect of the present invention provides
The growth state detection device
A right side arrangement sensor arranged on the right side of the traveling vehicle body;
A left side arrangement sensor arranged on the left side of the traveling vehicle body,
The fertilizer ejection arm is provided to be able to project from the traveling vehicle body in the left direction and the right direction,
The control device stores the positional information acquired by the positional information acquisition device in association with the data related to the growth status of the growth detected by the right side arrangement sensor and the left side arrangement sensor,
The control device determines pass / fail of the growth status from the detection result of either the right side placement sensor or the left side placement sensor, or the right side placement sensor and the left side placement sensor, and based on the result of the determination The work vehicle according to the eighth aspect of the present invention is characterized in that the amount of fertilization by the fertilizer application is controlled.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

The tenth aspect of the present invention is
The fertilizer ejection arm is
A left-side fertilizer ejection arm provided so as to be able to project leftward from the traveling vehicle body;
A right direction fertilizer ejection arm provided to be able to project rightward from the traveling vehicle body,
The control device determines the quality of the growth status from the detection result by the right side sensor, and controls the amount of fertilization by the right direction fertilizer ejection arm or the left direction fertilizer ejection arm based on the result of the determination,
The control device determines the quality of the growth status from the detection result of the left side sensor, and controls the amount of fertilization by the right direction fertilizer ejection arm or the left direction fertilizer ejection arm based on the result of the determination. The work vehicle according to the ninth aspect of the present invention is characterized by the above.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

The eleventh aspect of the present invention is
The growth state detection device
A right-side measurement sensor that detects a growth state of the grown product on the right side from a center position with respect to a lateral width direction of the traveling vehicle body;
A left-side measurement sensor that detects a growth state of the breeding material on the left side from the center position of the traveling vehicle body,
The control device stores the positional information acquired by the positional information acquisition device and the data related to the growth status of the grown product detected by the right measurement sensor and the left measurement sensor in association with each other. The work vehicle according to the first aspect of the present invention.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

The twelfth aspect of the present invention is
The right side measurement sensor is disposed on the right front side of the traveling vehicle body in a plan view,
The left measurement sensor is disposed on the left front side of the traveling vehicle body in a plan view,
The work vehicle according to the eleventh aspect of the present invention, further comprising a lifting mechanism that lifts and lowers the right measurement sensor and the left measurement sensor.

  Thereby, the height adjustment of the right side measurement sensor and the left side measurement sensor can be easily performed.

The thirteenth aspect of the present invention is
A right measurement sensor rotation mechanism for rotating the right measurement sensor;
A work vehicle according to the eleventh or twelfth aspect of the present invention, comprising: a left-side measurement sensor turning mechanism for turning the left-side measurement sensor.

  Thereby, adjustment of the detection direction of the right side measurement sensor and the left side measurement sensor can be easily performed.

The fourteenth aspect of the present invention includes a fertilizer ejection arm of a fertilizer applying fertilizer to the cultivated material provided so as to be able to project laterally from the rear portion of the traveling vehicle body,
The control device determines pass / fail of the growth status from the detection result of either the right measurement sensor or the left measurement sensor, or the right measurement sensor and the left measurement sensor, and based on the determination result. The work vehicle according to any one of the eleventh to thirteenth aspects of the present invention, wherein the fertilizer application amount by the fertilizer application is controlled.

  Thereby, the amount of fertilization can be appropriately controlled according to the growth situation.

  ADVANTAGE OF THE INVENTION According to this invention, while detecting the growth condition of the cultivation thing in a farm field, the working vehicle which can acquire more accurate information than before about the positional information can be provided.

The left view of the passenger management machine in embodiment concerning this invention The front view of the passenger management machine in embodiment concerning this invention The right side view which expanded the front part of the passenger management machine of this embodiment The perspective view which shows the GPS antenna mounted in the passenger management machine of this Embodiment The schematic perspective view for demonstrating the left side sensing angle change mechanism which can change the sensing angle of the left side growth diagnostic sensor of the riding management machine of this Embodiment (A): Disassembled schematic perspective view for explaining a method of attaching the left growth diagnostic sensor in the passenger management machine of this embodiment, (b): Installation of the left growth diagnostic sensor shown in FIG. 6 (a) FIG. 6C is a partially enlarged side view for explaining the movable part of the sensor pedestal for performing the operation. FIG. 6C is a key for explaining the state in which the left sensor mounting stay assembly shown in FIG. Left side view The perspective view which looked at the circumference of the handle of the riding management machine of this embodiment from the right rear The block diagram which shows the main control structures of the passenger management machine of this Embodiment FIG. 6A and FIG. 6B are exploded schematic perspective views showing another configuration example of the left sensor mounting stay assembly on which the left growth diagnosis sensor shown in FIG. 6A is mounted. (A): Schematic diagram showing the relationship between the passenger management machine of the present embodiment and the growth status detection region of the right growth diagnostic sensor, (b): The growth status detection region by the right growth diagnostic sensor will be described. Schematic for

  Hereinafter, riding management according to an embodiment of the work vehicle of the present invention will be described with reference to the drawings.

  First, with reference to FIG. 1 and FIG. 2, a schematic configuration of the passenger management machine 1 according to the present embodiment will be described.

  FIG. 1 is a left side view of the passenger management machine 1 in the present embodiment, and FIG. 2 is a front view of the passenger management machine 1 in the present embodiment.

  1 shows a case where a pair of left and right fertilization booms 110L and 110R, which will be described later, are located in a storage state along the side of the traveling vehicle body 2. FIG.

  Moreover, FIG. 2 shows the case where the left fertilization boom 110L of the pair of left and right fertilization booms 110L and 110R is located in a working state in which the fertilization work projecting to the left of the traveling vehicle body 2 is performed, and the right fertilization The boom 110R is not shown.

  In the following description, the front-rear direction is the front-rear direction of the riding management machine 1. Further, the front-rear direction is a traveling direction when the passenger management machine 1 travels straight, and the front side in the traveling direction is referred to as the front side in the front-rear direction, and the rear side is referred to as the rear side in the front-rear direction. The traveling direction of the passenger management machine 1 is a direction from the cockpit 6 of the passenger management machine 1 toward the handle 7 when the passenger management machine 1 goes straight, with the handle 7 side being the front side and the cockpit 6 being the rear side. The vehicle width direction is a direction that is horizontally orthogonal to the front-rear direction. Here, the right side is referred to as the right side in the vehicle width direction while the front side in the front-rear direction is viewed, and the left side is referred to as the left side in the vehicle width direction when viewed from the front side in the front-rear direction. Further, the vertical direction is a direction orthogonal to the front-rear direction and the vehicle width direction. The front-rear direction, the vehicle width direction, and the vertical direction are orthogonal to each other.

  As shown in FIGS. 1 and 2, the traveling vehicle body 2 of the passenger management machine 1 of the present embodiment is provided with a pair of left and right front wheels 3L and 3R and a pair of left and right rear wheels 4L and 4R.

  Further, a fertilizer device 100 is provided at the rear part of the traveling vehicle body 2, and an elevating link mechanism 200 that can move the pair of left and right growth diagnostic sensors 410 </ b> L and 410 </ b> R up and down is provided at the front part of the traveling vehicle body 2. Yes.

  In this embodiment, a lifting link mechanism 200 for adjusting the height of the pair of left and right growth diagnosis sensors 410L and 410R, and a pair of left and right sensing angle changing mechanisms 500L to be described later for changing the sensing angle, 500R, etc., when using a lifting and lowering link mechanism for lifting and lowering the center boom and side boom used in a control work machine that sprays chemicals, etc., and a side boom opening and closing mechanism that moves the side boom to the spraying work position and storage position However, the present invention is not limited to this.

