JP2022027976A5 - - Google Patents

Description

The present invention is a powder and granular material supply device including a storage unit for storing powdery and granular agricultural materials, and a feeding unit for feeding out agricultural materials stored in the storage unit while being driven by rotational power from a drive shaft. Regarding.

As the powder or granular material supply device as described above, for example, the powder or granular material supply device (“fertilizer application device” in Patent Document 1) provided in the passenger-type rice transplanter described in Patent Document 1 is already known. In this passenger-type rice transplanter, the power from the engine is transmitted to the traveling device via the transmission device to perform traveling, and the power from the engine after shifting is transmitted to the feeding section (“feeding section” in Patent Document 1). By transmitting it, the agricultural materials were fed out by the feeding department. In this case, since the shifting state of the traveling machine and the feeding amount of the agricultural material by the feeding portion are linked, the feeding amount of the agricultural material per unit mileage can be constant regardless of the speed of the traveling machine.

Japanese Unexamined Patent Publication No. 2016-103989

Here, in the powder or granular material supply device provided in the passenger-type rice transplanter described in Patent Document 1, it is conceivable to provide an electric motor capable of imparting rotational power to the drive shaft. According to this configuration, by controlling the electric motor, it is possible to control the amount of agricultural material to be delivered per unit time by the feeding unit.

This makes it possible, for example, to drop different amounts of agricultural materials at each position in the field while traveling at a constant speed.

By the way, in general, in the powder or granular material supply device, it is assumed that the feeding portion is clogged with agricultural materials or the like. As described above, in the configuration in which the drive shaft is driven by the rotational power from the electric motor, when the maximum torque that can be output by the electric motor is relatively large, the output torque of the electric motor is controlled to be increased to feed the motor. It is possible to eliminate the clogging in the part.

However, in order to drive an electric motor having a relatively large maximum output torque, a battery having a relatively large voltage is required. If a battery having a relatively large voltage is provided in the powder or granular material supply device, the manufacturing cost tends to increase.

An object of the present invention is to provide a powder or granular material supply device that can eliminate clogging in a feeding portion and can easily suppress an increase in manufacturing cost.

The features of the present invention are a storage unit in which powdery and granular agricultural materials are stored, a feeding unit that is driven by rotational power from a drive shaft, and a feeding unit that feeds out the agricultural materials stored in the storage unit, and the drive shaft. A first electric motor capable of imparting rotational power to the motor, a second electric motor provided separately from the first electric motor and capable of imparting rotational power to the drive shaft, and a first electric motor being driven. It is provided with a drive processing unit for executing a drive processing for driving the second electric motor when a clogging occurs in the feeding unit .

According to the present invention, when the first electric motor becomes overloaded due to the clogging in the feeding portion, the second electric motor is driven. At this time, the torque of the first electric motor and the torque of the second electric motor act on the drive shaft. As a result, a relatively large torque acts on the drive shaft, so that clogging in the feeding portion can be eliminated.

Moreover, according to the present invention, as the first electric motor and the second electric motor, it is possible to adopt an electric motor having a relatively small maximum output torque, respectively. As a result, it is not necessary to provide a battery having a relatively large voltage, so that it is easy to suppress an increase in manufacturing cost.

Therefore, according to the present invention, it is possible to eliminate the clogging in the feeding portion and it is easy to suppress an increase in manufacturing cost.

Further, in the present invention, it is preferable that the second electric motor is intermittently driven in the drive process.

In the configuration in which the drive shaft is driven by the rotational power from the electric motor, when the torque is intermittently applied to the drive shaft when the feeding portion is clogged, compared to the case where the torque is continuously applied to the drive shaft. However, the clogging is easily cleared.

Here, according to the above configuration, the torque from the second electric motor is intermittently applied to the drive shaft in the drive process. Therefore, according to the above configuration, the clogging in the feeding portion can be easily cleared.

Further, in the present invention, it is preferable to include a cancellation determination unit for determining whether or not the clogging in the feeding unit has been cleared .

In a configuration in which it is not determined whether or not the first electric motor has escaped from the overload state, it is assumed that the drive process is continued even though the first electric motor has escaped from the overload state.

Here, according to the above configuration, the elimination determination unit determines whether or not the first electric motor has escaped from the overload state. Therefore, it is possible to realize a configuration in which the drive process is terminated when the overload state is resolved.

Further, in the present invention, after the drive processing is executed by the drive processing unit, the drive of the first electric motor is stopped when it is determined by the elimination determination unit that the clogging in the feeding unit has not been cleared . It is preferable to provide a stop portion for making the stop portion.

Depending on the state of clogging in the feeding portion, it is assumed that the clogging cannot be cleared even if the drive process is executed. If the first electric motor is continuously driven for a long time without the clogging being cleared, the deterioration of the first electric motor tends to progress.

Here, according to the above configuration, if the clogging in the feeding portion cannot be cleared even if the driving process is executed, the driving of the first electric motor is stopped. As a result, it is possible to prevent the deterioration of the first electric motor from progressing.

Further, in the present invention, after the drive processing is executed by the drive processing unit, when it is determined by the elimination determination unit that the clogging in the feeding unit has not been cleared, a notification for notifying an abnormality regarding the feeding unit is notified. It is preferable to have a part.

According to this configuration, when the clogging in the feeding portion cannot be cleared even if the driving process is executed, the operator can know that an abnormality related to the feeding portion has occurred.

Further, in the present invention, when the feeding portion is clogged while the first electric motor is being driven, the forward / reverse rotation process of alternately driving the first electric motor in the forward rotation and the reverse rotation is executed. The reverse rotation processing unit is provided, and the forward / reverse rotation processing is executed in preference to the drive processing. When it is determined that the clogging in the above is cleared, it is preferable that the drive processing unit does not execute the drive process.

When the drive process is executed, the first electric motor and the second electric motor are driven at the same time. As a result, the power consumption tends to be higher than when only the first electric motor is driven.

Here, according to the above configuration, it may be possible to clear the clogging in the feeding portion by the forward / reverse rotation process. Then, if the clogging in the feeding portion can be cleared by the forward / reverse rotation process, the drive process is not executed. That is, if the clogging in the feeding portion can be cleared by the forward / reverse rotation process, the second electric motor is not driven.

Therefore, according to the above configuration, it is possible to suppress power consumption.

It is a left side view of a passenger-type rice transplanter. It is a top view of a passenger-type rice transplanter. It is a front view of the fertilizer application device. It is a figure which shows the power transmission structure for driving the 1st feeding part, the 2nd feeding part, the 3rd feeding part, and the 4th feeding part. It is a block diagram which shows the structure about the control part. It is a flowchart of a weighing routine. It is a figure which shows the correspondence relationship between the target supply amount acquired by the target supply amount acquisition part, and the rotation speed of a 1st electric motor. It is a figure which shows the operating area of the 1st electric motor. It is a flowchart of an overload routine. It is a figure which shows the power transmission structure for driving the 1st feeding part, the 2nd feeding part, the 3rd feeding part, and the 4th feeding part in 1st Embodiment. It is a block diagram which shows the structure about the control part in 1st Embodiment. It is a flowchart of each article weighing routine in 1st Embodiment. It is a flowchart of the overload routine in the second embodiment.

