JPH1189320A - Paddy field working machine monitoring system - Google Patents

Abstract

(57) [Problem] To provide a rice transplanter capable of visually observing the work situation behind the driver without turning around, and grasping the work state while performing a driving operation. SOLUTION: A seedling planting device A is attached to a rear end of a traveling machine body 3 having a driving seat 7 via a lifting link mechanism 9 so as to be able to move up and down freely, and a color monitor is provided on an operation panel of a driving unit to plant seedlings. The rear view video from the CCD camera 39 located behind the device A is viewed while driving on a color monitor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work condition monitoring device for a paddy working machine.

[0002]

2. Description of the Related Art When the number of mat-shaped seedlings on a seedling mounting table is reduced, the next seedlings need to be replenished. It is conceivable to replenish the fertilizer in the fertilizer applicator, or to correct the elevation sensitivity by checking the level of the ground leveling or mud pushing by the leveling float, and to correct the planting depth due to lack of stock or floating seedlings. Conventionally, since the working device is disposed behind the driver's seat, for a part of such a specific working state, a detecting means is placed in a corresponding portion, and a liquid crystal is displayed on an operation panel provided near the handle post. A configuration is adopted in which the display device is fitted, and a graphic pattern or the like that calls attention to the driver is lit or blinked on the liquid crystal display device based on the detection result.

[0003]

The use of such a configuration has the following disadvantages. To inform the driver of a specific work condition,
Since the sound effect such as a buzzer is also used, the driver does not look at the liquid crystal display device and concentrates on the driving operation until the buzzer sound is generated. Then, when the buzzer sounds, the driver first looks back before checking on the liquid crystal display,
Try to find out what specific working condition you are in. Further, there is a problem that it is difficult to select a position where the installation position of the liquid crystal display device is set within a field of view of a driver who is dedicated to driving and is always visible. SUMMARY OF THE INVENTION An object of the present invention is to provide a work condition monitoring device for a paddy working machine that can solve the above-mentioned conventional drawbacks and can perform a driving operation while viewing the rear view of the driver's seat.

[0004]

[Means for Solving the Problems]

[Structure] A feature structure according to the present invention according to claim 1 is to attach a working device to a rear end of a traveling body having a driving unit via a lifting link mechanism and to operate an imaging device for monitoring the working state of the working device. Position it behind the device,
There is a monitoring control means for controlling the video signal sent from the monitoring imaging device and sending it to the driver's monitoring monitor, and its operation and effect are as follows.

[Operation] In other words, the driver can view the field of view behind the driver on the monitoring monitor without looking back, as the same image as viewed from behind the working device.
The driving operation can be performed while grasping the state of the working device and the state of planting while always watching the rear image.

[Effect] As a result, necessary processing can be appropriately performed. In addition, since the left-right direction of the image projected on the monitoring monitor coincides with the left-right direction of the traveling body, there is little discomfort. For example, when the left and right images are reversed, the driver reads the monitor consciously of that fact. Although it is necessary, it is not necessary to take such consciousness, and there is a merit that viewing the monitor does not impose a burden on the driving operation.

[0007] According to a second aspect of the present invention, a seedling planting device is attached to a rear end of a traveling body having an operating unit via a lifting link mechanism, and a part of the seedling planting device is provided. A head-end clutch mechanism for stopping planting on the strips and a head-end lamp for turning on the clutch mechanism in an off state are provided, and a monitoring imaging device for a working state of the seedling planting device and an image transmitted from the monitoring imaging device are provided. Monitoring control means for controlling a signal and sending the signal to a driver's monitoring monitor, wherein when the clutch mechanism is in a disengaged state, the monitoring control means shifts the image on the monitoring monitor from the monitoring image for the working state. It is configured to switch to the lighting image of the lamp, and its operation and effect are as follows.

[Effects] The head-end clutch mechanism described above is referred to as each-row clutch mechanism, and is used to stop the planting operation on some of the plurality of rows. is there. And, when using this cross-bend clutch mechanism, it is necessary to actuate the entire planting mechanism of the rice transplanter to perform planting at the time of planting work and finally planting along the ridge. Because of this, it is necessary to stop planting for a line that overlaps with the case of performing round planting at the time of reciprocal planting in the previous process. By the way, while reciprocating planting is carried out by operating a clutch mechanism at the time of stopping a part of the planting streaks, there is a case where a transition is made to the round planting in a state where the clutch mechanism is forgotten to return to the on state. For this reason, a graphic pattern indicating that the user has forgotten to enter is displayed on the liquid crystal display device of the operation panel. In consideration of the above points, the present invention focuses on the monitor that displays the work state, and displays the lit lamp on the monitor to alert the driver to forget to return. In addition, it is possible to respond quickly and suppress the stock-out phenomenon and the like.

