JP2001148908A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter enabling its operability to be improved through properly understanding the interval between the rice transplanter and a levee so as not to need a hand-planting operation after leaving unplanted portion in conducting a round planting operation. SOLUTION: This rice transplanter has such a scheme that the front face of the travel machine body 3 is mounted with a pair of left and right ultrasonic sensors 47 to measure the interval between the front face and a levee lying ahead in the running direction; the measurements are inputted into a control unit and subjected to average processing; if the averaged value coincides with a set value, the lift operation of a seedling planting device A and the halt of a planting clutch C are run.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rice planting method which basically adopts a planting operation mode in which a headland is planted by planting around a headland while reciprocating tillage, and the planting leaves the field when planting is completed. About the machine.

[0002]

2. Description of the Related Art When adopting the above-described planting form, the point that the worker is troubled is that at the time of reciprocating tilling, when the planting is finished close to the headland, It is the point from which the planting is resumed after the turning. In other words, when planting around the headland while moving along the ridge after reciprocating cultivation, the end position of the adjacent cultivation and the start position of the planting are fixed at a certain distance from the ridge (the number of planting strips +
If it does not exist in α), there may be a case where a remnant is left when planting around. In such a case, it is necessary to repair the unplanted portion by hand planting work, which leads to a reduction in workability. Further, if the planting strips overlap, it is not preferable because the fertilizer from the fertilizer is overlapped. For this purpose, Japanese Patent Application Laid-Open No. 3-72806 or Japanese Utility Model Publication No. Sho 63
Japanese Patent Application Publication No. 31532 discloses a control method in which a ridge sensor for measuring the interval between a rice transplanter and a ridge is provided, and when the ridge sensor detects a predetermined interval, planting is stopped and the ridge turns. However, a single sensor was used as the ridge sensor.

[0003]

In this case, the reliability of the detection result is not sufficient, and the function of the ridge sensor has not been sufficient. In other words, when a single ridge sensor is used, there is a surface that is difficult to distinguish from the ridge surface when grass in the ridge is detected. In addition, there is a difference in the detection result between a ridge made of ordinary soil and a ridge made of concrete, and there is a drawback that such a case cannot be dealt with. In addition to the single ridge sensor, the ridge sensor is attached and fixed to the front end of the traveling body, so that when the traveling body pitches each time the depth to the tillage fluctuates, the ridge sensor If the measurement range fluctuates up and down and fluctuates greatly, there is a risk of detecting parts other than the ridge, and there is room for improvement. An object of the present invention is to eliminate the above-mentioned conventional disadvantages,
It is an object of the present invention to provide a rice transplanter that can enhance the reliability of the detection result as a ridge sensor and perform smooth rice transplanting.

[0004]

[Means for Solving the Problems] [Structure] In the characteristic structure of the present invention according to claim 1, a plurality of ridge sensors for measuring an interval between a ridge in front of the traveling direction are provided on a traveling body, and It has control means for determining the start timing of the next operation based on the detection result, its operation, and,
The effects are as follows. [Operation] In other words, by comparing a plurality of data obtained from each shore sensor and averaging as described later, the accuracy of the data itself can be determined, and the distance from the shore can be accurately grasped. The following operation can be performed with good timing. [Effect] Therefore, abnormal data that cannot be eliminated by only a single shore sensor can be easily eliminated, and the planting can be completed at an appropriate time. Work efficiency can be prevented from lowering.