  An engine (not shown) covered with a bonnet 5 is mounted above the pair of left and right front wheels 3L and 3R of the traveling vehicle body 2. A pilot seat 6 is provided at the center of the traveling vehicle body 2, and a handle 7 is provided in front of the pilot seat 6.

  When the steering wheel 7 is steered left and right, a pair of left and right front wheels 3L and 3R and a pair of left and right rear wheels 4L and 4R are steered simultaneously in conjunction with each other, and a four-wheel steering configuration is possible that allows a small turn.

  Further, the fertilizer applying apparatus 100 described above includes a pair of left and right tanks 101L and 101R for storing the granular fertilizer for spraying disposed behind the cockpit 6, and a lower portion of the tanks 101L and 101R for feeding the granular fertilizer. A pair of left and right feeding devices 102L and 102R (see FIG. 8) respectively disposed on the left and right, and a pair of left and right transfer pipes for transferring the granular fertilizer fed by the feeding device on the air current from the blower 103 (illustrated) And a pair of left and right fertilizer booms 110L and 110R which are rotatably disposed on the pair of left and right transfer pipes via a bellows tube (not shown), and the fertilizer booms 110L and 110R are connected to the traveling vehicle body 2 side. A pair of left and right open / close hydraulic cylinders 120 that pivotably move between a position in the stowed state along the direction and a position in the fertilization work state protruding in the left-right direction of the traveling vehicle body 2. , And a 120R (see FIG. 8) or the like. Moreover, in order to disperse | distribute granular fertilizer to a farm field, the fertilizer spout 111 of a fixed diameter is provided in the pair of right and left fertilization booms 110L and 110R for every predetermined interval.

  Next, the configuration of the passenger management machine 1 according to the present embodiment will be described in more detail with reference mainly to FIGS.

  FIG. 3 is an enlarged right side view of the front portion of the passenger management device 1 of the present embodiment, and FIG. 4 is a perspective view showing the GPS antenna 310 mounted on the passenger management device 1 of the present embodiment. .

  FIG. 5 is a schematic perspective view for explaining a left-side sensing angle changing mechanism 500L that can change the sensing angle of the left-side growth diagnostic sensor 410L of the riding management machine 1 of the present embodiment.

  6A is an exploded schematic perspective view for explaining a method of attaching the left growth diagnostic sensor 410L in the riding management machine 1, and FIG. 6B is a left growth diagnosis shown in FIG. 6A. FIG. 6C is a partially enlarged side view for explaining a movable portion of the sensor base 430 for installing the sensor 410L. FIG. 6C is a diagram illustrating the left sensor mounting stay assembly 420L shown in FIG. It is a left view which shows the principal part for demonstrating the state fixed to 320L.

  FIG. 7 is a perspective view of the periphery of the handle 7 of the riding management machine 1 according to the present embodiment as viewed from the right rear.

  The elevator link mechanism 200 of the passenger management machine 1 according to the present embodiment includes a pair of left and right parallel links 210L and 210R disposed on the left and right sides of the bonnet 5 and a pair of left and right lift hydraulic cylinders as shown in FIGS. 220L, 220R, etc. are provided.

  Further, as shown in FIG. 3, the right parallel link 210R rotates the right upper link 210Ra and the lower link 210Rb and the rear ends of the right upper link 210Ra and the lower link 210Rb with a predetermined interval therebetween. A right link first connecting member 211R that is movably connected and has a lower end fixed to the right side of the traveling vehicle body 2 (right side in the vehicle width direction), and the front end portions of the right side upper link 210Ra and the lower side link 210Rb are spaced by a predetermined distance. And a right link second connecting member 212R that is rotatably connected with a gap therebetween.

  The left parallel link 210L connects the left upper link 210La and the lower link 210Lb to the rear ends of the left upper link 210La and the lower link 210Lb so as to be rotatable at a predetermined interval. The left link first connecting member 211L whose lower end is fixed to the left side (the vehicle width direction left side) of the traveling vehicle body 2 and the front end portions of the left side upper link 210La and lower side link 210Lb can be rotated at a predetermined interval. And a left link second connecting member 212L connected to

  Further, as shown in FIG. 3, the lower end of the right elevating hydraulic cylinder 220R is rotatably fixed to the lower end of the right link first connecting member 211R and the distal end of the right elevating hydraulic cylinder 220R on the telescopic side. The portion 221R is rotatably fixed to the center portion of the right side upper link 210Ra.

  Further, the lower end portion of the left elevating hydraulic cylinder 220L is pivotably fixed to the lower end portion of the left link first connecting member 211L, and the telescopic end 221L of the left elevating hydraulic cylinder 220L is provided on the left side. The upper link 210La is pivotally fixed to the central portion.

  The left second connecting member 212L and the right second connecting member 212R are connected by an upper end connecting pipe 213 at the upper end portion with a predetermined interval (see FIGS. 2 and 5).

  Further, the lower side of the front side surface of the second left connecting member 212L and the lower side of the front side surface of the right second connecting member 212R are longer than the left and right widths of the left parallel link 210L and the right parallel link 210R described above. A front horizontal column 330 (see FIGS. 2, 3, and 5) having a length approximately equal to the distance (tread) between the front wheels 3 is fixed by welding.

  Further, as shown in FIGS. 3 and 5, a center boom 331 is fixed in parallel to the front side of the front horizontal column 330, and the center portion of the center boom 331, that is, the width in the left-right direction of the riding management machine 1. The GPS antenna pedestal 311 for mounting the GPS antenna 310 is detachably attached to the center position of the GPS antenna 310, and the GPS antenna 310 is fixed to the upper surface of the GPS antenna pedestal 311.

  The center boom 331 is a pipe-like member fixed to the front horizontal column 330 via a fixing member 332 (see FIG. 5) in order to attach the medicine spray nozzle to the front side of the control work machine at a predetermined interval. In the present embodiment, since the nozzle for spraying medicine is unnecessary, it is not attached.

  In the riding management machine 1 of the present embodiment, a position information acquisition unit 710 (see FIG. 8) built in a control circuit unit 700 described later uses a GPS (Global Positioning System) to manage riding on the earth. The position information acquired by the position information acquisition unit 710 includes a GPS antenna 310 for receiving signals from a plurality of artificial satellites at predetermined intervals. The information is configured to be able to be recorded in the memory unit 720 (see FIG. 8) in association with the growth state of the grown product acquired by the pair of left and right growth diagnosis sensors 410L and 410R. The recording of the position information and the growth status will be described later.

  In the present embodiment, a case where a known plant growth diagnostic device, soil fertility diagnostic device, fertilizer concentration detection device, or the like is used as the growth diagnostic sensors 410L and 410R will be described, but the present invention is not limited to this. . For example, the growth diagnostic sensors 410L and 410R irradiate the growth with two laser beams having different wavelengths, measure the difference in reflected light from the growth, and calculate the nitrogen content of the growth. The configuration for determining the growth status of the grown product may also be used.

  Further, as shown in FIG. 3, the signal line 310 a of the GPS antenna 310 is wired along the lower link 210 </ b> Rb on the right side, and is connected to the control circuit unit 700 housed in the controller 610.

  As shown in FIG. 7, the controller 610 is provided on the right side of the meter panel 600 disposed below the handle 7 and includes a display device 620.

  With the above configuration, the degree of expansion / contraction of the tip portions 221L and 221R of the pair of left and right hydraulic cylinders 220L and 220R is adjusted by a control signal from the control circuit unit 700, thereby increasing the height of the pair of left and right growth diagnostic sensors 410L and 410R. Can be changed.