A mode for carrying out the present invention will be described with reference to the drawings. In the following description, unless otherwise specified, the direction of the arrow F shown in FIGS. 1 and 2 is referred to as “front” and the direction of the arrow B is referred to as “rear”, which are shown in FIGS. 2 to 4 and 10. The direction of the arrow L is "left", and the direction of the arrow R is "right". Further, the direction of the arrow U shown in FIGS. 1 and 3 is "up", and the direction of the arrow D is "down".

[Basic configuration of a passenger-type rice transplanter]
Embodiments of the present invention will be described with reference to the drawings. As shown in FIGS. 1 to 3, the passenger-type rice transplanter 100 includes a traveling machine 1, a seedling planting device 2 capable of planting seedlings in a field, and a fertilizer application device 3 (the "fertilizer application device 3" according to the present invention. Equivalent to "powder and granular material supply device").

The traveling machine body 1 includes a driver's seat 11, a steering wheel 12, a touch panel 13 (corresponding to the "notifying unit" according to the present invention), a main speed change lever 14, an engine 15, a speed change device 16, front wheels 17, and rear. It is equipped with wheels 18. Specifically, the traveling machine body 1 travels by transmitting the power of the engine 15 to the front wheels 17 and the rear wheels 18 via the transmission 16 so that the operator sits in the driver's seat 11. , The steering wheel 12 and the like are used for operation, and the touch panel 13 is used to instruct various controls such as automatic running control to perform running according to the purpose.

Further, the traveling machine 1 is also provided with a satellite positioning device 19 that measures the position of the traveling machine 1 by using GPS (Global Positioning System), which is a well-known technique.

The seedling planting device 2 includes a seedling loading table 21 and a seedling planting working unit 22. The seedling planting device 2 is configured in an 8-row planting format, but the number of planting rows can be changed by operating each planting row clutch (not shown). For example, seedling planting is performed every 2 rows. It is possible to control whether or not to perform the work. Although not described in detail, the power of the engine 15 after being changed by the transmission 16 is transmitted to the seedling planting device 2 via a motor-driven planting clutch (not shown) to plant seedlings. The attachment work unit 22 is designed to perform seedling planting work.

The fertilizer application device 3 is designed to supply fertilizer (corresponding to the "agricultural material" according to the present invention) to the field, and for that purpose, the hopper 31 (the "storage unit" according to the present invention) in which the powdery and granular fertilizer is stored. (Corresponding to), and the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d (each of which is the "feeding section" according to the present invention) for feeding the fertilizer stored in the hopper 31. The first clutch 34a, the second clutch 34b, and the second clutch 34a corresponding to the first electric motor 33, the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, respectively. For the 3 clutches 34c, the 4th clutch 34d, the blower 35 for blowing air, the 8 groovers 37 for forming grooves for fertilizer supply in the field, and the grooves formed in the groovers 37. It is equipped with eight hoses 38 for supplying fertilizer.

Further, the fertilizer application device 3 is provided with a leveling float 36 so that the field is leveled as the traveling machine 1 travels.

As shown in FIG. 4, inside the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, a rotating member 39 that feeds a predetermined amount of fertilizer with rotation, respectively. Is provided. Then, as shown in FIGS. 3 and 4, the four input gears 321 connected to the rotating member 39 have a first feeding section 32a, a second feeding section 32b, a third feeding section 32c, and a fourth feeding section 32d. It is provided on the side of the.

The first electric motor 33 is connected to the drive shaft 331 via the first deceleration mechanism RM1. That is, the first electric motor 33 can apply rotational power to the drive shaft 331 via the first deceleration mechanism RM1. In other words, the first deceleration mechanism RM1 is provided between the first electric motor 33 and the drive shaft 331 in the power transmission path. The first deceleration mechanism RM1 is configured to decelerate the rotational power from the first electric motor 33. The first electric motor 33 is attached to the right end portion of the drive shaft 331.

Further, the fertilizer application device 3 has four drive gears 341. These drive gears 341 are provided so as to be rotatable relative to the drive shaft 331. Further, each of the drive gears 341 meshes with the input gear 321.

The first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d are provided corresponding to the four drive gears 341. The first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d each connect the corresponding drive gear 341 to the drive shaft 331 so as not to rotate relative to each other in the engaged state. Further, the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d each release the connection between the corresponding drive gear 341 and the drive shaft 331 in the disengaged state.

With the above configuration, the rotational power from the first electric motor 33 is transmitted to the drive shaft 331 via the first deceleration mechanism RM1.

Then, the first clutch 34a interrupts the transmission of the rotational power from the drive shaft 331 to the first feeding portion 32a. Further, the second clutch 34b interrupts the transmission of the rotational power from the drive shaft 331 to the second feeding portion 32b. Further, the third clutch 34c interrupts the transmission of the rotational power from the drive shaft 331 to the third feeding portion 32c. Further, the fourth clutch 34d interrupts the transmission of the rotational power from the drive shaft 331 to the fourth feeding portion 32d.

The first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d are all driven by rotational power from the drive shaft 331. Further, the rotating member 39 is rotated by the rotational power from the drive shaft 331.

Further, the on / off states of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d can be independently controlled.

By independently controlling the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d, the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section are controlled. It is possible to control whether or not fertilization is performed every two rows corresponding to each of the 32d (for each of the two hoses 38). Such control may be linked with the control of the implementation or non-execution of the seedling planting work every two rows of the seedling planting device 2. That is, the seedling planting and fertilization may be configured so that it can be selected whether both are performed or both are not performed for each of the two rows.

Further, as shown in FIGS. 3 and 4, the fertilizer application device 3 includes a second electric motor 40. The second electric motor 40 is provided separately from the first electric motor 33. Electric power is supplied to the first electric motor 33 and the second electric motor 40 from a battery (not shown).

The second electric motor 40 is connected to the drive shaft 331 via the second deceleration mechanism RM2 and the one-way clutch 41. That is, the second electric motor 40 can apply rotational power to the drive shaft 331 via the second deceleration mechanism RM2 and the one-way clutch 41. In other words, a second deceleration mechanism RM2 and a one-way clutch 41 are provided between the second electric motor 40 and the drive shaft 331 in the power transmission path. The second deceleration mechanism RM2 is configured to decelerate the rotational power from the second electric motor 40. The second electric motor 40 is attached to the left end of the drive shaft 331 via a one-way clutch 41.

When the drive of the second electric motor 40 is stopped, the rotational power of the drive shaft 331 is cut off by the one-way clutch 41 and is not transmitted to the second electric motor 40. Further, when the second electric motor 40 is being driven, the one-way clutch 41 transmits the rotational power from the second electric motor 40 to the drive shaft 331.

[Operation and control of fertilizer application device]
The operation of supplying fertilizer to the paddy field by the fertilizer application device 3 will be described. As shown in FIG. 3, the blower 35 is configured to be driven by the blower electric motor 351. The supply duct 352 is connected to the blower 35 and the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. The suction portions in each of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d are inserted into the supply duct 352.

