JPH08322342A - Riding-type rice transplanter - Google Patents

Abstract

PURPOSE: To provide a riding-type rice transplanter capable of suppressing a hunting phenomenon and excellent in planting ability by placing a sensitivity- changing means, etc., for changing the controlling sensitivity of a vertical motion controlling means to a insensitive side when the machine body enters into a butt planting process. CONSTITUTION: This rice transplanter is provided with a vertical motion- controlling means for operating an actuator to hold a seedling planting apparatus 3 at a specified height from the surface of a field based on the value determined by a height sensor. The rice transplanter is also provided with a distinguishing means for distinguishing whether the machine body has entered into a butt planting process M or not, in which the machine body moves along a ridge C on a but B to perform planting work. In a butt region, the machine body turns in order to enter from a planting process A1 to A5 into the next planting process A1 to A5. When it is detected by the distinguishing means that the machine body is in the butt planting process M, the controlling sensitivity of the vertical motion controlling means is automatically shifted to an insensitive side.

Description

Detailed Description of the Invention

[0001]

The present invention relates to a riding type rice transplanter,
The present invention relates to a configuration for vertically moving a seedling planting device so that the seedling planting device is maintained at a set height from a rice field.

[0002]

2. Description of the Related Art In a riding type rice transplanter, a seedling planting device is connected to a machine body by an actuator so that it can be moved up and down, and a height sensor for detecting the height from the rice field to the seedling planting device is provided. Elevating control means for operating the actuator is provided so that the seedling planting device is maintained at the set height from the rice field based on the detection value of the height sensor. By thus maintaining the seedling planting device at the set height from the rice field, the planting depth of the seedlings is maintained constant.

In this case, the control sensitivity of the elevating control means can be artificially changed to the insensitive side or the sensitive side by a changeover switch or the like. Thus, when the mud on the rice field is soft and the rice field is smooth, the control sensitivity is changed to the sensitive side so that the seedling planting device can be accurately moved up and down. On the contrary, when the mud on the rice field is hard and the unevenness on the rice field is severe, the control sensitivity is changed to the insensitive side to suppress the hunting phenomenon caused by the lifting operation of the seedling planting device.

[0004]

In the riding type rice transplanter, for example, as shown in FIG. 2, the aircraft is run along the ridge C to perform the first planting step A1, and the first planting step A1 is completed. Then, one headland B turns the aircraft 180 ° to enter the next planting step A2, and when this planting step A2 ends, the other headland B turns the vehicle 180 ° to the next planting step A3. Repeat the work of entering. Then, for example, as shown in FIG. 3, when the final planting step A5 is completed, the machine body is put into the headland B and run along the ridges C to plant seedlings on the headland B. Since the headland is a place where the aircraft turns 180 °, the front surface and the rear wheels roughen the paddy field of the headland during this turning. As a result, even if the paddy field of all parts is smooth before the planting work of the seedlings, the paddy field of the headland B becomes flat if all the planting steps A1 to A5 are completed as shown in FIG. 3, for example. The unevenness is severe.

As a result, when the planting work on the headland is started in order to suppress the hunting phenomenon caused by the lifting operation of the seedling planting device on the headland, the operator operates the control sensitivity of the lifting control means to the insensitive side. There is a need. However, if the control sensitivity is operated to the sensitive side for a long time in the planting process in front of this headland, the worker gets used to the sensitive side and enters the planting work on the headland. When the operator forgets to operate the control sensitivity to the insensitive side, the worker enters the planting work on the headland while leaving it on the sensitive side, causing hunting phenomenon due to the raising and lowering operation of the seedling planting device on the headland. It may happen. It is an object of the present invention to configure a riding type rice transplanter so as not to cause a hunting phenomenon due to an up-and-down operation of a seedling planting device when the planting work in a headland is started.