  Next, the left-side sensing angle changing mechanism 500L of the passenger management machine 1 according to the present embodiment will be described with reference to FIG.

  The right-side sensing angle changing mechanism 500R (see FIG. 2) that can change the sensing angle of the right-side growth diagnostic sensor 410R (see FIG. 2) has the same configuration as the left-side sensing angle changing mechanism 500L and is symmetrical. Is omitted.

  Further, as shown in FIG. 2, the left growth diagnosis sensor 410L is arranged at the upper end of the left sensor mounting stay assembly 420L attached to the left column 320L. This configuration will be further described later with reference to FIG. To do.

  FIG. 5 shows a state where the left sensor mounting stay assembly 420L is not attached to the left column 320L.

  As shown in FIG. 5, the left sensing angle changing mechanism 500 </ b> L of the passenger management machine 1 of the present embodiment is connected to the left end of the front horizontal column 330 so as to be rotatable around a rotation pin 501, and substantially in a front view. A U-shaped left corner plate 510L, a left column 320L vertically fixed to the rear side of the left corner plate 510L shown in FIG. 5, and a left rotating hydraulic cylinder 520L for rotating the left corner plate 510L. Etc.

  Further, the left-side rotating hydraulic cylinder 520L has a root-side end portion 521L that is rotatably connected by a support pin 530 attached to the left link second connecting member 212L, and a telescopic-side tip portion 522L. These are connected rotatably by a connecting pin 540 provided upright at the end of the left corner plate 510L shown in FIG. A retaining pin 541 is attached to the through hole provided in the upper end portion of the connecting pin 540.

  Also, connection plates 321L and 321R for rotatably connecting one end side of a pair of left and right side boom tilting hydraulic cylinders (not shown) are welded to both side surfaces of the upper ends of the pair of left and right left columns 320L and 320R. It is fixed.

  In the control work machine, the front end portions of a pair of left and right side booms (not shown) are rotatably connected to the lower end portions of the left and right pair of left and right support columns 320L and 320R, and The other end side of the pair of left and right side boom tilting hydraulic cylinders is pivotally connected at a position slightly rearward from the front end portion, so that the rear end side is obliquely upward when storing the pair of left and right side booms. In this embodiment, the pair of left and right side booms and the pair of left and right side boom tilting hydraulic cylinders are unnecessary and are not attached.

  With the above configuration, when the front end portion 522L of the left rotating hydraulic cylinder 520L moves in the direction of arrow A, the left corner plate 510L rotates clockwise in plan view around the rotating pin 501 (arrow R in FIG. 5). The left column 320L is rotated clockwise (see arrow R in FIG. 5) in plan view. When the tip 522L of the left rotating hydraulic cylinder 520L moves in the direction of arrow B, the left corner plate 510L rotates counterclockwise in plan view about the rotating pin 501 (see arrow L in FIG. 5). The left column 320L rotates counterclockwise (see arrow L in FIG. 5) in plan view.

  Accordingly, the left sensor mounted stay assembly 420L attached to the left column 320L is adjusted by adjusting the degree of expansion / contraction of the tip 522L of the left rotating hydraulic cylinder 520L by a control signal from the control circuit unit 700 described later. It is possible to change the sensing angle of the left growth diagnosis sensor 410L disposed at the upper end of the sensor.

  Next, with reference to FIGS. 6A to 6C, the configuration of the left sensor-mounted stay assembly 420L of the riding management machine 1 of the present embodiment will be mainly described, and the left growth diagnostic sensor 410L will be described. The attachment method of will be described.

  The right sensor-equipped stay assembly 420R (see FIG. 2) that can change the sensing angle of the right growth diagnosis sensor 410R (see FIG. 2) has the same configuration as the left sensor-equipped stay assembly 420L. Omitted.

  As shown in FIG. 6A, the left sensor mounting stay assembly 420L fixes the sensor base 430 detachably attached to the tip of the left column 320L and the left growth diagnostic sensor 410L at the center of the upper surface. For this reason, the sensor fixing plate 440 has a circular shape in plan view.

  Furthermore, the sensor base 430 is connected to a base fixing member 450 that removably fixes the sensor base 430 to the left column 320L by using a connection plate 321L that is fixed in advance to the tip of the left column 320L. It can be rotated at the upper end portion of the base fixing member 450 via a rotation support pin 461 having an axis extending in the same direction as the protruding direction of the plate 321L and in the horizontal direction (for the rotation direction, FIG. ) And a sensor fixing plate base 460 that is positioned and fixed by a position adjusting bolt 462a and a wing nut 462b (see FIG. 6B).

  Furthermore, the pedestal fixing member 450 has an upper end side of the first plate-like member 451 whose section is bent in a substantially U-shape, and the second plate-like member 452 whose section is bent in a substantially U-shape. The lower fixing part 450a is formed by surrounding the lower end side from the outside and being connected and fixed by welding at the overlapping part, and the cross section welded and fixed to the upper end edge of the second plate-like member 452 is a rectangular cylindrical member. An upper fixing portion 450b having an upper through hole 450b1 for allowing the rotation support pin 461 to pass therethrough and a lower through hole 450b2 for allowing the position adjusting bolt 462a to pass therethrough, and a lower fixing portion 450a. The distal end portion of the left column 320L is fitted and housed in a space portion S formed by opposing inner wall surfaces having a substantially U-shaped cross section (see FIG. 6C), and on both side surfaces of the lower fixing portion 450a. Top and bottom two And it has a stationary plate 450c for fixing by tightening the double nut 453a via the threaded pin 453 that is fixed to.

  Here, the space portion S will be further described. Between the opposing inner wall surfaces of the first plate-like member 451 (the portion of the dimension W1a in FIG. 6A), the width portion of the left column 320L (in FIG. 6A). A width portion (figure W1b) including the connecting plate 321L of the left column 320L is formed between the opposing inner wall surfaces of the second plate member 452 (portion W2a in FIG. 6A). 6 (a) having a dimension W2b). Note that W2a> W2b> W1a> W1b.

  Further, the depth dimension Da of the space portion S in the first plate-like member 451 and the dimension Db (see FIG. 6A) of the corresponding portion of the left column 320L have a relationship of Db ≧ Da.

  The sensor fixing plate pedestal 460 is a cylindrical member having the same cross-sectional shape as that of the upper fixing portion 450b, and reverse fan-shaped connecting plates 463 and 463 protrude downward from the lower ends of both opposing side surfaces. A fixed cradle support 460a, a circular cradle 460b in a plan view welded and fixed to the upper edge of the cradle support 460a, the rotation support pin 461, the position adjustment bolt 462a, and It comprises a wing nut 462b (see FIG. 6B).

  Further, the reverse fan-shaped connecting plate 463 is inserted with a through-hole 463a for inserting the rotation support pin 461 and a position adjusting bolt 462a, and the reverse fan-shaped connection plate is centered on the rotation support pin 461. An arc-shaped long hole 463b is formed for enabling the rotation of 463.

  The outer diameter of the cradle 460b is the same as the outer diameter of the sensor fixing plate 440, and six through holes 464 are provided at equal intervals in the vicinity of the outer periphery thereof.

  On the other hand, in the vicinity of the outer periphery of the sensor fixing plate 440, arc-shaped elongated holes 442 having arcs at positions corresponding to the positions of two adjacent through holes 464 provided in the cradle 460b are equally spaced. Three are formed.

  In the above configuration, a procedure for attaching the left growth diagnosis sensor 410L will be described mainly with reference to FIG.