The air blown from the blower 35 is supplied to the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d via the supply duct 352. Then, when fertilizer is delivered from the hopper 31 by a predetermined amount by the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, the fertilizer is blown through the hose 38 by the blower 35. It is supplied to the grooving device 37 and is supplied to the paddy field via the grooving device 37.

[Structure related to control unit]
As shown in FIG. 5, the passenger type rice planting machine 100 includes a control unit 5, a load information acquisition unit 9, a counting unit 10, a vehicle speed sensor SE1, an HST rotation sensor SE2, a main shift lever operation position sensor SE3, an optical sensor SE4, and a hopper. It is equipped with a weight sensor SE5 and a weighing start switch SW.

The control unit 5, the load information acquisition unit 9, the counting unit 10, the vehicle speed sensor SE1, the optical sensor SE4, the hopper weight sensor SE5, and the weighing start switch SW are included in the fertilizer application device 3.

The load information acquisition unit 9 has a current value sensor 91 and a rotation speed sensor 92.

Further, the control unit 5 includes a determination unit 7, a clutch control unit 8, a target supply amount determination unit 51, a target supply amount acquisition unit 52, a first electric motor control unit 53, a second electric motor control unit 54, and a density acquisition unit 56. It has a density calculation unit 57, a hopper clogging detection unit 59, a replacement time prediction unit 61, an HST abnormality diagnosis unit 62, and a fertilizer shortage warning unit 63.

The first electric motor control unit 53 has a forward / reverse rotation processing unit 58 and a stop unit 60. Further, the second electric motor control unit 54 has a drive processing unit 55.

Further, the determination unit 7 has an overload determination unit 71 and a elimination determination unit 72.

Further, the clutch control unit 8 has a clutch control processing unit 81. The clutch control unit 8 controls the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d.

Further, the counting unit 10 counts the number of rotations of the rotating member 39 in each of the first feeding unit 32a, the second feeding unit 32b, the third feeding unit 32c, and the fourth feeding unit 32d. The number of rotations counted by the counting unit 10 is sent to the first electric motor control unit 53, the hopper clogging detecting unit 59, and the replacement time prediction unit 61.

As shown in FIG. 5, the first electric motor control unit 53 controls the first electric motor 33. Further, the first electric motor control unit 53 has a normal mode for supplying fertilizer to the field and a measuring mode for measuring the fertilizer delivered from the first feeding unit 32a.

Further, the second electric motor control unit 54 controls the second electric motor 40.

[About weighing routine]
When the weighing start switch SW is operated by the operator, a predetermined signal is sent to the first electric motor control unit 53 and the clutch control unit 8. As a result, the first electric motor control unit 53 enters the weighing mode, and the weighing routine shown in FIG. 6 is executed. This weighing routine is stored in the control unit 5. Hereinafter, the weighing routine shown in FIG. 6 will be described.

When the weighing routine is executed, first, the process of step S01 is executed. In step S01, the clutch control unit 8 controls the first clutch 34a to the on state, and controls the second clutch 34b, the third clutch 34c, and the fourth clutch 34d to the disengaged state. Next, the process proceeds to step S02.

In step S02, the first electric motor 33 starts rotating at a preset first rotation speed under the control of the first electric motor control unit 53.

In this way, when the weighing start switch SW is operated, the first electric motor control unit 53 starts driving the first electric motor 33 in the weighing mode.

At this time, the rotational power of the first electric motor 33 is transmitted to the first feeding unit 32a via the drive shaft 331. Further, at this time, the rotational power of the first electric motor 33 is not transmitted to the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d.

That is, when the weighing start switch SW is operated, only the first feeding section 32a of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d is driven, and The second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d are not driven.

Next, the process proceeds to step S03. In step S03, it is determined whether or not the number of rotations of the rotating member 39 in the first feeding unit 32a counted by the counting unit 10 has reached a preset number of times. The determination in step S03 is performed by the first electric motor control unit 53 based on the number of rotations sent from the counting unit 10 to the first electric motor control unit 53.

If No is determined in step S03, the process executes step S03 again. That is, the process repeats step S03 from the time when the first electric motor 33 starts rotating at the first rotation speed in step S02 until the number of rotations of the rotating member 39 in the first feeding portion 32a reaches the set number of times. It will be.

Then, when the number of rotations of the rotating member 39 in the first feeding unit 32a reaches the set number of times, it is determined as Yes in step S03, and the process proceeds to step S04.

In step S04, the drive of the first electric motor 33 is stopped by the control of the first electric motor control unit 53.

As described above, in the weighing mode, the first electric motor control unit 53 stops driving the first electric motor 33 when the number of rotations counted by the counting unit 10 reaches a preset number of times.

Next, the process proceeds to step S05. In step S05, the first electric motor 33 starts rotating at a preset second rotation speed under the control of the first electric motor control unit 53. The second rotation speed is a rotation speed different from the first rotation speed. Further, the second rotation speed may be higher or lower than the first rotation speed.

As described above, in the weighing mode, the first electric motor control unit 53 rotates the first electric motor 33 at the preset first rotation speed, and then performs the preset second rotation different from the first rotation speed. The first electric motor 33 is controlled so as to rotate at a speed.

At this time, the rotational power of the first electric motor 33 is transmitted to the first feeding unit 32a via the drive shaft 331. Further, at this time, the rotational power of the first electric motor 33 is not transmitted to the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d.

That is, at this time, of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, only the first feeding section 32a is driven, and the second feeding section 32b and the second feeding section 32b are driven. The 3 feeding section 32c and the 4th feeding section 32d are not driven.

Next, the process proceeds to step S06. In step S06, it is determined whether or not the number of rotations of the rotating member 39 in the first feeding unit 32a counted by the counting unit 10 has reached a preset number of times. The determination in step S06 is performed by the first electric motor control unit 53 based on the number of rotations sent from the counting unit 10 to the first electric motor control unit 53.

If No is determined in step S06, the process executes step S06 again. That is, the process repeats step S06 from the time when the first electric motor 33 starts rotating at the second rotation speed in step S05 until the number of rotations of the rotating member 39 in the first feeding portion 32a reaches the set number of times. It will be. The number of times set in step S03 and the number of times set in step S06 may be the same or different from each other.

Then, when the number of rotations of the rotating member 39 in the first feeding unit 32a reaches the set number of times, it is determined as Yes in step S06, and the process proceeds to step S07.

In step S07, the drive of the first electric motor 33 is stopped by the control of the first electric motor control unit 53. Then, this weighing routine ends.

The blower 35 is driven while the weighing routine described above is being executed.

[About fertilizer density]
While the weighing routine is being executed, fertilizer is discharged from the two hoses 38 connected to the first feeding section 32a. The operator receives the fertilizer discharged from these hoses 38 into a container and measures the weight thereof. At this time, the worker discharges the weight of the fertilizer discharged while the first electric motor 33 is rotating at the first rotation speed and the weight while the first electric motor 33 is rotating at the second rotation speed. Weigh the fertilizer and measure it separately.

The weighing start switch SW is located on the right side of the machine. Further, as shown in FIG. 2, the two hoses 38 connected to the first feeding portion 32a are located on the right side of the machine body. With this configuration, the operator can measure the weight of fertilizer without moving significantly after operating the weighing start switch SW.