[0006]

A feature of the present invention resides in the following configuration of the riding type rice transplanter described above. [1] The seedling planting device is connected to the machine body so that it can be moved up and down by an actuator, and it is equipped with a height sensor that detects the height from the rice field to the seedling planting device, based on the detection value of the height sensor. In order to maintain the seedling planting device at the set height from the rice field, it is equipped with a lifting control means for operating the actuator, and the aircraft headland that turns to move from one planting process to the next planting process. In, the vehicle has a discrimination means for discriminating whether or not the aircraft has entered the headland planting process of traveling through the headland along the ridge for planting work, and the discrimination means determines that the aircraft has entered the headland planting process. Then, the sensitivity changing means for automatically changing the control sensitivity of the elevation control means to the insensitive side is provided.

[2] In the constitution of the above item [1], a pair of left and right markers for forming the next planting process index on the rice field are provided, and the right and left markers are inserted into the rice field from the work posture and the rice field. Is configured to be freely switchable to the upper storage posture, and the determination unit is configured to switch both the right and left markers to the storage posture so that the aircraft can be determined to have entered the headland planting process. Configured.

[3] In the construction of [1] above, in the state where the front wheel for traveling the steering means is steered to the right or left beyond the set angle, and the front wheel is returned to the straight traveling position, the machine body moves backward. , When the aircraft starts to move forward in the straight position of the front wheels,
It is configured to determine that the aircraft has entered the headland planting process.

[0009]

[Action]

[I] With the configuration as described in [1] above, when the aircraft enters the headland planting process in which the headland travels along the ridges for planting work,
This is determined by the determination means, and the control sensitivity of the elevation control means is automatically changed to the insensitive side. As a result, the worker forgets to operate the control sensitivity to the insensitive side when entering the planting work on the headland, and enters the planting work on the headland with the sensitive side, and the seedling planting device There is no situation where a hunting phenomenon is caused by the lifting operation of the.

[II] When configured as in the above item [2],
As in the case of the configuration of the above [1], the "action" described in the above [I] is provided, and in addition to this, the following "action" is provided. For example, as shown in FIG. 2, the riding type rice transplanter is provided with a pair of left and right markers 24 and 25 for forming indices E1 and E2 of the next planting process on the rice field G. In this case, for example, as shown in FIG. 3, when the aircraft is put in the headland B and the headland planting step M is entered, the right and left markers 24, 2
Both 5 are switched from the work posture S to the storage posture K (see FIG. 4).

This is because the width of the headland B (width in the vertical direction on the paper surface of FIG. 3) is larger than the lateral width of the seedling planting device 3 (total lateral width of a plurality of planting strips by the seedling planting device 3). Since the turning in the headland B is performed in each of the planting steps A1 to A5 so as to be a little wider, the right and left markers 24 and 25 are set to the work posture S when the aircraft is put in the headland B. This is because when the switching operation is performed, the right and left markers 24 and 25 come into contact with the ridge C and the seedling in each planting process A1 to A5.

According to the above construction, when both the right and left markers are switched to the retracted posture K according to the above-mentioned constitution [2], it is judged that the aircraft has entered the headland planting process, and the elevation control is performed. The control sensitivity of the means is automatically changed to the insensitive side. As described above, it is based on the operation (switching the right and left markers to the retracted posture) that can be said to be always performed when entering the headland planting process. It is surely discriminated that the entry is not overlooked.

[III] The constitution as in the preceding paragraph [3] has the "action" described in the preceding paragraph [I] as in the case of the constitution in the preceding paragraph [1]. It has "action". In the riding type rice transplanter, for example, as shown in FIG. 3, when the final planting step A5 is finished and the aircraft is put in the headland B, when the aircraft reaches the end of the last planting step A5, the front wheel is moved to the right ( Or, it is operated to the left) by more than the set angle to turn the aircraft while moving forward (stroke H1). Next, the front wheels are returned to the straight-ahead position, the aircraft is moved backward (stroke H2), and the aircraft is moved forward again to enter the headland planting stroke M.