  First, the space portion S in the pedestal fixing member 450 to which the sensor fixing plate pedestal 460 is attached is aligned with the upper end portion of the left column 320L (an arrow indicated by a two-dot chain line in FIG. 6A). F)), and fixed with a fixing plate 450c using a double nut 453a as shown in FIG.

  Next, the growth diagnosis sensor 410L on the left side is placed on the receiving base 460b with the sensor fixing plate 440 fixed at the center position on the upper surface, and three positioning bolts 441 are placed one by one in the three arc-shaped elongated holes 442. In addition to being inserted, it is fitted into every other through hole 464 provided in the cradle 460b at equal intervals, and positioned and fixed at any position while rotating in the direction indicated by arrow E.

  Finally, the position adjusting bolt 462a or the wing nut 462b (see FIG. 6B) is loosened, and the pedestal 460b is rotated in the arrow P direction or the arrow Q direction, so that the left growth diagnosis sensor 410L is attached. Adjust the tilt angle (elevation angle, dip angle) of the surface in the vertical direction, and position and fix it at any position.

  The signal line 410La (see FIG. 3) of the left growth diagnosis sensor 410L is wired along the left sensor mounting stay assembly 420L, and further wired along the left lower link 210Lb to the control circuit unit 700. It is connected. Further, the signal line 410Ra (see FIG. 3) of the right growth diagnosis sensor 410R is wired along the right sensor mounting stay assembly 420R, and further wired along the right lower link 210Rb to the control circuit unit 700. It is connected.

  From the above, according to the riding management machine 1 of the present embodiment, the left sensor mounted stay assembly 420L and the right sensor mounted stay assembly 420R are retrofitted to the upper end portion of the left column 320L and the right column 320R. It can be securely fixed.

  The left and right pair of growth diagnostic sensors 410L and right growth diagnostic sensor 410R are adjusted in position by rotation in the direction of arrow E (see FIG. 6A), and in the directions of arrows P and Q (see FIG. 6A). The position adjustment by the rotation of (see) can be independently performed manually.

  The configuration including the GPS antenna 310 and the position information acquisition unit 710 according to the present embodiment corresponds to an example of the position information acquisition apparatus of the present invention. Further, the left growth diagnosis sensor 410L of the present embodiment is an example of the growth state detection device of the present invention, and the left side arrangement sensor of the present invention (see reference numeral 410L-1 in FIG. 2), for example, the left and right of the traveling vehicle body. This is an example of a configuration for detecting the growth status of the reared product on the left side from the center position with respect to the width direction (vehicle width direction), and the left-side measurement sensor of the present invention (see reference numeral 410L-2 in FIG. 2) is used as the traveling vehicle body. This corresponds to an example of a configuration arranged on the left side of 2 (left side in the vehicle width direction). Further, the right growth diagnosis sensor 410R of the present embodiment is an example of the growth status detection device of the present invention. For example, the right side arrangement sensor of the present invention (see reference numeral 410R-1 in FIG. This is an example of a configuration for detecting the growth state of the grown product on the right side from the center position with respect to the width direction, and the right measurement sensor (see reference numeral 410R-2 in FIG. 2) of the present invention is used on the right side of the traveling vehicle body 2 (vehicle This is an example of a configuration arranged on the right side in the width direction. In addition, the control circuit unit 700 of the present embodiment is an example of the control device of the present invention. Moreover, the raising / lowering link mechanism 200 of this Embodiment corresponds to an example of the raising / lowering mechanism of this invention, and the fertilizer application apparatus 100 of this Embodiment corresponds to an example of the fertilizer application of this invention. The pair of left and right fertilizer booms 110L and 110R of the present embodiment is an example of a fertilizer ejection arm of the present invention.

  Next, the operation of the passenger management machine 1 of the present embodiment will be described mainly with reference to FIG.

  FIG. 8 is a block diagram illustrating a main control configuration of the passenger management machine 1 according to the present embodiment.

  Here, a scene where top dressing is performed in paddy rice cultivation will be described.

  The operator of the cockpit seat 6 operates the left fertilizer boom opening / closing lever and the right fertilization boom opening / closing lever (not shown) of the riding management machine 1 independently, so that the left fertilizer is disposed on the left and right of the riding management machine 1. The boom 110L and the right fertilizer boom 110R are moved from the housed position to the working position.

  In addition, the movement angle (folding angle) of the left fertilization boom 110L and the right fertilization boom 110R can be independently operated, and the application amount can be controlled according to the movement angle. That is, when the movement angle is changed, the amount of spraying per unit area increases, so it is necessary to adjust the amount of spraying.

  More specifically, the left open / close hydraulic cylinder is operated from the control circuit unit 700 (see FIG. 8) according to the operation amount by the operator's independent operation of the left fertilizer boom open / close lever and the right fertilizer boom open / close lever (not shown). Control signals are transmitted to 120L and the right opening / closing hydraulic cylinder 120R, respectively.

  Further, the height of the pair of left and right growth diagnosis sensors 410L and 410R is adjusted by raising and lowering the lifting link mechanism 200 by the operation of the lifting operation lever (not shown) by the operator.

  Specifically, the control signal is simultaneously transmitted from the control circuit unit 700 (see FIG. 8) to the left lifting hydraulic cylinder 220L and the right lifting hydraulic cylinder 220R by the operation of the lifting operation lever (not shown) by the operator.

  The left growth diagnosis sensor 410L and the right growth diagnosis sensor 410R are adjusted in position by rotation in the direction of arrow E (see FIG. 6A) and in the directions of arrows P and Q (see FIG. As described above, it is possible to adjust the position by the rotation of (see)).

  Also, the left sensor mounted stay assembly 420L on which the left growth diagnostic sensor 410L is mounted, and the right growth diagnostic sensor by the independent operation of the left sensing angle changing lever and the right sensing angle changing lever (not shown) by the operator. The right sensor mounting stay assembly 420R on which 410R is mounted rotates in a range of approximately 90 degrees (see arrows L and R in FIG. 5), and can be stopped at an arbitrary angle.

  Specifically, by the independent operation of the left sensing angle change lever and the right sensing angle change lever (not shown) by the operator, the left turning hydraulic pressure is controlled from the control circuit unit 700 (see FIG. 8) according to the operation amount. When a control signal is transmitted to each of the cylinder 520L and the right rotation hydraulic cylinder 520R, the left growth diagnosis sensor 410L and the right growth diagnosis sensor 410R are independently rotated by a predetermined angle corresponding to the operation amount. Stop. Further, fine adjustment can be performed by operating the left-side turning hydraulic cylinder 520L and the right-side turning hydraulic cylinder 520R.

  Note that the left turning hydraulic cylinder 520L and the right turning hydraulic cylinder 520R according to the present embodiment correspond to an example of the turning mechanism of the present invention. Further, the left turning hydraulic cylinder 520L of the present embodiment is an example of the left measurement sensor turning mechanism of the present invention, and the right turning hydraulic cylinder 520R of the present embodiment is the right measurement sensor turning mechanism of the present invention. This is an example.

  Next, when the riding management machine 1 starts driving in the field, a signal from the artificial satellite received by the GPS antenna 310 is sent to the position information acquisition unit 710 of the control circuit unit 700, and the riding management machine 1. Position information is acquired.

  On the other hand, the left growth diagnostic sensor 410L detects the growth status of the left-hand grown product on the basis of the left-right width direction of the riding management machine 1, transmits the detection result to the control circuit unit 700, and the right growth diagnostic sensor 410R. Detects the growth state of the right-hand grown product on the basis of the left-right width direction of the riding management machine 1, and transmits the detection result to the control circuit unit 700.