Then, the operator inputs the weight of the fertilizer obtained by the measurement into the touch panel 13. As shown in FIG. 5, the input fertilizer weight is sent to the density calculation unit 57. Further, the first electric motor control unit 53 sends the first rotation speed, the second rotation speed, and the set number of times to the density calculation unit 57.

The density calculation unit 57 calculates the fertilizer density based on the weight of the fertilizer received from the touch panel 13 and the first rotation speed, the second rotation speed, and the set number of times received from the first electric motor control unit 53. ..

The density of the fertilizer calculated by the density calculation unit 57 is acquired by the density acquisition unit 56. In this way, the density acquisition unit 56 is configured to acquire the density of fertilizer.

The density of fertilizer acquired by the density acquisition unit 56 is sent to the first electric motor control unit 53.

It should be noted that the "fertilizer density" in the present specification includes not only the weight per unit volume of fertilizer but also values and maps that correlate with the weight per unit volume of fertilizer. That is, the "fertilizer density" in the present specification is the weight of fertilizer actually delivered while the rotating member in the fertilizer application device 3 such as the drive shaft 331 and the rotating member 39 rotates at a predetermined rotation speed by a unit rotation speed. including. Further, the "fertilizer density" in the present specification is actually defined as the rotation speed of the first electric motor 33 and the rotation speed of the rotating member in the fertilizer application device 3 such as the drive shaft 331 and the rotating member 39 while rotating by a unit rotation speed. Includes a map showing the correlation with the weight of fertilizer delivered.

That is, the density of the fertilizer calculated by the density calculation unit 57 may be the weight per unit volume of the fertilizer, or while the drive shaft 331 or the rotating member 39 rotates at a predetermined rotation speed by a unit rotation speed. It may be the weight of the fertilizer actually delivered, or the rotation speed of the first electric motor 33 and the weight of the fertilizer actually delivered while the drive shaft 331 or the rotating member 39 rotates a unit number of rotations. It may be a map showing the correlation.

[About the target supply amount]
When the passenger-type rice transplanter 100 works in the field, the vehicle speed sensor SE1 detects the vehicle speed of the traveling machine 1 over time. Then, as shown in FIG. 5, the vehicle speed detected by the vehicle speed sensor SE1 is sent to the target supply amount determination unit 51 over time. Further, the position of the traveling machine 1 measured by the satellite positioning device 19 is also sent to the target supply amount determination unit 51 over time.

The target supply amount determination unit 51 determines the target supply amount over time based on the vehicle speed received from the vehicle speed sensor SE1 and the position of the traveling aircraft 1 received from the satellite positioning device 19. The target supply amount is a target amount of fertilizer delivered by the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d per unit time.

Here, to elaborate on the determination of the target supply amount, the higher the vehicle speed, the larger the target supply amount. Further, in the present embodiment, the field is divided into a plurality of minute sections. Then, a target spraying amount is set for each minute section. The target supply amount determining unit 51 stores the target spraying amount for each minute section. Then, the target supply amount is determined according to the target spray amount corresponding to the minute section in which the traveling machine body 1 is located.

Then, the target supply amount determined by the target supply amount determination unit 51 is acquired by the target supply amount acquisition unit 52. In this way, the target supply amount acquisition unit 52 is configured to acquire the target supply amount.

The target supply amount acquired by the target supply amount acquisition unit 52 is sent to the first electric motor control unit 53.

[Control of the first electric motor in normal mode]
The first electric motor control unit 53 is the first electric motor 33 based on the density of fertilizer acquired by the density acquisition unit 56 and the target supply amount acquired by the target supply amount acquisition unit 52 in the normal mode. Control the rotation speed of.

The correspondence relationship between the target supply amount acquired by the target supply amount acquisition unit 52 and the rotation speed of the first electric motor 33 is as shown in FIG.

Here, as an example of control of the first electric motor 33 by the first electric motor control unit 53 in the normal mode, a case where the target supply amount increases from T1 to T2 will be described. T2 is twice that of T1. That is, at this time, the rate of increase in the target supply amount is 100%.

At this time, the rotation speed of the first electric motor 33 increases from V1 to V2 under the control of the first electric motor control unit 53. V2 is greater than twice V1. That is, at this time, the rate of increase in the rotation speed of the first electric motor 33 is larger than 100%.

In this way, when the target supply amount acquired by the target supply amount acquisition unit 52 increases, the increase rate of the rotation speed of the first electric motor 33 in the first electric motor control unit 53 is the increase rate of the target supply amount. The first electric motor 33 is controlled so as to be larger than the above.

Then, in the present embodiment, the rotation speed of the first electric motor 33 derived based on the correspondence shown in FIG. 7 is corrected based on the density of the fertilizer, so that the rotation of the first electric motor 33 is rotated. The final target for speed is determined. It is not necessary to make such a correction based on the density of fertilizer.

[Configuration related to overload condition]
The current value sensor 91 acquires the current value of the first electric motor 33 (corresponding to the “load information” according to the present invention) over time. Further, the rotation speed sensor 92 acquires the rotation speed of the first electric motor 33 (corresponding to the “load information” according to the present invention) over time.

That is, the load information acquisition unit 9 acquires the current value of the first electric motor 33 and the rotation speed of the first electric motor 33 over time. The current value of the first electric motor 33 and the rotation speed of the first electric motor 33 are both information indicating the load applied to the first electric motor 33.

The current value and the rotation speed of the first electric motor 33 acquired by the load information acquisition unit 9 are sent to the determination unit 7 over time.

The overload determination unit 71 in the determination unit 7 is a first electric motor 33 based on the relationship between the current value of the first electric motor 33 acquired by the load information acquisition unit 9 and the rotation speed of the first electric motor 33. Determine if it is in an overloaded state.

More specifically, as shown in FIG. 8, the operating region of the first electric motor 33 is divided into an overload region A1 and a normal region A2. The overload region A1 and the normal region A2 are set based on the current value of the first electric motor 33 and the rotation speed of the first electric motor 33, respectively.

When the current value and the rotation speed of the first electric motor 33 are included in the overload region A1, the overload determination unit 71 determines that the first electric motor 33 is in the overload state. Further, when the current value and the rotation speed of the first electric motor 33 are included in the normal region A2, the overload determination unit 71 determines that the first electric motor 33 is not in the overload state.

After the overload determination unit 71 determines that the first electric motor 33 is in the overload state, the elimination determination unit 72 determines whether or not the first electric motor 33 has escaped from the overload state.

More specifically, when the current value and the rotation speed of the first electric motor 33 are included in the overload region A1, the elimination determination unit 72 determines that the first electric motor 33 has not escaped from the overload state. Further, when the current value and the rotation speed of the first electric motor 33 are included in the normal region A2, the elimination determination unit 72 determines that the first electric motor 33 has escaped from the overload state.

The determination result by the overload determination unit 71 and the elimination determination unit 72 is sent to the first electric motor control unit 53, the second electric motor control unit 54, the clutch control unit 8, and the touch panel 13.