According to a third aspect of the present invention, a seedling planting device is attached to a rear end of a traveling body having an operation unit via a lifting link mechanism, and a lower end of the seedling planting device. An elevation control means for maintaining the attitude of the sensing float with respect to the seedling planting apparatus at a set attitude based on the ground pressure of the attached sensing float is provided, and a monitoring imaging apparatus for monitoring the working state of the seedling planting apparatus, and a monitoring imaging apparatus Monitoring control means for controlling a video signal sent from the monitoring monitor for the driver and transmitting the video signal to the driver's monitoring monitor. It is configured to switch from the monitoring image for the sensing float to the monitoring image for the sensing float, and its operation and effect are as follows.

[Effects] In other words, since the state of the sensing float can always be confirmed on the video, the adjustment of the sensing sensitivity and the like of the sensing float is set to an appropriate state by observing the state of the mud push and the level of the ground level. Can be.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a drive-type front wheel 1 and a drive-type rear wheel 2 are operated by steering.
The engine 4 is mounted on the front of the traveling body 3 provided with a belt-type continuously variable transmission V and the transmission case 5 to which power from the engine 4 is transmitted. In addition, a driving unit having a steering handle 6 and a driving seat 7 is disposed at the center of the traveling body 3,
A seedling planting device A and a fertilizing device B as working devices are connected to a rear end of the traveling machine body 3 via a link mechanism 9 driven up and down by a lift cylinder 8 to constitute a rice transplanter as a riding type working machine. In the seedling planting apparatus A, the planting mechanism 11 having the planting arm from the lower end of the mat strip seedling W placed on the seedling placing stand 10 is one.
It is configured to perform an operation of cutting out a plant and planting it in a field scene, and a plurality of leveling floats 12 are provided at a lower portion, and at right and left end positions, an action posture in which a tip portion enters the field scene, The line marker 13 is configured to be switchable between a non-acting position and a non-acting position separated upward from the line marker. The fertilizer applicator B is a storage tank 3 for storing powder and granular material such as fertilizer.
4. Consists of a feeding device 35, a downflow hose 36, and a groove generator 37. The feeding device 35 and the storage tank 34 are separated from the downflow hose 36 so that the position can be changed upward along the guide rod 46. This is the planting mechanism 11
When the maintenance work is performed on the fertilizer applicator B, the fertilizer applicator B, which is located behind the planting mechanism 11 and obstructs the visibility of the planting mechanism 11, is lifted up and retracted.

On the right side of the driver's seat 7, the seedling planting device A is lifted and the planting clutch C built in the transmission case 5 is mounted.
The planting clutch lever 16 is provided with a guide 17 as shown in FIG.
When the seedling planting device A is lowered by setting it to the “down” position in the path formed in the path, and raised by setting it to the “up” position, and set to the “neutral” position When the raising / lowering lever 16 is set to the "on" position, the planting clutch C is engaged and the seedling planting device A is provided with the seedling planting device A. Cooperates with a control system to perform an automatic elevating control for maintaining a predetermined height of the field when the leveling float 12 is in contact with the ground,
When set to the “off” position, the planting clutch C is turned off,
Further, when the elevating lever 16 is set to the "automatic" position, the seedling planting apparatus A is operated in accordance with the operation of the forcible elevating lever 27 described later.
And the planting clutch C can be automatically turned off when the seedling planting device A is raised. As shown in FIG. 6, a potentiometer type lever sensor 18 for measuring the operating position of the lifting lever 16 is provided at the base end of the planting clutch lever 16.

As shown in FIG. 6, one of the plurality of leveling floats 12 at the center in the left-right direction is a seedling planting apparatus A.
Is supported so as to be swingable around a horizontal axis P, and functions as a sensing float used for elevation control at the time of planting, and the amount of swing of the sensing float 12 is determined based on the amount of vertical displacement of the front part. Is controlled by the controller 23 so that the signal from the float sensor 19 and the signal from the elevation sensitivity setting device 20 (see FIG. 3) are balanced during the automatic elevating control of the seedling planting apparatus A. Is set. That is, when the contact pressure received by the sensing float 12 fluctuates due to the fluctuation of the ground height of the traveling machine body 3 and the front and rear attitude of the sensing float fluctuates with respect to the seedling planting apparatus A, the seedling planting apparatus A is moved up and down. The control is performed so that the posture is returned to the set posture (so that the signals are balanced). Means for performing such control is referred to as first elevation control means. The planting clutch C is configured to be turned on and off by the operation of the clutch motor 22.