  The control circuit unit 700 includes the position information of the riding management machine 1 obtained by the position information acquisition unit 710, and the grown product by the left growth diagnosis sensor 410L and the right growth diagnosis sensor 410R obtained corresponding to the position information. The result of detection of the growth state of the rice is stored in the memory unit 720 in association with each other.

  Here, an example of the correspondence between the position information of the riding management machine 1 and the detection result of the growth state of the grown product in the control circuit unit 700 will be described.

  For example, when image data obtained by imaging a detection region detected by the left growth diagnostic sensor 410L is acquired, information such as the height of the growth diagnostic sensor 410L on the left side from the ground and the direction of the sensor (including elevation angle and depression angle) is provided. Is used to determine the position coordinates (x, y, z) of the growth object to be detected in the coordinate system of the captured image, based on a predetermined rule, and the position of the left growth diagnostic sensor 410L as the origin. To position coordinates (x ′, y ′, z ′) in the coordinate system.

  On the other hand, at that time, the position coordinates in the coordinate system used for the GPS side position acquired by the GPS antenna 310 and the position coordinates of the GPS antenna 310 in the coordinate system with the position of the left growth diagnosis sensor 410L as the origin are Is used to convert the position coordinates (x ′, y ′, z ′) of the object to be detected into position coordinates (X, Y, Z) in the coordinate system used for the GPS side position.

  The growth state of the grown object at the position coordinates (X, Y, Z) of the detected object grown object and the position coordinates (x, y, z) of the detected object object grown object in the coordinate system of the captured image. Are associated with the detection results.

  Thereby, in the control circuit part 700, since the detection result of the growth condition of the grown product is associated with the position coordinates (X, Y, Z) in the coordinate system used for the GPS side position, the control circuit part 700 While detecting the growth status of the grown product, the quality level of the detection result of the grown status of the grown product is determined in comparison with the growth status data stored in the memory unit 720 in advance, and the determination is made. The results are sequentially stored in the memory unit 720. By repeating the above process for the entire field, map data of the growth status of the grown product in the field can be acquired, and map data color-coded by the control circuit unit 700 according to the determination result is displayed on the display device 620.

  In addition, the control circuit unit 700 determines the growth based on the detection result of the growth condition of the growth by the left growth diagnosis sensor 410L and the right growth diagnosis sensor 410R and a database (not shown) stored in advance. The right and left growth conditions of the left and right growth conditions are determined respectively, and appropriate left and right additional fertilizer application rates corresponding to the respective good and bad levels are set in real time.

  For example, if the quality level of the left growth is determined to be good and the quality level of the right growth is determined to be poor, the amount of additional fertilizer applied to the left side is set to minimum or zero Then, set the amount of additional fertilizer applied to the right side higher than the standard value.

  In addition, in the database, for example, for each type of the grown product, data representing the correspondence between the detection result by the growth diagnosis sensor and the quality level of the grown state of the grown product, and appropriate data according to the quality level The amount of topdressing application is recorded in advance.

  The database may be stored in advance in the memory unit 720 or downloaded from a predetermined server (not shown) via the Internet by a communication unit (not shown) built in the control circuit unit 700. It is also possible to obtain the configuration.

  Then, the control circuit unit 700 determines the feeding amount of the granular fertilizer by the left feeding device 102L and the right feeding device 102R and the blowing amount by the blowing device 103 according to the set left and right spreading amounts. .

  The display device 620 displays settings related to the spraying and the results.

  Further, the data stored in the memory unit 720 that associates the position information of the riding management machine 1 with the growth state detection result, the map data that color-codes the quality level of the growth state detection result, and the like are controlled. The communication unit (not shown) built in the circuit unit 700 may be configured to be uploadable to a predetermined server (not shown) via the Internet. Thereby, the growth state and the position information of the grown product can be accurately confirmed by downloading the data uploaded to the server to a predetermined computer.

  It should be noted that the data stored in the memory unit 720 that associates the position information of the riding management machine 1 with the detection result of the growth status, the data that color-codes the quality level of the detection result of the growth status of the grown product, etc. A USB connection port (not shown) may be provided in advance in the control circuit unit 700 so as to be recorded in an auxiliary storage device (USB memory or the like) using a memory or the like and easily carried. In addition, the USB connection port is easy to use by being configured in the display device 620 itself or in the vicinity thereof.

  In addition, the display device 620 may be detachable from the airframe and may be portable such as a tablet or a smartphone. In this case, the detection result may be stored in a storage device in the display device 620 itself. Good.

  According to the riding management machine 1 of the present embodiment, the growth state of the grown product is detected by the pair of left and right growth diagnostic sensors 410L and 410R, and the application amount of the additional fertilizer is controlled in real time according to the detection result. I can do it.

  Thereby, while preventing the excessive fertilization with respect to a grown material, since the dispersion | variation in the growth of the grown material in a field can be equalized, the amount of fertilization can be reduced and the yield can be improved.

  Moreover, although the said embodiment demonstrated the structure which detects the growth condition of the grown material by a pair of right and left growth diagnostic sensors 410L and 410R, and controls the application amount of topdressing in real time according to the detection result, This result may be used at a later date. Further, not only in the case of additional fertilization in real time as described above, for example, for the entire field, only the growth status of the growth is detected by the pair of left and right growth diagnostic sensors 410L and 410R, and the growth status of the growth in the entire field is determined. After creating the map data in which the quality level of the detection result is color-coded, the amount of additional fertilizer application may be controlled according to the detection result while displaying the map data on the display device 620.

  Moreover, although the said embodiment demonstrated the structure which detects the growth condition of the grown material by a pair of right and left growth diagnostic sensors 410L and 410R, and controls the application amount of topdressing in real time according to the detection result, Not limited to this, for example, for the entire field, only the detection of the growth state of the grown product by the pair of left and right growth diagnosis sensors 410L and 410R is performed, and the map data is color-coded according to the quality level of the detection result of the grown state of the grown field. Is stored in an auxiliary storage device or the like, and in the next year, the map data is displayed on the display device 620 with respect to the grown products in the same field, and according to the detection result of the previous year, additional fertilization is performed. It is good also as a structure which controls the amount of spraying. In addition, fertilization work may be performed when transplanting work is performed with a transplanter, a rice transplanter, or the like. However, the amount of fertilization may be controlled using the map data at the time of transplanting work in the next year. In this case, the USB memory or the like can be attached to a transplanter or a rice transplanter, or the display device 620 removed from the riding management machine 1 is configured to be attachable to the transplanter or the rice transplanter.

  In the control circuit unit 700 described above, the correspondence between the position information of the riding management machine 1 and the detection result of the growth status of the grown product, the use of map data, etc. partially overlap with the above, but another example. This will be specifically described below.

1. Regarding the correspondence between the GPS antenna 310, the pair of left and right growth diagnostic sensors 410L and 410R, and the fertilizer application apparatus 100:
The GPS antenna 310 receives (changes) every second.

  Also, the pair of left and right growth diagnosis sensors 410L and 410R determine (can be changed) every 0.1 second.

  The correspondence between the GPS antenna 310, the pair of left and right growth diagnosis sensors 410L and 410R, and the fertilizer application apparatus 100 will be described with reference to FIGS. 10 (a) and 10 (b).

  In FIG. 10A, A indicates the current position of the GPS antenna 310, and B indicates the position after 1 second. FIG. 10A is a schematic diagram showing the relationship between the passenger management machine 1 of the present embodiment and the growth status detection region of the right growth diagnosis sensor 410R, and FIG. 10B is the right growth diagnosis. It is a schematic diagram for demonstrating the growth condition detection area | region by the sensor 410R.