When the overload determination unit 71 determines that the first electric motor 33 is in the overload state, the drive processing unit 55 in the second electric motor control unit 54 executes the drive processing. The drive process is a process for driving the second electric motor 40.

In the drive process, the second electric motor 40 is intermittently driven. That is, in the drive process, the second electric motor 40 repeats driving and stopping.

While the passenger-type rice transplanter 100 is working in the field, the second electric motor 40 is not driven except for the drive process.

Further, when it is determined by the elimination determination unit 72 that the first electric motor 33 has not escaped from the overload state after the drive processing is executed by the drive processing unit 55, the stop unit 60 in the first electric motor control unit 53 Stops the drive of the first electric motor 33.

Further, when it is determined by the elimination determination unit 72 that the first electric motor 33 has not escaped from the overload state after the drive processing is executed by the drive processing unit 55, the touch panel 13 has the first feeding unit 32a, the first. 2 Displays a message to the effect that an abnormality has occurred in the feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. As a result, the touch panel 13 notifies the abnormality regarding the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d.

When the overload determination unit 71 determines that the first electric motor 33 is in the overload state, the clutch control processing unit 81 in the clutch control unit 8 executes the clutch control processing. The clutch control process is a process of controlling one of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d to the on state and the remaining clutch to the disengaged state. Is.

In the clutch control process in the present embodiment, first, the first clutch 34a is controlled to the engaged state, and the remaining clutch is controlled to the disengaged state. Next, the second clutch 34b is controlled to be in the engaged state, and the remaining clutch is controlled to be in the disengaged state. Next, the third clutch 34c is controlled to be in the engaged state, and the remaining clutch is controlled to be in the disengaged state. Finally, the fourth clutch 34d is controlled to be in the engaged state, and the remaining clutch is controlled to be in the disengaged state.

The clutch control process is executed in preference to the drive process described above. Then, when the clutch control processing unit 81 executes the clutch control processing and then the cancellation determination unit 72 determines that the first electric motor 33 has escaped from the overload state, the drive processing unit 55 does not execute the drive processing. ..

When the overload determination unit 71 determines that the first electric motor 33 is in the overload state, the forward / reverse rotation processing unit 58 in the first electric motor control unit 53 executes forward / reverse rotation processing. The forward / reverse rotation process is a process of alternately driving the first electric motor 33 between forward rotation and reverse rotation.

The forward / reverse rotation process is executed in preference to the drive process and the clutch control process described above. Then, after the forward / reverse rotation processing is executed by the forward / reverse rotation processing unit 58, when the elimination determination unit 72 determines that the first electric motor 33 has escaped from the overload state, the drive processing unit 55 performs the drive processing. Do not execute. Further, in this case, the clutch control processing unit 81 does not execute the clutch control processing.

[About overload routine]
When the passenger-type rice transplanter 100 works in the field, the first electric motor control unit 53 operates in the normal mode. Then, when the passenger-type rice transplanter 100 is working in the field, the overload routine shown in FIG. 9 is executed. This overload routine is stored in the control unit 5. Hereinafter, the overload routine shown in FIG. 9 will be described.

When the overload routine is executed, first, the process of step S11 is executed. In step S11, the overload determination unit 71 determines whether or not the first electric motor 33 is in the overload state.

If the first electric motor 33 is not in the overload state, it is determined as No in step S11, and this overload routine ends once.

When the first electric motor 33 is in the overload state, it is determined as Yes in step S11, and the process proceeds to step S12.

In step S12, the forward / reverse rotation processing unit 58 executes the forward / reverse rotation processing. Next, the process proceeds to step S13.

In step S13, the elimination determination unit 72 determines whether or not the first electric motor 33 has escaped from the overload state.

When the first electric motor 33 is out of the overload state, it is determined as Yes in step S13, and this overload routine ends once.

If the first electric motor 33 has not escaped from the overload state, it is determined as No in step S13, and the process proceeds to step S14.

In step S14, the clutch control processing unit 81 executes the clutch control processing. Next, the process proceeds to step S15. When the process shifts to step S15, the on / off states of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d are set to the states immediately before the clutch control process is executed. Will be returned.

In step S15, the elimination determination unit 72 determines whether or not the first electric motor 33 has escaped from the overload state.

When the first electric motor 33 is out of the overload state, it is determined as Yes in step S15, and this overload routine ends once.

If the first electric motor 33 has not escaped from the overload state, it is determined as No in step S15, and the process proceeds to step S16.

In step S16, the drive processing unit 55 executes the drive processing. Next, the process proceeds to step S17.

In step S17, the elimination determination unit 72 determines whether or not the first electric motor 33 has escaped from the overload state.

When the first electric motor 33 is out of the overload state, it is determined as Yes in step S17, and this overload routine ends once.

If the first electric motor 33 has not escaped from the overload state, it is determined as No in step S17, and the process proceeds to step S18.

In step S18, the stop unit 60 stops driving the first electric motor 33. Next, the process proceeds to step S19.

In step S19, a message indicating that an abnormality has occurred in the first feeding unit 32a, the second feeding unit 32b, the third feeding unit 32c, and the fourth feeding unit 32d is displayed on the touch panel 13. As a result, the touch panel 13 notifies the abnormality regarding the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. Then, this overload routine ends once.

[Forecast of replacement time]
The replacement time prediction unit 61 is based on the number of rotations of the rotating member 39 in each of the first feeding unit 32a, the second feeding unit 32b, the third feeding unit 32c, and the fourth feeding unit 32d received from the counting unit 10. It predicts when the parts included in each of the 1 feeding section 32a, the 2nd feeding section 32b, the 3rd feeding section 32c, and the 4th feeding section 32d need to be replaced.

More specifically, the replacement time prediction unit 61 individually counts the number of rotations received from the counting unit 10 for each of the first feeding unit 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. Accumulate to. Then, when the integrated rotation speed reaches a predetermined threshold value, the time when the parts need to be replaced is determined according to the length of the period from the start of the integration until the integrated rotation speed reaches the predetermined threshold value. Predict.

Then, the exchange time prediction unit 61 sends a signal indicating the predicted time to the touch panel 13. The touch panel 13 displays the time when the parts need to be replaced based on this signal. Further, based on this signal, the touch panel 13 displays a message prompting the replacement of parts when the predicted time is approaching or when the predicted time is reached.

[About HST abnormality diagnosis]
The transmission 16 in the passenger-type rice transplanter 100 has a hydrostatic continuously variable transmission (not shown). By operating the main shift lever 14, the gear ratio in the hydrostatic continuously variable transmission changes.

Here, the HST rotation sensor SE2 detects the rotation speed of the output shaft of the hydrostatic continuously variable transmission. As shown in FIG. 5, the detection result by the HST rotation sensor SE2 is sent to the HST abnormality diagnosis unit 62.

Further, the main shift lever operation position sensor SE3 detects the operation position of the main shift lever 14. The detection result by the main shift lever operation position sensor SE3 is sent to the HST abnormality diagnosis unit 62.

The HST abnormality diagnosis unit 62 diagnoses whether or not an abnormality has occurred in the hydrostatic continuously variable transmission based on the detection result by the HST rotation sensor SE2 and the detection result by the main shift lever operation position sensor SE3. do.