[0005] [Structure] In a characteristic structure of the present invention according to claim 2, a ridge sensor for measuring a distance from a shore on the rear side in the traveling direction is provided in the seedling planting apparatus, and the following sensor is provided based on the detection result of the ridge sensor. The control means for determining the operation timing is provided, and the operation and effect are as follows. [Effects] In other words, the distance between the ridge on the rear side can be measured, so that it is possible to easily grasp the position at which planting is resumed after turning at the ridge in reciprocating cultivation, and to determine the planting start position together with the planting end position. From a certain position. In particular, since the distance between the ridge on the rear side is measured by a sensor, there are the following advantages. In other words, since the distance from the front ridge is in a forward state, the driver himself can visually check the ridge, so that a skilled person can roughly determine the timing such as the end of planting. However, when deciding when to restart planting after turning around the ridge, the driver cannot directly see the ridge, and furthermore, it is necessary to perform an operation to visually align the planting end position adjacent to the ridge while facing backward Therefore, it is actually difficult to align the adjacent planting end position with the planting start (restart) position. On the other hand, in the present invention, since the ridge sensor is provided, the driver does not need to recognize the ridge, and receives the detection result of the ridge sensor and appropriately performs the next operation such as restarting the planting work. be able to. Moreover,
Since the ridge sensor is attached to the seedling planting device, the cultivation depth control that turns the seedling planting device down at the ridge and lowers the seedling planting device to keep the planting depth constant when performing row alignment is performed. Since the space is kept at a constant height, the detection of the ridge is not affected by the fluctuation of the height. Then, if a plurality of furrow sensors are further provided, as described in the action item of claim 1,
The performance of the detection result from the ridge sensor can be improved, and the start timing of the next operation can be made more appropriate.

According to a third aspect of the present invention, there is provided a front ridge sensor for measuring an interval between a front ridge and a rear ridge for measuring an interval between a rear ridge and a rear ridge. The ridge sensor is provided, and control means for determining the next operation timing based on the detection result of one of the ridge sensors is provided. The operation and effect are as follows. [Effect] In other words, only the ridge sensor for the front, or
Not only is it equipped with only one ridge sensor, such as only the rear ridge sensor, but also with both ridge sensors, so in reciprocating tillage, the planting end position can be determined based on the detection result of the front ridge sensor. The planting can be set at a fixed interval from the ridge, and the planting restart position can be set based on the detection result of the rear ridge sensor. Therefore, because the front row sensor and the rear row sensor are provided in the same rice transplanter,
The planting end position and the planting restart position that are adjacent to each other can be aligned, and when performing round planting after reciprocating cultivation, avoiding duplicate planting or unplanting that is likely to occur with only one of the front and rear ridge sensors. It becomes easier to do.

[Structure] According to a fourth aspect of the present invention, in the rice transplanter according to any one of the first to third aspects, the plurality of ridge sensors are distributed to the left and right in the planting width direction. The operation and the effect are as follows. [Effects] In other words, a wide range of ridges can be detected by arranging a plurality of ridge sensors spread left and right.
Even if there are local irregularities on the ridge surface and there is data picked up, it is possible to avoid the adverse effects of those data,
The control based on the data capturing the true ridge surface can be easily performed.

[0008] According to a fifth aspect of the present invention, in the rice transplanter according to any one of the first to third aspects, the detection result of each of the ridge sensors is averaged, and In that it has control means for determining the start timing of the next operation based on the averaging processing result,
The operation and effect are as follows. [Effects] In other words, data from multiple ridge sensors
There may be irregularities that can be formed by picking up irregularities on the furrows and plants. Even if there is such a variation, by averaging the data, the influence of the prominent data is eliminated, and control can be easily performed based on the intermediate value data obtained by the averaging process. Become.

According to a sixth aspect of the present invention, in the rice transplanter according to any one of the first to third aspects, the control means weights a detection result of the ridge sensor. The operation and effect are as follows. [Effects] In other words, even if there is some protruding data among the data from the plurality of ridge sensors, weighting is performed by multiplying this data by a coefficient or the like, and the protruding data is obtained in the data processing stage. , So as to obtain an interval value that does not greatly deviate from the true value.

[0010] According to a seventh aspect of the present invention, in the rice transplanter according to any one of the first to fourth aspects, the control means sets a threshold value for a detection result of the ridge sensor. Is set, and the activation timing of the next operation is determined based on the numerical value exceeding the threshold value. The operation and effect are as follows. [Effects] That is, if the threshold value is set and the detection result of the ridge sensor deviates greatly from the reference value, it can be excluded at the data processing stage, and the influence of prominent data can be eliminated.

[Structure] A feature of the present invention according to claim 8 is that, in the rice transplanter according to claim 7, the threshold value is changeable, and the operation and effect are as follows. It is as follows. [Effects] In other words, as shown in FIG. 6, in the planting work in the deformed field, the ridge surface AS is oblique to the left-right direction with respect to the traveling direction of the traveling machine body 3. By simply averaging the data from the ridge sensor 47, some data detected by some sensors may detect intervals that do not meet the criterion. Therefore,
Different threshold values corresponding to the ridge surface are set, and the distance from the ridge is determined based on data exceeding the threshold value.