  At the position A, the reception center position of the GPS antenna 310 is the origin P0.

  At the position B after 1 second, the reception center position of the GPS antenna 310 is set as the origin P1.

  Hereinafter, detection of the right growth diagnosis sensor 410R will be described, and detection of the left growth diagnosis sensor 410L is the same flow, and will be omitted.

  The description here can be applied regardless of the position of the GPS antenna and the positions of the pair of left and right growth diagnostic sensors 410L and 410R.

  As shown in FIG. 10 (b), the growth status detection area from 0 seconds to 0.1 seconds by the right growth diagnosis sensor 410R with the position of A as the starting point is the points SAL0, SAR0, SAL1, The region is surrounded by the point SAR1.

  The positions of point SAL0, point SAR0, point SAL1, and point SAR1 are calculated from the latitude and longitude of P0 detected by the GPS antenna 310, and the growth conditions detected simultaneously with the area surrounded by these four points are matched (corresponding Remember).

  Subsequently, the detection is continued every 0.1 second, and the growth state detection region from 0.9 second to 1 second later is a region surrounded by the points SAL9, SAR9, SAL10, and SAR10. The positions of the points SAL9, SAR9, SAL10, and SAR10 are calculated from the latitude and longitude of P0 detected by the GPS antenna 310, and are matched with the growth status detected simultaneously with the area surrounded by these four points (corresponding Remember).

  Thus, 10 areas are measured while moving from the position A to the position B (1 second), and there are growth conditions in each area (10 growth conditions).

  In addition, although the growth condition detected in 0.1 second is almost the same, when a plurality of growth conditions are detected, the growth condition having the largest area is set.

  Ten growth conditions are averaged to obtain the growth condition of the area SA (point SAL0, point SAR0, point SAL10, point SAR10) that has traveled in one second. A color is assigned to the growth status calculated on average from the growth status and color stored in advance, and stored. Thereby, the growth condition of area | region SA is determined.

  Next, the same processing as that performed in the area SA is repeated in the area SB with the position B as the origin P1.

  Thereby, a growth situation map is completed.

2. About map correction:
Since the position is shifted depending on the reception status of the GPS antenna 310, the map data stored in advance in the memory unit 720 is collated with the created map. For example, if a growth situation map is assigned to a ridge or a road that is present beside the farm field, it is difficult to see when displayed on the display device 620, and there is a possibility that the execution of an accurate operation may be hindered. The configuration is shifted to the side.

3. About top dressing (fertilization work):
As the riding management machine 1 travels, the time until the right fertilization boom 110R comes to the area SA is calculated (see FIG. 10A).

  The time T0 is calculated from the vehicle speed and the distance L0, and after the time T0, additional fertilization work (fertilization work) is performed from the right fertilization boom 110R (real-time additional fertilization). The amount of fertilizer at this time is sprayed according to the detected growth state.

  The vehicle speed may be a vehicle speed sensor provided in the transmission case or a vehicle speed by the GPS antenna 310.

  The vehicle speed sensor provided in the transmission case has a problem when the wheels are idling in a wet paddy state. That is, although the signal from the vehicle speed sensor is input, it is not actually moving, and at this time, the vehicle speed based on the GPS signal becomes effective.

  On the other hand, GPS signals may be interrupted or not input due to the influence of mountainous areas or clouds (especially snow clouds). At this time, a vehicle speed sensor provided in the transmission case is effective.

  When the GPS signal is unstable and the field is wet, it is desirable to suspend the work or work on another day. Even if you create a growth situation map in such an unstable situation, it becomes an inaccurate map, and if you add fertilizer to a place with good growth condition and fertilizer excess, or if you do not add fertilizer to a place with bad growth situation, The problem of reduced yield occurs.

4). About using the created growth situation map:
The created growth situation map is stored in the memory unit 720 of the control unit 700 of the riding management machine 1. Further, it can be confirmed by displaying on the display device 620 of the passenger management machine 1. Further, the data can be stored in a storage medium such as a USB memory and transmitted to a smartphone, a tablet, or a personal computer at home for confirmation.

  The stored growth situation map can be used for the second and subsequent top dressing. Although the second fertilizer may be performed while measuring with the growth sensor for the second time, when the growth state cannot be detected due to a failure of the device, the additional fertilization may be performed with the previously measured and stored growth state map.

  It may be used when planting rice the following year. Some rice planting machines are equipped with a fertilizer application system, which simultaneously fertilizes while planting rice. At this time, attach the USB memory to the rice planting machine, transfer the stored growth situation map, confirm the position of the rice planting machine with the GPS antenna, and apply fertilizer while adjusting the fertilizer amount automatically (also possible manually) You may do the work.

  In addition, in the riding management machine 1 of the said embodiment, the structure which is not provided with the fertilizer applying apparatus 100, the raising / lowering link mechanism 200, and the left-right paired sensing angle changing mechanism 500L, 500R may be sufficient.

  Moreover, in the riding management machine 1 of the said embodiment, the structure which is not provided with the fertilizer applying apparatus 100 and the left-right paired sensing angle change mechanism 500L, 500R may be sufficient.

  Moreover, in the riding management machine 1 of the said embodiment, the structure in which the fertilizer application apparatus 100 and the raising / lowering link mechanism 200 are not provided may be sufficient.

  In the above embodiment, the position adjustment bolt 462a or the wing nut 462b (see FIG. 6B) is loosened, and the pedestal 460b is rotated in the direction of the arrow P or the direction of the arrow Q to thereby grow the left side. Although the configuration has been described in which the mounting angle of the mounting surface of the diagnostic sensor 410L in the vertical direction (elevation angle, depression angle) is adjusted and positioned and fixed at an arbitrary position, the present invention is not limited to this. The growth diagnosis sensor 410 </ b> L may be fixed to the sensor fixing plate 440 via the sensor mounting inclination angle adjusting table 411. In this case, as shown in FIG. 9, the sensor mounting inclination angle adjustment base 411 is a plate-like member bent in a substantially U shape in a side view, and the side wall portion 411 a bent upward is A symmetrical arc-shaped slot 412 is provided. An adjustment screw 413 passes through the long hole 412 and is attached to a screw hole (not shown) provided in the lower side surface 414 of the left growth diagnostic sensor 410L so as to be manually tightenable. The rear side of FIG. 9 has the same configuration as the front side. As a result, the adjustment screw 413 is loosened manually and the left growth diagnostic sensor 410L is rotated in the direction of arrow P or arrow Q, whereby the left growth diagnosis sensor 410L itself is attached to the sensor mounting inclination angle adjustment base 411. The tilt angle (elevation angle, dip angle) can be adjusted and positioned and fixed at any position. The configuration of the sensor attachment tilt angle adjustment base 411 is the same for the right growth diagnosis sensor 410R. The left sensor mounting stay assembly 420L on which the left growth diagnosis sensor 410L in the configuration example shown in FIG. 9 is mounted and the right sensor mounting stay assembly 420R on which the above-described right growth diagnosis sensor 410R is mounted are as follows. It corresponds to an example of the mounting portion of the invention. FIG. 9 is an exploded schematic perspective view showing another configuration example of the left sensor mounting stay assembly 420L on which the left growth diagnosis sensor 410L shown in FIGS. 6A and 6B is mounted.

  Further, in the riding management machine 1 provided with the sensor mounting inclination angle adjustment base 411 described with reference to FIG. 9, the fertilizer application device 100, the lifting link mechanism 200, and the pair of left and right sensing angle changing mechanisms 500L and 500R are not provided. It may be a configuration.

  Moreover, in the riding management machine 1 provided with the sensor attachment inclination-angle adjustment stand 411 demonstrated in FIG. 9, the structure by which the fertilizer application apparatus 100 is not provided may be sufficient.