More specifically, when the rotation speed of the output shaft of the hydrostatic continuously variable transmission is inconsistent with the operation position of the main shift lever 14, the HST abnormality diagnosis unit 62 determines the hydrostatic continuously variable transmission. Diagnose that an abnormality has occurred.

When the HST abnormality diagnosis unit 62 diagnoses that an abnormality has occurred in the hydrostatic continuously variable transmission, it sends a signal indicating that an abnormality has occurred in the hydrostatic continuously variable transmission to the touch panel 13. Based on this signal, the touch panel 13 displays a message indicating that an abnormality has occurred in the hydrostatic continuously variable transmission.

[About optical sensor]
As shown in FIG. 3, the optical sensor SE4 is attached to the bottom inside the hopper 31. The optical sensor SE4 detects the intensity of light reaching the optical sensor SE4. As shown in FIG. 5, the detection result by the optical sensor SE4 is sent to the fertilizer shortage warning unit 63.

The fertilizer shortage warning unit 63 determines whether or not the intensity of the light reaching the optical sensor SE4 exceeds a predetermined threshold value based on the detection result received from the optical sensor SE4. When the fertilizer shortage warning unit 63 determines that the intensity of the light reaching the optical sensor SE4 exceeds a predetermined threshold value, the signal indicating that the remaining amount of fertilizer in the hopper 31 is low, or the inside of the hopper 31. A signal indicating that the remaining amount of fertilizer is zero is sent to the touch panel 13. Based on this signal, the touch panel 13 displays a message indicating that the remaining amount of fertilizer in the hopper 31 is low, or a message indicating that the remaining amount of fertilizer in the hopper 31 is zero.

Further, the operator can operate the touch panel 13 to input the type of fertilizer in the hopper 31. Further, the touch panel 13 is configured to be able to communicate with a management server installed outside the passenger-type rice transplanter 100.

The information indicating the type of fertilizer input to the touch panel 13 is sent from the touch panel 13 to the management server. Based on this information, the management server generates data indicating an appropriate threshold. This data is sent to the fertilizer shortage warning unit 63 via the touch panel 13. Based on this data, a threshold value for determination in the fertilizer shortage warning unit 63 is set.

If the threshold value set in this way is actually inappropriate, the operator may report to that effect to the management server via the touch panel 13. With this configuration, it is possible to modify the threshold value generated by the management server based on the reported contents.

[About the hopper weight sensor]
The hopper weight sensor SE5 is a load cell and detects the weight of the hopper 31 over time. The detection result by the hopper weight sensor SE5 is sent to the first electric motor control unit 53, the hopper clogging detection unit 59, and the touch panel 13 over time.

The first electric motor control unit 53 calculates the actual supply amount based on the change over time in the weight of the hopper 31. The actual supply amount is the actual amount of fertilizer delivered by the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d per unit time.

Then, the rotation speed of the first electric motor 33 is feedback-controlled based on the actual supply amount calculated by the first electric motor control unit 53.

Further, the hopper clogging detecting unit 59 is a fertilizer in the hopper 31, the first feeding unit 32a, the second feeding unit 32b, the third feeding unit 32c, and the fourth feeding unit 32d, based on the change in the weight of the hopper 31 over time. Detects clogging.

More specifically, when the weight of the hopper 31 is equal to or greater than the predetermined weight and does not change over a predetermined period when the first electric motor 33 is being driven, the hopper clogging detection unit 59 causes the hopper 31 to change. Alternatively, it is detected that the fertilizer is clogged in the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d.

When the hopper clogging detection unit 59 detects that the hopper 31 or the first feeding unit 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d are clogged with fertilizer, a predetermined signal is transmitted. 1 Send to the electric motor control unit 53. When the first electric motor control unit 53 receives this signal, the forward / reverse rotation processing unit 58 executes the above-mentioned forward / reverse rotation processing. This makes it easier to clear the clogging of fertilizer.

When the weight of the hopper 31 is less than the predetermined weight, the touch panel 13 displays a message indicating that the remaining amount of fertilizer in the hopper 31 is low, or a message indicating that the remaining amount of fertilizer in the hopper 31 is zero. do.

In the configuration described above, the first electric motor 33 is overloaded due to clogging in any of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. When the load state is reached, the second electric motor 40 is driven. At this time, the torque of the first electric motor 33 and the torque of the second electric motor 40 act on the drive shaft 331. As a result, a relatively large torque acts on the drive shaft 331, so that clogging can be eliminated.

Moreover, with the configuration described above, it is possible to adopt an electric motor having a relatively small maximum output torque, as the first electric motor 33 and the second electric motor 40, respectively. As a result, it is not necessary to provide a battery having a relatively large voltage, so that it is easy to suppress an increase in manufacturing cost.

Therefore, with the configuration described above, it is possible to eliminate the clogging that has occurred in any of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, and the manufacturing cost is increased. Is easy to suppress.

[First Embodiment]
In the above embodiment, the rotational power of the first electric motor 33 is distributed to the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d via the drive shaft 331. ..

However, the present invention is not limited to this. Hereinafter, the first embodiment according to the present invention will be described focusing on the differences from the above-described embodiment. The configuration other than the parts described below is the same as that of the above embodiment. Further, the same reference numerals are given to the same configurations as those in the above-described embodiment.

In the first embodiment according to the present invention, as shown in FIG. 10, none of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d is provided.

Then, in this first embodiment, the first motor MT1 and the second motors MT1 and the second motors corresponding to the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, respectively. A motor MT2, a third-row motor MT3, and a fourth-row motor MT4 are provided.

An output gear 201 is attached to each output shaft of the first motor MT1, the second motor MT2, the third motor MT3, and the fourth motor MT4. Further, each of the output gears 201 is in mesh with the input gear 321.

That is, the rotational power of the first motor MT1 is transmitted to the first feeding unit 32a via the output gear 201 and the input gear 321. Further, the rotational power of the second motor MT2 is transmitted to the second feeding unit 32b via the output gear 201 and the input gear 321. Further, the rotational power of the third motor MT3 is transmitted to the third feeding unit 32c via the output gear 201 and the input gear 321. Further, the rotational power of the fourth motor MT4 is transmitted to the fourth feeding unit 32d via the output gear 201 and the input gear 321.

Further, as shown in FIG. 11, the control unit 5 in the first embodiment has each motor control unit 202. Then, each of the article motor control units 202 can individually control the first article motor MT1, the second article motor MT2, the third article motor MT3, and the fourth article motor MT4, respectively.

With this configuration, it is possible to drive the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d individually.

Further, each row motor control unit 202 is fed from each of the normal mode for supplying fertilizer to the field and the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. It has a weighing mode for weighing fertilizer.

When the weighing start switch SW is operated by the operator, a predetermined signal is sent to each motor control unit 202. As a result, each row motor control unit 202 enters the weighing mode, and each row weighing routine shown in FIG. 12 is executed. It should be noted that each of these weighing routines is stored in the control unit 5. Hereinafter, each article weighing routine shown in FIG. 12 will be described.

When each row weighing routine is executed, first, the process of step S21 is executed. In step S21, under the control of each row motor control unit 202, the first row motor MT1 starts rotating at a preset third rotation speed.