With this configuration, if the above-mentioned [3] is configured, when the above-mentioned operation is performed, it is determined that the aircraft has entered the headland planting process, and the control sensitivity of the lifting control means is automatically adjusted. The operation is changed to the insensitive side. As described above, the aircraft is in the headland planting process because it is based on the operations that can be said to be always performed when entering the headland planting process (front wheel steering operation and forward / backward traveling operation). Can be reliably identified without being overlooked.

[0015]

According to the present invention, when the airframe enters the headland planting process, the control sensitivity of the elevating control means is automatically changed to the insensitive side, and the seedlings in the headland planting process are set. Since the hunting phenomenon caused by the raising / lowering operation of the planting device is suppressed, the extreme deep and shallow planting of seedlings due to the hunting phenomenon on the headland can be prevented, and the planting performance of the riding type rice transplanter is improved. I was able to do it.

According to the second aspect of the invention, as in the case of the first aspect, the "effect of the invention" of the first aspect is provided. According to the second aspect of the present invention, the aircraft body is planted in the headland based on the operation (switching the right and left markers to the retracted posture) that can be said to be always performed when entering the headland planting process. Since the fact that the process has been entered is not overlooked and is reliably determined, the operation becomes highly reliable.

According to the third aspect, similar to the case of the first aspect, the above-mentioned "effect of the invention" is provided. According to the third aspect of the present invention, the aircraft enters the headland planting process on the basis of operations (front wheel steering operation and forward / backward movement operation) that can be said to be always performed when entering the headland planting process. Since it is possible to discriminate things without overlooking, the operation becomes highly reliable.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. (1) As shown in FIG. 1, the front wheel 1 is steerable from side to side.
Further, a hydraulic cylinder 5 (corresponding to an actuator) that connects the link mechanism 4 to the up and down direction and drives the link mechanism 4 to move up and down is provided at the rear portion of the machine body supported by the rear wheels 2, and the rear portion of the link mechanism 4 is provided with seedlings. The attachment device 3 is connected to form a riding type rice transplanter. The seedling planting device 3 has a front and rear axis P of the link mechanism 4.
It is connected so that it can roll around 1. The frame 4a at the rear end of the link mechanism 4 is provided with an electric cylinder 15, and the frame 10 that supports the seedling stand 9 in the seedling planting device 3 and the electric cylinder 15 are connected via a spring (not shown). There is. As a result, the seedling planting device 3 is linked to the link mechanism 4 by expanding and contracting the electric cylinder 15.
A rolling operation is performed around the front-rear axis P1.

As shown in FIGS. 4 and 1, a hydrostatic stepless transmission 20 for traveling is provided, an electric cylinder 21 for shifting the stepless transmission 20, and a stepless transmission 20. 22 for detecting the gear shift position
Is provided. A gear shift lever 19 is provided next to the steering handle 23, and the operation position of the gear shift lever 19 is input to the control device 11. The continuously variable transmission 20 is configured to be capable of stepless speed change operation on both the forward drive side F and the reverse drive side R with the neutral stop position N interposed therebetween, and the shift lever 19 with the neutral stop position N sandwiched between the forward drive side F and the forward drive side F. When operated to any operation position on the reverse side R, the control device 11 and the electric cylinder 21 cause the continuously variable transmission device 20 to perform a shift operation so as to reach a shift position corresponding to the operation position of the shift lever 19.

In the first planting stroke A1 shown in (4) and FIG. 2 which will be described later, the operation pattern and the operation position of the shift lever 19 operated by the operator are stored. As a result, in the subsequent planting stroke A2 and thereafter, the operator only operates the speed change lever 19 close to the operation position in the first planting stroke A1, and regardless of the operation position of the speed change lever 19, the continuously variable transmission device. 20 is automatically shifted to the shift position corresponding to the operation position of the shift lever 19 in the first planting stroke A1.