  In the above embodiment, a pair of left and right growth diagnostic sensors 410L and 410R are provided on the left and right sides of the front side of the traveling vehicle body 2, and the control circuit unit 700 uses the detection result of the left growth diagnostic sensor 410L to detect the left side. The configuration for controlling the fertilization amount by the fertilization boom 110L and controlling the fertilization amount by the right fertilization boom 110R using the detection result by the right growth diagnosis sensor 410R has been described. However, the configuration is not limited thereto. Is configured to control the amount of fertilization by the left fertilization boom 110L or the amount of fertilization by the right fertilization boom 110R from the detection result of the left growth diagnostic sensor 410L or the detection result of the right growth diagnostic sensor 410R. It is also good.

  In this configuration, for example, among the fertilizer booms 110L and 110R arranged on the left and right of the riding management machine 1, there is a reared product on the side where the fertilizer boom on one side projects, and the fertilizer boom side on the other side projects to the saddle. It can be used effectively when it is, and work efficiency improves.

  That is, in this case, for example, when the other side of the riding management machine 1 is a saddle road, the detection result of the growth diagnostic sensor (refer to 410L or 410R) for detecting the area on the other side is detected by the control circuit unit 700 as normal growth. A growth diagnosis that automatically stops the detection operation of the growth diagnosis sensor that detects the other side area and detects the one side area when it is determined that the result is clearly different from the detection result of the object. Only the detection operation of the sensor (refer to 410R or 410L) is continued, and from the detection result by the growth diagnostic sensor that detects the one side region, the quality of the grown state in the one side region is determined as good or bad. By adopting a configuration in which the amount of fertilization by the fertilization boom on one side is controlled according to the result, it is possible to prevent wasteful fertilization and improve work efficiency. In this case, instead of the configuration in which the control circuit unit 700 automatically stops the detection operation of the growth diagnosis sensor, a configuration in which an operator manually stops the operation may be employed. Further, in this case, even when the control circuit unit 700 determines that the result is clearly different from the detection result of the normal growth, the detection operation of the growth diagnosis sensor that detects the other region is performed. The detection operation may be continued without stopping automatically or manually. However, even in this case, it is determined by the control circuit unit 700 that the detection result of the growth diagnostic sensor that detects the other region is clearly different from the detection result of the normal grown product. Therefore, the control circuit unit 700 does not employ the detection result of the growth diagnosis sensor that detects the other side region in the determination of the growth state of the grown product, but from the detection result by the growth diagnosis sensor that detects the one side region. And the quality of the growth condition of the growth of the said one side area | region is determined, and it is set as the structure which controls the fertilization amount by the fertilization boom of one side according to the determination result.

Further, in the above embodiment, a pair of left and right growth diagnostic sensors 410L and 410R are provided on the left and right sides of the front side of the traveling vehicle body 2, and the left growth diagnostic sensor 410L is a measurement region in front of the left side of the traveling vehicle body 2, The configuration in which the fertilizer application boom 110L is detected and the right growth diagnostic sensor 410R detects the right front measurement area of the traveling vehicle body 2 and the right fertilizer boom 110R can be applied. However, not limited to this, for example, a left side sensor (see reference numeral 410L-1 in FIG. 2) arranged on the left side (left side in the vehicle width direction) of the traveling vehicle body 2 measures the right side (right side in the vehicle width direction) of the traveling vehicle body 2. The right side sensor (refer to reference numeral 410R-1 in FIG. 2) arranged on the right side (vehicle width direction right side) of the traveling vehicle body 2 detects the region, and the measurement region on the left side (vehicle width direction left side) of the traveling vehicle body 2 In the case of this configuration, the control circuit unit 700 determines whether or not the growth condition of the right growth is good from the detection result of the left side sensor, and based on the result of the determination, the control circuit unit 700 The amount of fertilizer applied by the fertilizer boom 110R is controlled, and the quality of the growth of the left growth is determined from the detection result of the right side sensor, and the amount of fertilizer applied by the left fertilizer boom 110L is controlled based on the result of the determination. It is good also as composition to do. Thereby, the fertilizer amount according to the growth condition of the cultivated product can be appropriately sprayed.

  Further, in the above embodiment, a pair of left and right growth diagnostic sensors 410L and 410R are provided on the left and right sides of the front side of the traveling vehicle body 2, and the left growth diagnostic sensor 410L is a measurement region in front of the left side of the traveling vehicle body 2, The configuration in which the fertilizer application boom 110L is detected and the right growth diagnostic sensor 410R detects the right front measurement area of the traveling vehicle body 2 and the right fertilizer boom 110R can be applied. However, the present invention is not limited to this, and for example, a left side arrangement sensor (refer to reference numeral 410L in FIG. 2) arranged on the left side of the traveling vehicle body 2 detects measurement areas on both the front left and right sides of the traveling vehicle body 2, and is arranged on the right side of the traveling vehicle body 2. The right side arrangement sensor (refer to reference numeral 410R in FIG. 2) may be configured to detect the measurement areas on both the front left and right sides of the traveling vehicle body 2 in an overlapping manner.

  This is useful because the accuracy of the detection result can be improved by obtaining the average of the detection results obtained by the right side arrangement sensor and the left side arrangement sensor.

  In the above embodiment, a pair of left and right growth diagnostic sensors 410L and 410R are provided on the left and right sides of the front side of the traveling vehicle body 2, and the left growth diagnostic sensor 410L disposed on the left side (left side in the vehicle width direction) of the traveling vehicle body 2. In the measurement area in front of the left side of the traveling vehicle body 2, a range that can be fertilized by the left fertilization boom 110 </ b> L is detected, and the right growth diagnosis sensor 410 </ b> R disposed on the right side (vehicle width direction right side) of the traveling vehicle body 2. The configuration for detecting the measurement area in the front right side of the traveling vehicle body 2 and capable of being fertilized by the right fertilizer boom 110R has been described. However, the configuration is not limited thereto, and for example, the lateral width direction (vehicle width direction) of the traveling vehicle body 2 A left-side measurement sensor (see reference numeral 410L-2 in FIG. 2) for detecting the growth state of the reared product from the center position with respect to the center is disposed on the right side (vehicle width direction right side) of the traveling vehicle body 2, A right-side measurement sensor (see reference numeral 410R-2 in FIG. 2) for detecting the growth state of the grown product on the right side from the center position of the row vehicle body 2 is arranged on the left side (the left side in the vehicle width direction) of the traveling vehicle body 2. Also good.

  In the case of this configuration, the control circuit unit 700 determines the quality of the left growth from the detection result of the left measurement sensor, and controls the amount of fertilization by the left fertilization boom 110L based on the result of the determination. And it is good also as a structure which determines the quality of the growth condition of the right breeding thing from the detection result of a right side measurement sensor, and controls the fertilization amount by the right fertilization boom 110R based on the result of the said determination. Thereby, the fertilizer amount according to the growth condition of the cultivated product can be appropriately sprayed.

  Moreover, although the said embodiment demonstrated the structure which provided the growth diagnostic sensor one each on the right and left (vehicle width direction left side and vehicle width direction right side) of the traveling vehicle body 2, it is not restricted to this, For example, of the traveling vehicle body 2 A configuration in which one growth diagnostic sensor is provided at the left side, the right side, or the center in the left-right width direction (vehicle width direction) and the front-rear width direction may be used. In this case, the detection range of the sensor is the entire range on both the left and right sides in front of the traveling vehicle body 2.