Next, the process proceeds to step S22. In step S22, it is determined whether or not the number of rotations of the rotating member 39 in the first feeding unit 32a counted by the counting unit 10 has reached a preset number of times. The determination in step S22 is performed by each row motor control unit 202 based on the number of rotations sent from the count unit 10 to each row motor control unit 202.

If No is determined in step S22, the process executes step S22 again. That is, from the time when the first motor MT1 starts rotating at the third rotation speed in step S21 until the number of rotations of the rotating member 39 in the first feeding portion 32a reaches the set number of times, the process proceeds with step S22. It will be repeated.

Then, when the number of rotations of the rotating member 39 in the first feeding unit 32a reaches the set number of times, it is determined as Yes in step S22, and the process proceeds to step S23.

In step S23, the drive of the first motor MT1 is stopped by the control of the motor control unit 202.

Next, the process proceeds to step S24. In step S24, under the control of each row motor control unit 202, the second row motor MT2 starts rotating at a preset third rotation speed.

Next, the process proceeds to step S25. In step S25, it is determined whether or not the number of rotations of the rotating member 39 in the second feeding unit 32b counted by the counting unit 10 has reached a preset number of times. The determination in step S25 is performed by each row motor control unit 202 based on the number of rotations sent from the count unit 10 to each row motor control unit 202.

If No is determined in step S25, the process executes step S25 again. That is, from the time when the second motor MT2 starts rotating at the third rotation speed in step S24 until the number of rotations of the rotating member 39 in the second feeding portion 32b reaches the set number of times, the process proceeds with step S25. It will be repeated.

Then, when the number of rotations of the rotating member 39 in the second feeding portion 32b reaches the set number of times, it is determined as Yes in step S25, and the process proceeds to step S26.

In step S26, the drive of the second motor MT2 is stopped by the control of the motor control unit 202.

Next, the process proceeds to step S27. In step S27, under the control of each row motor control unit 202, the third row motor MT3 starts rotating at a preset third rotation speed.

Next, the process proceeds to step S28. In step S28, it is determined whether or not the number of rotations of the rotating member 39 in the third feeding unit 32c counted by the counting unit 10 has reached a preset number of times. The determination in step S28 is performed by each row motor control unit 202 based on the number of rotations sent from the count unit 10 to each row motor control unit 202.

If No is determined in step S28, the process executes step S28 again. That is, from the time when the third motor MT3 starts rotating at the third rotation speed in step S27 until the number of rotations of the rotating member 39 in the third feeding portion 32c reaches the set number of times, the process proceeds with step S28. It will be repeated.

Then, when the number of rotations of the rotating member 39 in the third feeding unit 32c reaches the set number of times, it is determined as Yes in step S28, and the process proceeds to step S29.

In step S29, the driving of the third motor MT3 is stopped by the control of the motor control unit 202.

Next, the process proceeds to step S30. In step S30, under the control of each row motor control unit 202, the fourth row motor MT4 starts rotating at a preset third rotation speed.

Next, the process proceeds to step S31. In step S31, it is determined whether or not the number of rotations of the rotating member 39 in the fourth feeding unit 32d counted by the counting unit 10 has reached a preset number of times. The determination in step S31 is performed by each row motor control unit 202 based on the number of rotations sent from the count unit 10 to each row motor control unit 202.

If No is determined in step S31, the process executes step S31 again. That is, from the time when the fourth motor MT4 starts rotating at the third rotation speed in step S30 until the number of rotations of the rotating member 39 in the fourth feeding portion 32d reaches the set number of times, the process proceeds with step S31. It will be repeated.

Then, when the number of rotations of the rotating member 39 in the fourth feeding unit 32d reaches the set number of times, it is determined as Yes in step S31, and the process proceeds to step S32.

In step S32, the driving of the fourth motor MT4 is stopped by the control of the motor control unit 202. Then, each of these weighing routines ends.

Fertilizer is discharged from each hose 38 while each row weighing routine is being executed. More specifically, the two hoses 38 connected to the first feeding section 32a, the two hoses 38 connected to the second feeding section 32b, and the two hoses connected to the third feeding section 32c. The fertilizer is discharged in the order of the hose 38 and the two hoses 38 connected to the fourth feeding portion 32d.

The operator receives the fertilizer discharged from these hoses 38 into a container and measures the weight thereof. At this time, the worker was discharged from the weight of the fertilizer discharged from the two hoses 38 connected to the first feeding portion 32a and from the two hoses 38 connected to the second feeding portion 32b. The weight of the fertilizer, the weight of the fertilizer discharged from the two hoses 38 connected to the third feeding section 32c, and the fertilizer discharged from the two hoses 38 connected to the fourth feeding section 32d. Weigh and measure separately.

Then, the operator inputs the weight of the fertilizer obtained by the measurement into the touch panel 13. As shown in FIG. 11, the input fertilizer weight is sent to the density calculation unit 57. Further, each row motor control unit 202 sends the third rotation speed and the set number of times to the density calculation unit 57.

The density calculation unit 57 is based on the weight of fertilizer received from the touch panel 13, the third rotation speed received from each motor control unit 202, and the set number of times, and the first feeding unit 32a, the second feeding unit 32b, and the second The density of the fertilizer corresponding to each of the 3 feeding section 32c and the 4th feeding section 32d is calculated.

The density of the fertilizer calculated by the density calculation unit 57 is acquired by the density acquisition unit 56. Then, the density of the fertilizer acquired by the density acquisition unit 56 is sent to each row motor control unit 202.

In the normal mode, each row motor control unit 202 has the first row motor MT1, the second row motor MT2, the third row motor MT3, and the fourth row based on the density of the fertilizer acquired by the density acquisition unit 56. Each row motor MT4 is individually controlled.

That is, each row motor control unit 202 controls the first row motor MT1 based on the density of fertilizer corresponding to the first feeding unit 32a. Further, each row motor control unit 202 controls the second row motor MT2 based on the density of fertilizer corresponding to the second feeding portion 32b. Further, each row motor control unit 202 controls the third row motor MT3 based on the density of fertilizer corresponding to the third feed portion 32c. Further, each row motor control unit 202 controls the fourth row motor MT4 based on the density of fertilizer corresponding to the fourth feeding portion 32d.

[Second Embodiment]
In the above embodiment, the second electric motor 40 is provided.

However, the present invention is not limited to this. Hereinafter, the second embodiment according to the present invention will be described focusing on the differences from the above-described embodiment. The configuration other than the parts described below is the same as that of the above embodiment. Further, the same reference numerals are given to the same configurations as those in the above-described embodiment.

In the second embodiment of the present invention, the second electric motor 40 is not provided. Then, in this second embodiment, the overload routine shown in FIG. 13 is executed. No drive processing is executed in this overload routine. Hereinafter, the overload routine shown in FIG. 13 will be described.

The process executed in steps S41 to S45 in the overload routine of the second embodiment is the same as the process executed in steps S11 to S15 in the overload routine of the above embodiment. Therefore, here, the description will be made from the time when the process shifts to step S46.

In step S46, the stop unit 60 stops driving the first electric motor 33. Next, the process proceeds to step S47.