(2) Next, the raising / lowering operation of the seedling planting device 3 will be described. As shown in FIG. 4, the rear part of the center float 6 is swingably supported around the horizontal axis P2 at the lower part of the seedling planting device 3, and the front part of the center float 6 is supported by a spring (not shown). The rod 8 connects the detection arm 7a of the potentiometer 7 (corresponding to a height sensor) provided in the seedling planting device 3 and the front part of the center float 6 which is biased to the descending side. As a result, the height from the rice field G to the seedling planting device 3 is set at the center float 6
Is detected by the potentiometer 7 as the vertical angle of the
Is input to

As a result, the planting steps A1 and A described later are performed.
At 2, A3, A4, A5, when the center float 6 follows the ground surface G to follow the ground, the detection value of the potentiometer 7 becomes the target value D (the detection arm 7a of the potentiometer 7 is in the posture of the target value D). As described above, the control device 11 operates the control valve 12 to expand and contract the hydraulic cylinder 5, and the seedling planting device 3 is automatically moved up and down.
As a result, the seedling planting device 3 is automatically maintained at the set height from the paddy field G, and the seedling planting depth is maintained at the set value (corresponding to the elevating control means).

As shown in FIG. 4, there is provided a dial type sensitivity setting switch 13 capable of artificially setting the control sensitivity of the lifting control means as described above. In the lifting control means as described above, when the mud on the rice field G is hard and the unevenness on the rice field G is severe, the sensitivity setting switch 13 is operated to the insensitive side. In this case, the target value D is changed to the upward side according to the operation position of the sensitivity setting switch 13.

As a result, the seedling planting device 3 is automatically operated so that the detection value of the potentiometer 7 becomes the upward target value D (so that the detection arm 7a of the potentiometer 7 becomes the posture of the upward target value D). It is operated up and down. The posture of the center float 6 at the upward target value D is shown in FIG.
Since the posture is higher than that shown in, the contact area of the center float 6 with the rice field G is reduced, and the center float 6
A spring (not shown) that urges the spring downward is compressed, and the urging force of the spring is strengthened. Therefore, the ground follow-up sensitivity of the center float 6 to the rice field G, that is, the control sensitivity of the ascending / descending control means is changed to the insensitive side.

On the contrary, when the mud on the rice field G is soft and the rice field G is smooth, the sensitivity setting switch 13 is operated to the sensitive side.
In this case, the target value D shown in FIG.
It is changed to the downward side according to the operation position of. As a result, the detected value of the potentiometer 7 is the downward target value D.
So that the detection arm 7a of the potentiometer 7 has a downward target value D posture, the seedling planting device 3
Is automatically moved up and down. Since the attitude of the center float 6 at the downward target value D is lower than the attitude shown in FIG. 4, the contact area of the center float 6 with the rice field G increases, and the center float 6 is urged downward. The spring (not shown) extends and the biasing force of the spring is weakened.
Therefore, the ground follow-up sensitivity of the center float 6 to the rice field G, that is, the control sensitivity of the ascending / descending control means is changed to the sensitive side.

(3) Next, the rolling operation of the seedling planting device 3 will be described. As shown in FIG. 4, a tilt sensor 1 for detecting the lateral angle of the seedling planting device 3 with respect to the horizontal plane.
6 and a dial type angle setting switch 17 capable of artificially setting the right and left angles at which the seedling planting device 3 is supported with respect to the horizontal plane. The detection value of the tilt sensor 16 and the angle setting switch 17 are used. The set left and right angles are input to the control device 11.

As a result, the electric cylinder 15 is operated and operated by the control device 11 based on the detection value of the tilt sensor 16, so that the seedling planting device 3 becomes the horizontal angle set by the angle setting switch 17 with respect to the horizontal plane. The rolling operation is performed automatically. In this case, the angle setting switch 17
The horizontal angle at which the seedling planting device 3 is maintained with respect to the horizontal plane can be arbitrarily changed by operating the horizontal direction, the right downward direction, and the left downward direction.

As described above, when the seedling planting device 3 is automatically rolled based on the right and left angles set by the angle setting switch 17, such automatic rolling operation is not performed. In addition, the electric cylinder 15 can be fixed at a desired position. In this case,
By manipulating the electric cylinder 15 by operating the manual setting switch 18 shown in FIG. 2 to the right downward side and the left downward side, the horizontal angle of the seedling planting device 3 with respect to the machine body (link mechanism 4) is changed to a desired angle. And can be fixed.