As shown in FIG. 4, a force raising / lowering lever 27 is provided on the right side of the post portion 26 of the steering handle 6 as an operation tool for forcibly moving the seedling planting apparatus A up and down. A raising position U for raising the seedling planting device A to the upper limit by upward movement based on the position, a descending position D for lowering the seedling planting device A to a working height for automatically raising and lowering the seedling planting device A by moving downward based on the neutral position, It is freely switchable between a right marker position R for switching the line marker 13 on the right side to the working posture by moving backward with respect to the neutral position, and a left marker position L for switching the line marker 13 to the working posture by moving forward with reference to the neutral position. Is configured. A lift switch 14 for detecting that the forcible lifting lever 27 has been operated to the raised position and the lowered position, and a pair of markers for detecting that the forcible lifting lever 27 has been operated to the right marker position or the left marker position. An operation switch 15 is provided.

As shown in FIG. 3, the handle post 26
In the operation panel 45 provided in a state of hugging
The control sensitivity setting device 20 for raising and lowering is provided on the left side of the handle post portion 26, and a main speed change lever 28 is provided on the left end, and an accelerator lever 29 and a belt speed change device are provided on the right side of the post portion 26. A speed change lever 30 is provided. Then, in front of the post section 26, a liquid crystal type 5.25 is provided.
An inch-type color monitor 31 is fitted and fixed.

Next, a control mode using the color monitor 31 will be described. In the description of the embodiments up to this point, it has been described that sensors for detecting whether or not each operation lever has been operated have been provided. A working state detecting means is provided with a remaining seedling sensor 32 for detecting the remaining amount of seedlings, a remaining fertilizer sensor 33, and the like.

A mounting structure of a CCD camera 39 as an image pickup device for transmitting an image to the color monitor 31 will be described. As shown in FIGS. 1 and 2, a base frame 38 is erected at the tip of a guide rod 46 that guides the fertilizer applicator B up and down, and a column 41 is extended from the base frame 38, and a camera 39 or the like is provided at the column tip. Is attached. Although not shown, the camera 39 is mounted on a table so that the position can be changed left and right, up and down, and back and forth.
The posture can be changed by each of the front and rear DC motors.
A mechanism for changing the posture is referred to as a camera posture changing device 42. The camera posture changing device 42 is configured to be operated by a remote control device as the camera posture changing operation tool 43 or the control switch 21 provided near the color monitor 31.

In addition to the above-described structure, the support column 41 may be configured so as to be horizontally rotatable about the vertical axis X with respect to the base frame 38, and this rotation operation may be performed by a motor or the like (not shown). . This motor or the like is used as a turning drive mechanism 44 for the column 41. The camera posture changing device 42 and the camera 39 are attached to the support 41. in this way,
Since the camera 39 can be turned, not only the image from behind the working device A, but also the camera 39 is positioned behind the driver's seat 7 and, as described later, the clutch operating tool 47 and the The headlight lamp 4 for detecting that the clutch operating tool 47 is in the disengaged state and for notifying the disengaged state by a signal from the clutch switch 40 when the head is in operation.
8 and the line marker 13 are made visible.
It should be noted that the near-end lamp 48 is provided adjacent to the near-end clutch operating tool 47 provided on the back of the seedling mounting table 10.

A control system is constructed as shown in FIG. 6. In this control system, a control device 23 having a microprocessor (not shown) is operated by a lever sensor 18, an elevation switch 14, a marker operation switch 15, an elevation switch Sensitivity setting device 20,
The system is configured to input signals from the float sensor 19, the seedling remaining amount sensor 32, the fertilizer remaining amount sensor 33, the camera 39 serving as a monitoring imaging device, the flank clutch switch 40, and the camera posture changing operation tool 43, In response to the following inputs, the clutch motor 22 for the planting clutch, the solenoid valve 24 for the lift cylinder 8, the alarm 25 as an alarm device, the color monitor 31, the camera posture changing device 4
2. It is formed so as to output to the lamp 48 at the time of notification.

The image projected on the color monitor 31 is projected from behind the traveling body 3 by the camera 39.
The behavior of the seedling planting device A, or the operating condition of the fertilizing device B,
Furthermore, the state of the planting mark can be seen closely without the driver turning back. Seedling stand 1
If a warning is issued, such as when the remaining amount of seedlings on 0 becomes low until replenishment is required, the alarm 25 is activated and the image showing the working state corresponds to the warning content. Will be displayed.

When control is performed based on the above-described devices, several types of control modes can be adopted as follows. (First control mode) As shown in FIG. 7, it is determined whether the clutch operating tool 47 is in the disengaged state (step # 1), and if it is in the disengaged state, the lamp 48 is blinked (#). 2 steps). At the same time, the lamp 48 and the clutch operating tool 47 are projected on the monitoring monitor 31 (#
3 steps). If the clutch operating tool 47 is in the engaged state, the video on the monitor 31 reflects the working state of the working device A (step # 4).