According to a ninth aspect of the present invention, in the rice transplanter according to the eighth aspect, control means for performing an AND process on the detection results of the ridge sensors is provided. The effects are as follows. [Effects] In other words, as shown in FIG. 6, in the planting operation in the deformed field, the ridge surface AS is oblique to the left-right direction with respect to the traveling direction of the traveling machine, so that only a plurality of ridges are provided. By simply averaging the data from the sensors 47, some of the data detected by some of the sensors may detect intervals that do not meet the criterion. Therefore,
Different threshold values corresponding to the ridge surface AS are set, and it is confirmed by AND processing that each of the plurality of data exceeds the threshold value, and the start timing is set.

According to a tenth aspect of the present invention, in the rice transplanter according to any one of the first to ninth aspects, a measurement target range or a measurement distance of the ridge sensor is changed. It is possible, and the operation and effect are as follows. [Effects] In other words, since the measurement target range can be changed, it is possible to change the direction of the ridge sensor and select an optimal position for measurement on the ridge surface. Therefore, either the upper part or the lower part of the furrow can be selected. Also, since the measurement target range can be changed, the direction of the sensor can be changed, for example,
Even if the traveling machine moves up and down due to fluctuations in the tillage depth, it is possible to measure a constant height position on the ridge. In addition, there may be a difference from the ridge to the planting stop position due to the difference in the specific number of rows of the rice transplanter that performs the round planting. In addition, the measurement distance is significantly different (about 1 to 2 m) between the case where the front ridge in the traveling direction is detected and the case where the rear ridge in the traveling direction is detected. Therefore, the measurement distance of the ridge sensor can be changed, so that the measurement distance corresponding to the interval required for measurement can be selected, and the measurement accuracy can be kept high. Since the measurement target range can be changed, the directivity as a sensor can be switched, and in Fukada and the like where the variation in tillage depth is large, the directivity can be largely taken and does not largely deviate from the target position to be measured. I can do it.

[Structure] According to an eleventh aspect of the present invention, in the rice transplanter according to any one of the first to tenth aspects, the mounting position of the ridge sensor can be changed. , Its operation and effect are as follows. [Function and effect] In other words, since the mounting position of the ridge sensor can be changed, for example, the position can be changed while the front ridge sensor is mounted on the traveling body, and it is moved using a cylinder or other actuator. As shown in FIG. 8A, the position can be finely adjusted using a long hole or the like. By doing so,
If the maximum height of the ridges is different, or if it is desired to increase the detection accuracy by changing the mounting interval between the left and right sensors, the mounting position can be easily changed.

According to a twelfth aspect of the present invention, in the rice transplanter according to any one of the first to eleventh aspects, the seedling planting apparatus can be moved up and down with respect to the traveling body. Attaching and providing a ground contact sensor that detects the height of the seedling planting device above the ground, and interlocking with the raising and lowering operation of the seedling planting device with respect to the traveling aircraft based on the detection result of the grounding sensor, the front ridge sensor The control means for adjusting the measurement range in the vertical direction is provided, and the operation and effect are as follows. [Effects] In other words, during the planting operation, the ground height of the seedling planting device is made constant based on the detection result of the ground contact sensor in order to keep the planting depth in the seedling planting device constant. For this purpose, the seedling planting apparatus is moved up and down with respect to the traveling machine to control the plowing depth. The reason why such plowing depth control is performed is that the traveling body fluctuates the ground height by the fluctuation of the plowing depth. Therefore, since the measurement position of the ridge sensor with respect to the ridge fluctuates, if the ridge is low, the upper part of the ridge is measured. Therefore, when the running machine fluctuates so that the tillage depth control becomes necessary, the measurement range of the ridge sensor for the ridge is changed in the same direction as the direction in which the seedling planting apparatus has been moved up and down with respect to the running machine. Here, changing the measurement range of the ridge sensor means that the mounting position of the ridge sensor is adjusted vertically or by changing the measurement direction of the ridge sensor without changing the mounting position of the ridge sensor. There is.