(4) In the riding type rice transplanter, as shown in FIG. 2, the aircraft is made to run along the ridge C to perform the first planting step A1, and when the first planting step A1 is completed, one pillow At the ground B, turn the aircraft 180 ° to enter the next planting step A2, and when this planting step A2 is completed, turn the aircraft at the other headland B 180 ° to enter the next planting step A3. Repeat the work.

As shown in FIGS. 4 and 1, the right marker 24 and the left marker 25 that form the indicators E1 and E2 of the next planting process on the rice field G during one planting process are It is provided on the right and left. Right and left markers 24,
25 is supported around the axis P3 of the machine body so as to be switchable over a work posture S that has entered the field G and a storage posture K that is above the field G, and the right and left markers 24 and 25 are provided.
Is provided with a pair of limit switches 26 for detecting that the switch operation is performed to the storage posture K. The state shown in FIG. 2 is the state of the planting stroke A3, and in this state, the aircraft is running along the index E1 formed on the rice field G by the right marker 24 in the previous planting stroke A2, and the left marker is left. 25 is switched to the work posture S to form the index E2 of the next planting process A4 (see FIG. 3) on the field G, and the right marker 24 is switched to the stored posture K. .

As shown in FIG. 3, when the final planting process A5 is entered from the planting process A4, the ridge C is located on one side of the machine and the seedling of the previous planting process A4 is located on the other side of the machine. become. As a result, when the right and left markers 24 and 25 are switched to the work posture S in the last planting step A5, the right and left markers 24 and 25 become ridges C and seedlings in the planting step A4. The aircraft is in the final planting process A5 as it comes into contact.
Before entering, both the right and left markers 24 and 25 are switched from the work posture S to the storage posture K.

Therefore, when both the right and left markers 24 and 25 are switched from the work posture S to the storage posture K,
The detection signals of the pair of limit switches 26 shown in FIG. 4 are input to the control device 11, and regardless of the operation position of the sensitivity setting switch 13 in the control device 11, the control sensitivity at the current operation position of the sensitivity setting switch 13 and the maximum control sensitivity. The control sensitivity of the ascending / descending control means is automatically changed to the control sensitivity between the insensitive state.

The field G near the ridge C is generally rough even though it is not as rough as the field G of the headland B on which the aircraft turns, so that the control sensitivity of the lifting control means is automatically adjusted as described above. By changing the operation to the insensitive side, even in the last planting step A5 near the ridge C, planting work of seedlings is performed without causing the hunting phenomenon due to the lifting operation of the seedling planting device 3. As a result, the first planting stroke A1 shown in FIG. 3 is also in the vicinity of the ridge C, and in this case, the operator manually operates the impression setting switch 13 to the insensitive side to enter the next planting stroke A2. The sensitivity setting switch 13 may be operated to an appropriate operating position.

Next, as shown in FIG. 3, when the airframe reaches the end of the final planting stroke A5, the operator operates the control handle 2
Operate 3 to change the orientation of the aircraft by about 90 ° and move the aircraft to the headland B.
Then, the aircraft is run along the ridge C, and the headland planting process M for planting seedlings on the headland B is entered. In this case, the width of the headland B (width in the vertical direction on the paper surface of FIG. 3) is determined by the seedling planting device 3
Each planting step A1 so that it is a little wider than the lateral width of the plant (the entire lateral width of the plurality of planting lines by the seedling planting device 3).
Turning at headland B at A5. As a result, when the aircraft enters the headland B and the right and left markers 24 and 25 are switched to the work posture S, the right and left markers 24 and 25 cause the ridge C and each planting process A1. ~ A
The right and left markers 24 and 2 are touched as they contact the seedlings at 5.
Both 5 are switched to the storage posture K in advance.