(Second Control Mode) As shown in FIG. 8, it is determined whether the planting clutch C is engaged (step # 11). If there is, the image on the monitor 31 is set to the image of the sensing float 12. In this case, a light emitting body 49 such as an LED may be attached to the rear end of the sensing float to facilitate monitoring (Step # 12). If it is not in the planting operation state, the image is switched to the image for the work device A (# 13 step).

(Third Control Mode) As shown in FIG. 9, it is determined whether the left or right line marker 13 has been operated by the marker switch 15 (step # 21).
When the line marker 13 is operated, the operated left or right line marker 13 is monitored by the monitoring monitor 31.
(# 22 step). When projecting the line marker 13, the support 41 is rotated by the turning drive mechanism 44 and projected from above the line marker 13, or
The operation may be performed by operating the camera attitude changing mechanism 42. When the line marker 13 is not operated, the working device A
(# 23 step). Thereby, the trace state of the marker 13 on the field surface can be seen, and the change of the trace intensity can be adjusted.

(Fourth Control Mode) It is determined whether or not there is an output requiring an alarm from sensors such as the seedling remaining amount sensor 32 and the fertilizer residual sensor 33 (step # 31). If there is an output from the sensors 32, 33, etc., the alarm device 25 generates a dummy sound corresponding to a specific work state in which an event requiring the processing occurs (step # 32). Simultaneously with the occurrence of the onomatopoeic sound, a graphic pattern corresponding to the event requiring processing is displayed on the monitor 31 (step # 33). Flash the graphic pattern to alert the driver. Further, the engine governor 50 is controlled to reduce the engine speed (# 34 step). If an event requiring processing has not occurred, the image is switched to the image for work device A (step # 35).

[Other Embodiments] In the present invention, in addition to the above-described embodiments, a miniaturized vidicon or image orchicon can be used as an imaging device. As the monitor 31, a small CRT type monitor or another plasma display can be used.

As a means for detecting the working state, there is a fertilizer clogging sensor provided in the groove generator 37 and the like. As the paddy field working machine, a direct sowing machine other than the rice transplanter corresponds.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a plan view of the seedling planting apparatus.

FIG. 3 is a plan view of an operation panel.

FIG. 4 is a perspective view showing a forced lifting lever.

FIG. 5 is a plan view showing a guide of the planting clutch.

FIG. 6 is a control block diagram.

FIG. 7 is a control flowchart for preventing forgetting to apply a clutch at the time of headache.

FIG. 8 is a flowchart for selecting and controlling a monitoring image during a planting operation.

FIG. 9 is a control flowchart for displaying a marker when the marker is activated.

FIG. 10 is a flowchart of selection control of a monitoring image in a specific work state;

[Explanation of symbols]

 Reference Signs List 3 traveling body 9 lifting link mechanism 12 sensing float 23 (monitoring) control means 31 monitoring monitor 39 monitoring imaging device 48 near-field lamp A working device (seedling planting device)

Claims (3)

[Claims] An operation device is attached to a rear end of a traveling body provided with an operation unit via an elevating link mechanism, and an imaging device for monitoring a work state of the operation device is positioned behind the operation device to monitor the operation state. A work condition monitoring device for a paddy working machine, comprising a monitoring control means for controlling a video signal sent from an imaging device and sending the video signal to a monitoring monitor for a driver. 2. A clutch mechanism for attaching a seedling planting device via a lifting link mechanism to a rear end of a traveling machine body having an operation unit, and stopping planting of a part of the seedling planting device. A headlight is provided for turning on the clutch mechanism when the clutch mechanism is disengaged, and a monitoring imaging device for the working state of the seedling planting device, and a video signal sent from the monitoring imaging device are controlled and sent to the driver's monitoring monitor. Monitoring control means, and when the clutch mechanism is in a disengaged state,
A work condition monitoring device for a paddy working machine, wherein a monitor control means switches an image on a monitor from a monitor image for a work condition to a lighting image of a lamp at the time of work. 3. A seedling planting device is attached to a rear end of a traveling body having an operation unit via a lifting link mechanism, and seedling planting is performed based on a ground contact pressure of a sensing float attached to a lower end of the seedling planting device. A lifting and lowering control means for maintaining the attitude of the sensing float with respect to the attachment device in a set attitude, a monitoring imaging device for the working state of the seedling planting device, and a video signal transmitted from the monitoring imaging device for controlling the driver. Monitoring control means for sending to the monitoring monitor, wherein when the seedling planting device is in the planting state, the monitoring control means switches the image on the monitoring monitor from the monitoring image for the working state to the monitoring image for the sensing float. The work status monitoring device for the paddy working machine that is configured.