According to a thirteenth aspect of the present invention, in the rice transplanter according to any one of the third to twelfth aspects, during the planting operation, the front ridge sensor is used. The measurement and the control at the time of the ridge turn are performed by the control means so as to be detected by the rear shore sensor. The operation and effect are as follows. [Effects] In other words, during the planting operation, the end of planting poses a problem. Therefore, the interval between the ridge on the front side in the traveling direction is detected, and planting is stopped when the detected value reaches a predetermined value. I do. Therefore, the planting operation is performed by the front row sensor. On the other hand, at the time of turning, it is important how to set the planting start position, so that the interval with the rear ridge becomes a problem. Therefore, measurement is performed by a ridge sensor located at the rear, and planting is stopped when the detected value reaches a predetermined value.

[Structure] According to a fourteenth aspect of the present invention, in the rice transplanter according to the ninth aspect, left and right delineation markers for marking a travel index line on a field scene are configured to be freely retractable. There is provided a control means for switching the threshold value according to the timing at which the drawing marker moves out, and its operation and effect are as follows. [Effects] In the ninth aspect, in the work in the deformed field, the detection result by the left and right ridge sensors when the ridge surface is oblique to the traveling direction of the traveling machine body has been described. That is, since the intervals to be detected by the left and right ridge sensors are different, it is necessary to set the threshold to a different numerical value. However, the interval between the ridges is reversed on the left and right between the case where the front ridge is detected at the time of planting work and the case where the rear ridge is detected at the stage where the ridge turning is performed and alignment is performed. Therefore, it is necessary to switch the threshold value between left and right. Therefore, when turning on the ridge, be sure to raise the left and right drawing markers once, replace the drawing markers that extend to the working posture after turning, capture the withdrawal timing, and switch the threshold to change the threshold in the deformed field. The planting start position and the planting end position can be aligned.

[Structure] According to a fifteenth aspect of the present invention, in the rice transplanter according to any one of the first to fourteenth aspects, the next operation based on the detection result of the ridge sensor is the timing of the end of planting or the start of planting. The function and effect are as follows. [Effects] As a process after the detection by the ridge sensor, first, there is a method of notifying an operator with a notification device. Thereby, the worker can perform the operation of stopping the planting or restarting the planting, or prompting the raising and lowering operation of the seedling planting device.

[Structure] According to a sixteenth aspect of the present invention, in the rice transplanter according to any one of the first to fourteenth aspects, the next operation based on the detection result of the ridge sensor automatically activates the planting clutch. This is an operation of turning on or off, and the operation and effect are as follows. [Function and Effect] Since the ridge sensor is provided to align the planting end position or the planting start position, the planting clutch is automatically turned on and off here to reduce the burden on the operator. .

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIGS. 1 and 2, a rice transplanter is a riding type traveling vehicle having a pair of left and right front driving wheels 1 for steering and a pair of right and left rear wheels 2 for driving. An engine 4 is mounted on the front of the body 3 and a hydrostatic stepless transmission 5 for transmitting power from the engine 4 to the rear of the body 3 and a transmission case 6 are arranged at the center of the body 3. A driver's seat 7 and a steering handle 8 are disposed in the section, and a seedling planting apparatus A is connected to a rear end position of a link mechanism 10 driven up and down by a lift cylinder 9 with respect to a rear end of the traveling body 3 to plant seedlings. A rice transplanter is provided with drawing markers 11 on both sides of the apparatus A.

As shown in FIG. 1, a seedling planting apparatus A includes a transmission case 13 to which power is transmitted from a transmission case 6 via a transmission shaft 12, a seedling stand 14 on which a mat-shaped seedling W is placed, Seedling stand 1 by power from transmission case 13
4 is provided with a planting mechanism 15 for transplanting the seedlings of the mat-shaped seedlings W placed on the field scene S into the field scene S, and a plurality of leveling floats 16 are provided at the lower portion for multi-row planting. FIG.
As shown in the figure, the plurality of leveling floats 16 are arranged so that they can swing freely around a horizontal axis Y formed at the rear position.
And the leveling float 16 at the center position in the left and right direction is a spring 1 for setting the sensing pressure.
7, and is linked with a potentiometer type float sensor 18 so as to measure the swinging posture around the axis Y from the front position. Here, the float sensor 18 and the leveling float 16 constitute a grounding sensor.