  In the above embodiment, the elevating link mechanism 200 for adjusting the height of the pair of left and right growth diagnostic sensors 410L and 410R, and the pair of left and right sensing angle changing mechanisms 500L described later for changing the sensing angle, 500R, etc., when using a lifting and lowering link mechanism for lifting and lowering the center boom and side boom used in a control work machine that sprays chemicals, etc., and a side boom opening and closing mechanism that moves the side boom to the spraying work position and storage position However, the present invention is not limited to this. For example, the conventional various mechanisms of the control work machine may not be used, but a configuration provided with a dedicated mechanism as the riding management machine 1 of the present embodiment may be used.

  In the case of the configuration, for example, the left column 320L and the right column 320R (see FIG. 6A) are not necessary, and the sensor fixing plate base 460 and the upper fixed member whose length in the height direction is changed to a predetermined length. A combination of the portion 450b and the left corner plate 510L and the right corner plate (not shown) may be directly fixed. Further, instead of the left turning hydraulic cylinder 520L for turning the left corner plate 510L and the right turning hydraulic cylinder 520R for turning the right corner plate, a structure using a turning drive motor may be used. . Further, the configuration may be such that the sun boom 331 is eliminated and the GPS antenna 310 is disposed at the center position in the left-right width direction of the front horizontal column 330.

  In the above embodiment, the left column 320L is fixed vertically to the rear side of the left corner plate 510L, and the right column 320R is fixed vertically to the rear side of the right corner plate (not shown). Although described above, for example, the left column 320L is fixed to the upper surface of the left corner plate 510L perpendicularly, and the right column 320R is fixed to the upper surface of the right corner plate (not shown). There may be.

  Moreover, in the said embodiment, although the structure provided with the fertilizer 100 was demonstrated, it is not restricted to this, For example, the structure where the fertilizer 100 is not provided may be sufficient.

  Moreover, although the said embodiment demonstrated the structure provided with the raising / lowering link mechanism 200, it is not restricted to this, For example, the structure where the raising / lowering link mechanism 200 is not provided may be sufficient.

  Moreover, although the said embodiment demonstrated the structure provided with the left-right paired sensing angle change mechanism 500L, 500R, it is not restricted to this, For example, the structure by which the left-right paired sensing angle change mechanism 500L, 500R is not provided. It may be.

  Moreover, although the said embodiment demonstrated the case where a breeding material was a rice, it is not restricted to this, For example, wheat, soybeans, and any other crops may be sufficient.

  According to the riding management machine of the present invention, it is possible to provide a work vehicle such as a management machine that can detect the growth status of a grown product in a field and obtain more accurate information about the position information than before. It is effective as an agricultural work vehicle.

DESCRIPTION OF SYMBOLS 1 Passenger management machine 2 Traveling vehicle body 3L, 3R A pair of left and right front wheels 4L, 4R A pair of left and right rear wheels 5 Bonnet 6 Pilot seat 7 Handle 100 Fertilizer 200 Lifting link mechanism 310 GPS antenna 410L Growth diagnostic sensor 410R Right growth diagnosis Sensor 700 Control circuit unit 710 Position information acquisition unit

Claims (14)

A traveling vehicle body,
A position information acquisition device for acquiring position information of the traveling vehicle body;
A growth state detection device for detecting the growth state of the cultivated product in the field;
A control device comprising: a control device that stores the positional information acquired by the positional information acquisition device and data related to the growth status of the grown product detected by the growth status detection device in association with each other. vehicle.   The work vehicle according to claim 1, further comprising an elevating mechanism that elevates and lowers the growth state detection device.   The work vehicle according to claim 1, further comprising: a rotation mechanism that rotates the growth state detection device with respect to a vertical axis. An elevating mechanism that elevates and lowers the growth state detecting device;
The work vehicle according to claim 1, further comprising: a rotation mechanism that rotates the growth state detection device with respect to a vertical axis. A placement unit for placing the growth state detection device;
2. The work vehicle according to claim 1, wherein the growth state detection device is attached so that an attachment angle with respect to the placement unit can be changed. An elevating mechanism that elevates and lowers the growth state detecting device;
A rotation mechanism for rotating the growth state detection device with respect to the vertical axis;
A placement unit for placing the growth state detection device;
2. The work vehicle according to claim 1, wherein the growth state detection device is attached so that an attachment angle with respect to the placement unit can be changed. Comprising a fertilizer applying fertilizer to the cultivated product,
The said control apparatus determines the quality of the said growth condition from the detection result by the said growth condition detection apparatus, and controls the amount of fertilization by the said fertilizer application apparatus based on the result of the said determination. The work vehicle described. Comprising a fertilizer ejection arm of a fertilizer applying fertilizer to the cultivated material provided so as to be capable of projecting leftward or rightward from either the left direction or the right direction from the traveling vehicle body;
The said control apparatus determines the quality of the said growth condition from the detection result by the said growth condition detection apparatus, and controls the amount of fertilization by the said fertilizer application apparatus based on the result of the said determination. The work vehicle described. The growth state detection device
A right side arrangement sensor arranged on the right side of the traveling vehicle body;
A left side arrangement sensor arranged on the left side of the traveling vehicle body,
The fertilizer ejection arm is provided to be able to project from the traveling vehicle body in the left direction and the right direction,
The control device stores the positional information acquired by the positional information acquisition device in association with the data related to the growth status of the growth detected by the right side arrangement sensor and the left side arrangement sensor,
The control device determines pass / fail of the growth status from the detection result of either the right side placement sensor or the left side placement sensor, or the right side placement sensor and the left side placement sensor, and based on the result of the determination The work vehicle according to claim 8, wherein a fertilizer application amount by the fertilizer application is controlled. The fertilizer ejection arm is
A left-side fertilizer ejection arm provided so as to be able to project leftward from the traveling vehicle body;
A right direction fertilizer ejection arm provided to be able to project rightward from the traveling vehicle body,
The control device determines the quality of the growth status from the detection result by the right side sensor, and controls the amount of fertilization by the right direction fertilizer ejection arm or the left direction fertilizer ejection arm based on the result of the determination,
The control device determines the quality of the growth status from the detection result of the left side sensor, and controls the amount of fertilization by the right direction fertilizer ejection arm or the left direction fertilizer ejection arm based on the result of the determination. The work vehicle according to claim 9. The growth state detection device
A right-side measurement sensor that detects a growth state of the grown product on the right side from a center position with respect to a lateral width direction of the traveling vehicle body;
A left-side measurement sensor that detects a growth state of the breeding material on the left side from the center position of the traveling vehicle body,
The control device stores the positional information acquired by the positional information acquisition device and the data related to the growth status of the grown product detected by the right measurement sensor and the left measurement sensor in association with each other. The work vehicle according to claim 1. The right side measurement sensor is disposed on the right front side of the traveling vehicle body in a plan view,
The left measurement sensor is disposed on the left front side of the traveling vehicle body in a plan view,
The work vehicle according to claim 11, further comprising an elevating mechanism that elevates and lowers the right measurement sensor and the left measurement sensor. A right measurement sensor rotation mechanism for rotating the right measurement sensor;
The work vehicle according to claim 11, further comprising a left measurement sensor rotation mechanism that rotates the left measurement sensor. Provided with a fertilizer ejection arm of a fertilizer applying fertilizer to the cultivated material, provided so as to be able to project from the rear part of the traveling vehicle body in the left-right direction,
The control device determines pass / fail of the growth status from the detection result of either the right measurement sensor or the left measurement sensor, or the right measurement sensor and the left measurement sensor, and based on the determination result. The work vehicle according to any one of claims 11 to 13, wherein the fertilizer application amount by the fertilizer application is controlled.

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