In step S47, a message indicating that an abnormality has occurred in the first feeding unit 32a, the second feeding unit 32b, the third feeding unit 32c, and the fourth feeding unit 32d is displayed on the touch panel 13. As a result, the touch panel 13 notifies the abnormality regarding the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. Then, this overload routine ends once.

As described above, in this second embodiment, the second electric motor 40 is not provided, and the drive process is not executed.

It should be noted that each of the above-described embodiments is merely an example, and the present invention is not limited thereto and can be appropriately modified.

[Other embodiments]
(1) The replacement time prediction unit 61 is based on the number of rotations of the rotating member 39 in any one of the first feeding unit 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. , The first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d may be configured to predict when the parts included in each of the first feeding section 32a, the second feeding section 32b, and the fourth feeding section 32d need to be replaced. Further, the replacement time prediction unit 61 is based on the total value or the average value of the rotation speeds of the rotating members 39 in each of the first feeding unit 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. , The first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d may be configured to predict when the parts included in each of the first feeding section 32a, the second feeding section 32b, and the fourth feeding section 32d need to be replaced.

(2) The replacement time prediction unit 61 may be provided in a management server installed outside the passenger-type rice transplanter 100. In that case, the number of rotations of the rotating member 39 in each of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d shall be sent from the counting section 10 to the management server. Can be done. Further, the signal indicating the predicted time of the replacement time prediction unit 61 can be sent from the management server to the touch panel 13. Further, when the predicted time of the replacement time prediction unit 61 approaches or when the predicted time is reached, a message prompting the replacement of parts may be transmitted from the management server to the touch panel 13. can.

(3) The HST abnormality diagnosis unit 62 may be provided in a management server installed outside the passenger-type rice transplanter 100. In that case, the detection result by the HST rotation sensor SE2 and the detection result by the main shift lever operation position sensor SE3 can be sent to the management server. Further, when the HST abnormality diagnosis unit 62 diagnoses that an abnormality has occurred in the hydrostatic continuously variable transmission, a signal indicating that an abnormality has occurred in the hydrostatic continuously variable transmission is managed. It can be configured to be transmitted from the server to the touch panel 13.

(4) When the weighing start switch SW is operated, first of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d, only the first feeding section 32a is the first. The rotation speed is rotated by a preset number of times, then only the second feeding portion 32b is rotated by the preset number of times at the first rotation speed, and then only the third feeding portion 32c is first. The first electric motor 33 and the first clutch 34a are rotated by a preset number of times at the rotation speed, and finally, only the fourth feeding portion 32d is rotated by a preset number of times at the first rotation speed. , The second clutch 34b, the third clutch 34c, and the fourth clutch 34d may be controlled.

With this configuration, it is possible to calculate the density of fertilizer corresponding to each of the first feeding section 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d. As a result, the first electric motor control unit 53 determines the density of fertilizer corresponding to each of the first feeding unit 32a, the second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d in the normal mode. It is possible to control the rotation speed of the first electric motor 33 based on the average value.

(5) The vehicle speed sensor SE1 may not be provided.

(6) The satellite positioning device 19 may not be provided.

(7) The HST rotation sensor SE2 may not be provided.

(8) The main shift lever operation position sensor SE3 may not be provided.

(9) The optical sensor SE4 may not be provided.

(10) The HST abnormality diagnosis unit 62 may not be provided.

(11) The fertilizer shortage warning unit 63 may not be provided.

(12) The hopper weight sensor SE5 may not be provided.

(13) The hopper clogging detection unit 59 may not be provided.

(14) The second feeding section 32b, the third feeding section 32c, and the fourth feeding section 32d may not be provided. That is, the number of feeding portions may be one. Further, the number of feeding portions may be two or three, or may be five or more.

(15) The clutch control process may be executed in preference to the forward / reverse rotation process.

(16) The drive process may be executed in preference to the forward / reverse rotation process. Further, the drive process may be executed in preference to the clutch control process.

(17) The clutch control processing unit 81 may not be provided.

(18) The forward / reverse rotation processing unit 58 may not be provided.

(19) The touch panel 13 may not be provided.

(20) The stop unit 60 may not be provided.

(21) The resolution determination unit 72 may not be provided.

(22) In the drive process, the second electric motor 40 may be continuously driven.

(23) The load information acquisition unit 9 is configured to acquire information other than the current value of the first electric motor 33 and the rotation speed of the first electric motor 33 as information indicating the load applied to the first electric motor 33. You may be. For example, the load information acquisition unit 9 may acquire the temperature of the first electric motor 33 (corresponding to the “load information” according to the present invention).

(24) The first electric motor 33 may be attached to a place other than the right end portion of the drive shaft 331. For example, the first electric motor 33 may be attached to the left end portion of the drive shaft 331 or may be attached to the central portion.

(25) The second electric motor 40 may be attached to a portion other than the left end portion of the drive shaft 331. For example, the second electric motor 40 may be attached to the right end portion of the drive shaft 331 or may be attached to the central portion.

(26) The one-way clutch 41 may not be provided.

(27) The counting unit 10 may not be provided.

(28) The replacement time prediction unit 61 may not be provided.

(29) The first electric motor control unit 53 may be configured so that the first electric motor 33 is rotated at the first rotation speed and then not rotated at the second rotation speed in the weighing mode. For example, in the weighing mode, the first electric motor control unit 53 ends the weighing mode without rotating the first electric motor 33 after rotating the first electric motor 33 at the first rotation speed. It may be configured.

(30) The first electric motor control unit 53 does not have to have a weighing mode.

(31) When the target supply amount acquired by the target supply amount acquisition unit 52 increases, the increase rate of the rotation speed of the first electric motor 33 in the first electric motor control unit 53 becomes the increase rate of the target supply amount. The first electric motor 33 may be controlled so as to be equal, or the first electric motor 33 may be controlled so that the rate of increase in the rotational speed of the first electric motor 33 is smaller than the rate of increase in the target supply amount. You may control it.

(32) The target supply amount determination unit 51 may be provided in a management server installed outside the passenger-type rice transplanter 100. Further, the target supply amount determination unit 51 may not be provided.

(33) The target supply amount acquisition unit 52 may not be provided.

(34) When the weighing start switch SW is operated, the clutch control unit 8 engages two or three clutches of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d. The clutch may be controlled to the disengaged state as well as the remaining clutch. Further, when the weighing start switch SW is operated, the clutch control unit 8 may control all of the first clutch 34a, the second clutch 34b, the third clutch 34c, and the fourth clutch 34d to the on state.

(35) The weighing start switch SW may not be provided.

The present invention can be used not only for a fertilizer application device but also for a pesticide spraying device, a seeding device and the like.

3 Fertilizer application device (powder and granular material supply device)
13 Touch panel (notification unit)
31 Hopper (reservoir)
32a 1st feeding part (feeding part)
32b 2nd feeding part (feeding part)
32c 3rd feeding part (feeding part)
32d 4th feeding section (feeding section)
33 First electric motor
40 2nd electric motor 55 Drive processing unit 58 Forward / reverse rotation processing unit 60 Stop unit
72 Elimination judgment unit
331 drive shaft