The mounting structure of the drawing marker 11 will be described. As shown in FIG. 2, by supporting the base end of the drawing marker 11 so as to be swingable around the support shaft 21, the tip falls down to a position in which the tip enters the field scene S to form a groove in the field scene S. It is configured to switch between the working posture and the non-working posture with the tip separated from the field scene S. A lock arm 24 is provided on a pin 23 at the base end of the drawing marker 11 for holding the drawing marker 11 in a retracted position, with a spring 22 for setting the drawing marker 11 in an operating position.
It has. A wire 25 is attached to the base end of the drawing marker 11.
And the wire 25 is wound around a pulley 26 supported on the rear end of the link mechanism 10. Thereby, when the seedling planting apparatus A rises to near the upper limit, the drawing marker 11 in the working posture is pulled up to the retracted posture by the tension of the wire 25, and is held in the retracted posture by the lock arm 24. Have been. The left and right lock arms 24, 24 are respectively connected to the left and right electromagnetic solenoids 2.
The lock arm 24 is configured to be released by the lock arm 7 and 27.

As shown in FIGS. 3 to 5, the raising and lowering control of the seedling plant A and the transmission case 6
A lifting lever 30 for performing an on / off operation of the planting clutch C incorporated therein, and a steering handle 8
The main transmission lever 31 for shifting the continuously variable transmission 5 is provided on the left side of the, and the forced raising and lowering of the seedling planting apparatus A and switching of the drawing marker 11 are performed on the right side of the post of the steering handle 8. And a switching lever 32 for performing the following.

The raising / lowering lever 30 is configured to be freely operable along a path formed in the guide 33. When the raising / lowering lever 30 is set forward from the "down" position in the path, the seedling planting apparatus A is lowered. Let it. When set to the rear side from the "elevated" position, the seedling planting device A is raised, and when set to the "neutral" position, the seedling planting device A is maintained at that level. When the raising / lowering lever 30 is set to the "ON" position, the planting clutch C is engaged and the seedling planting apparatus is operated based on the measurement result of the float sensor 18 in a state where the leveling float 16 provided in the planting apparatus A is in contact with the ground. A enables automatic raising and lowering control to maintain a predetermined height with respect to the field. When the lever is set to the "off" position, the planting clutch C is turned off. When the raising and lowering lever 30 is set to the "automatic" position, the switching lever 32 is turned on. The raising and lowering of the seedling planting apparatus A is permitted in accordance with the operation described above, and at the same time, when the seedling planting apparatus A is raised, the automatic disengaging operation of the planting clutch C is enabled. Potentiometer type lifting lever sensor 34 for detecting the position
It has.

As shown in FIG. 3, the switching lever 32 is moved by a spring (not shown) so as to be in a neutral position N in a horizontal posture.
And the right marker operation position R in which the end is displaced downward, and the right marker operation position R in which the end is displaced downward. It is configured to be freely operable with a left marker operation position L whose end is displaced forward, and after operating the switching lever 32 to the lowering position D to lower the seedling planting device A to the working height, again,
When the switching lever 32 is operated to the lowering position D, the planting clutch C is engaged and operated, and a raising switch 35 for detecting operation to the raising position U is provided at the base end. A lowering switch 36 for detecting that it has been operated to the lowering position D, a right marker switch 37 for detecting that it has been operated to the right marker position, and a left marker switch for detecting that it has been operated to the left marker position. 38.

A dial-type potentiometer-type control sensitivity setting device 40 for setting the control sensitivity of the automatic elevating control is provided on a panel portion in front of the driver's seat 7, and the attitude of the leveling float 16 around the axis Y is set. That is, leveling float 1
6 can be set to the forward-lowering side to reduce the urging force of the urging spring 17 and set to a state of high sensitivity for sensing even a low contact pressure, and conversely, raise the leveling float 16 to the front. By setting the posture, the urging force of the spring 17 can be increased, and the sensitivity for sensing with a high contact pressure can be reduced, and the control state of the automatic lifting control can be switched according to the state of the field surface. It is like that.