Therefore, continuously from the last planting step A5 described above, with both the right and left markers 24 and 25 being switched to the retracted posture K, the direction of the body is controlled by the steering handle 23 as described above. Is changed by about 90 °, it is determined that the aircraft has entered the headland planting process M (corresponding to a determination unit). As a result, the control sensitivity of the lift control means is automatically changed to the insensitive state regardless of the operation position of the sensitivity setting switch 13 in the control device 11 (corresponding to the sensitivity changing means). In this way, by setting the control sensitivity of the lifting control means to the most insensitive state in the headland planting process M, the raising and lowering of the seedling planting device 3 even if the paddy field B of the headland B is highly uneven. Planting work of seedlings in the headland planting process M is performed without causing a hunting phenomenon due to operation.

When the headland planting process M on one headland B is completed as described above, the aircraft is raised to the ridge C and travels toward the other headland B (lower side of the plane of FIG. 3). Let the other headland B
Then, at the other headland B, the headland planting process M is entered. Also in this other headland B, the right and left markers 24,
Since both 25 are switched to the storage posture K, the control sensitivity of the lifting control means is automatically changed to the insensitive state regardless of the operation position of the sensitivity setting switch 13 in the control device 11 ( Equivalent to sensitivity changing means).

(5) This riding-type rice transplanter is provided with an adjustment mode for each part such as the inclination sensor 16 and the potentiometer 7 of the center float 6, and the operation of this adjustment mode will be described below. First, the changeover switch 27 shown in FIG. 4 is operated to the self-diagnosis position, the engine (not shown) is started by the key switch (not shown), and the engine is started for a set time (for example, about 10 seconds). The angle setting switch 17 is operated to each of the three positions of the leftmost downward position, the horizontal position and the rightmost downward position for a set short time (for example, about 2 seconds). When the above operation is performed, the adjustment mode is automatically entered, and the control panel 28 shown in FIG. 1 displays that the adjustment mode has been entered.

When the adjustment mode is entered, the sensitivity setting switch 13 shown in FIG. 4 is used for selecting which part of the tilt sensor 16 and the potentiometer 7 of the center float 6 is adjusted. . Thus, when the adjustment mode is entered, the sensitivity setting switch 13 is operated to select a desired portion, and the portion is adjusted. For example, the potentiometer 7 of the center float 6
When the adjustment of the potentiometer 7 is completed, the changeover switch 27 is operated to the hour meter position (the position where the total time of the planting work is integrated and displayed on the control panel 28) when the potentiometer 7 is adjusted. For example, since the output value of the potentiometer 7 after adjustment is displayed on the control panel 28, if this output value is acceptable, the manual setting switch 18
By operating to the right side or the left side, the state (output value) of the adjusted potentiometer 7 is set (stored) and the adjustment is completed. In this way, when the adjustment of another part is performed after the completion of one adjustment, the sensitivity setting switch 13 may be operated to the position corresponding to the other part, and the above operation may be repeated.

[First Alternative Embodiment] The following structure may be adopted instead of the structure of the above (4). In the riding type rice transplanter, as shown in FIG. 3, when the final planting step A5 is completed and the aircraft is put in the headland B, when the aircraft reaches the end of the final planting step A5, the operator controls The front wheel 1 is operated to the right (or left) by the steering wheel 23 at a set angle or more, and the aircraft is turned about 90 ° while moving forward (stroke H1). Next, the operator returns the front wheel 1 to the straight-ahead position and operates the speed change lever 19 to the reverse side R to move the machine backward (stroke H
2) When the seedling planting device 3 reaches the ridge C, the airframe is stopped and the speed change lever 10 is operated to the forward side F again to enter the headland planting process M.

Accordingly, an angle sensor (not shown) for detecting the steering angle of the front wheels 1 is provided, and the detection value of the angle sensor and the shift lever 19 of the transmission lever 19 are inputted by inputting the detection value of the angle sensor to the control device 11. When the control handle 23 and the speed change lever 19 are operated based on the operation position, it is determined that the machine body has entered the headland planting process M (corresponding to a determination unit). When it is determined that the machine body has entered the headland planting process M as described above, the control sensitivity of the lifting control means is automatically changed to the insensitive state regardless of the operation position of the sensitivity setting switch 13 in the control device 11. Operated (corresponding to sensitivity changing means).

When the headland planting process M on one headland B is completed as described above, the aircraft is raised to the ridge C and travels toward the other headland B (lower side of the plane of FIG. 3). Let the other headland B
Then, at the other headland B, the headland planting process M is entered. In this case, unless the sensitivity setting switch 13 is manually operated to the most insensitive position, the above-mentioned most insensitive state is maintained, so that one headland B is exited and the other headland B is entered. However, the control sensitivity of the lifting control means is in the most insensitive state.

[Second Embodiment] In the above configuration, both the right and left markers 24 and 25 are switched to the storage posture K, or operations such as steps H1 and H2 in FIG. 3 are performed. The control sensitivity of the lift control means is changed to the insensitive state, but the control sensitivity may be changed from the insensitive state to the slightly sensitive control sensitivity state. The right and left markers 24 and 25 may be provided on the right and left of the seedling planting device 3 instead of the airframe.

As described above, when the headland planting process M is entered and the control sensitivity of the ascending / descending control means is changed to the insensitive state, this state is released by manually operating the sensitivity setting switch 13 to the insensitive position. Then, the control sensitivity may be restored to the original state by arbitrarily operating the sensitivity setting switch 13. As a result, headland planting process M
In the case where the control sensitivity does not have to be set to the insensitive state, the sensitivity can be set to an appropriate one by operating the sensitivity setting switch 13 as described above. The present invention may be applied not only to the lifting control means but also to the rolling operation of the seedling planting device 3 described in (3) above.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

[Fig. 1] Overall side view of the riding rice transplanter

[Fig. 2] A plan view showing the state of the planting process near the center of the paddy field.

FIG. 3 is a plan view showing a state in which the aircraft is in a headland planting process.

FIG. 4 is a diagram showing a linked state of right and left markers, a sensitivity setting switch, a center float, etc.

[Explanation of symbols]

 1 front wheel 3 seedling planting device 5 actuator 7 height sensor 24, 25 marker A1, A2, A3, A4, A5 planting process B headland C ridge E1, E2 index M headland planting process S working posture K storage posture G field

Claims (3)

[Claims] 1. A height for detecting a height from a rice field (G) to the seedling planting device (3) by connecting a seedling planting device (3) to an airframe by an actuator (5) so as to be vertically movable. The height sensor (7) with a height sensor (7)
The seedling planting device (3) is based on the detected value of
From the planting process (A1), (A2), (A3), which has a raising and lowering control means for operating and operating the actuator (5) so as to maintain the set height from
From (A4), (A5) to the next planting process (A1), (A
2), (A3), (A4), in the headland (B) that turns to enter (A5), headland that runs the headland (B) along the ridge (C) and performs planting work A determination means is provided for determining whether or not the vehicle has entered the planting step (M). When the vehicle is determined to have entered the headland planting step (M), the control sensitivity of the lift control means. Riding-type rice transplanter equipped with a sensitivity changing means for automatically changing to the insensitive side. 2. The next planting process (A2), (A3), (A
4), the index (E1) and (E2) of (A5) are tabulated (G)
A pair of left and right markers (24) and (25) to be formed on the right and left markers (24) and (25) are inserted into the field (G), and the work posture (S) and the field (G) are formed. It is configured to be switchable to a storage posture (K) higher than the above, and the discriminating means is configured to operate the discriminating means as the right and left markers (24),
The riding type rice transplanter according to claim 1, wherein it is configured to determine that the aircraft has entered a headland planting step (M) by switching both of the (25) to a storage posture (K). . 3. A vehicle body moves backward while the front wheel (1) for traveling is steered to the right or left by a set angle or more and the front wheel (1) is returned to a straight-ahead position and operated by the discrimination means. The riding type rice transplanter according to claim 1, wherein when the vehicle body starts to move forward at the straight position of the front wheel (1), it is determined that the vehicle body has entered the headland planting process (M).