The planting depth in the planting mechanism 15 is controlled as follows. That is, when the traveling machine body 3 falls into a locally deep position of the tillage, the leveling float 16 is pushed up. Therefore, the pushed-up state is set to the attitude set by the control sensitivity setting unit 40 by the attitude of the leveling float 16. The seedling planting apparatus A moves upward with respect to the traveling machine body 3 so as to return to. When the traveling machine body 3 reaches the shallow part of the tillage, on the contrary, the seedling planting apparatus A operates downward. In this way, the planting depth is kept constant, but this control is performed with the lift lever 30 set to the "automatic" position.

When the raising / lowering lever 30 is set to the "automatic" position, the switching lever 32 can forcibly raise and lower the seedling planting apparatus A. The forcible raising and lowering control and other accompanying controls will be described. I do. That is, when the switching lever 32 is set in the up state U, the planting clutch C is disengaged,
The continuously variable transmission 5 is decelerated to the set speed, and the seedling plant A is raised to the upper limit. In this case, the ascending position may be adjusted stepwise. When the marker switches 37 and 38 are selected in this raised state, the corresponding lock arm 24 is released, so that the drawing marker 11 can be switched to the operating posture. When the switching lever 32 is operated from the ascending state to the descending state D, the seedling plant A
Is started, and when the leveling float 12 comes into contact with the ground, the flow shifts to the above-mentioned plowing (automatic) control. However, the planting clutch C maintains the disengaged state. Switching to the engaged state of the planting clutch C is performed by depressing the changeover switch 32 again.

As shown in FIG. 1 and FIG.
Mounts the fertilizer hopper 42 on the traveling machine body 3 and provides a feeding mechanism 43 that feeds the fertilizer in the fertilizer hopper 42 by a set amount in conjunction with the planting operation, and forms a groove for fertilization in a field as the vehicle runs. And an electric fan 46 for generating an airflow for pumping the fed fertilizer to the groove generator 44 via a hose 45. ing.

Next, a description will be given of a structure for setting a planting end position or a planting start position on a ridge in reciprocating tillage. As shown in FIG. 1 and FIG. 7, front ridge sensors 47, 47 are provided at the front end and the left and right ends of the traveling body 3 by an ultrasonic wave, respectively, and the distance between the front ridge sensors 47 and 47 in the traveling direction. It is configured to measure L. On the other hand, on the left and right end portions of the seedling rest 14, ultrasonic ridge sensors 48, 48 are respectively used.
Is provided to measure the distance between the ridge behind the traveling direction.

The signal processing from the front ridge sensor 47 will be described. As shown in FIG. 5, signals from the left and right front ridge sensors 47, 47 are introduced into a control device 49 as control means, averaged by the control device 49, and output as front ridge detection signals. Is done. As the subsequent processing, as one method, there is a method of operating the alarm device 50 as a notification device. In response to this alarm operation, the operator lifts the switching lever 32 to the ascending side and performs an operation. Then, the seedling planting apparatus A moves up, the planting clutch C stops, and the rice transplanter shifts to a turning operation at the ridge. The alarm device 50 may be a device using a buzzer or the like, or a device that visually informs such as a lamp, etc., and these are collectively referred to as a notification device. As another method, when the front ridge sensor 47 detects a predetermined distance L from the front ridge and outputs a ridge detection signal, the seedling planting apparatus A is automatically raised and the planting clutch C May be switched to the cutoff state. In this case, the planting clutch C is configured to be automatically turned on and off by the actuator 52.

In the process of averaging the signals from the left and right front ridge sensors 47, 47, the following processing may be added. As one of them, threshold processing may be performed before averaging processing. In other words, as for the detection performance of the ridge sensor 47 and the like, the accuracy at an interval shorter than that between one stock is aimed at, and in reality, the one corresponding to it is being obtained. If it is obtained as data, it is an erroneous detection and must be excluded from the averaging process. Therefore, threshold processing may be performed on data obtained from each ridge sensor 47 and the like, and averaging processing may be performed only on data that exceeds the threshold.

The control for determining the planting start point by turning around the ridge will be described. Make a turn and at the end of that turn,
When the switching lever 32 is operated to descend, the seedling planting apparatus A descends and the automatic lifting control starts when the leveling float 16 comes into contact with the ground.
Then, when moving while performing alignment, the rear ridge sensor 48 measures the interval with the rear ridge. The signal from the rear ridge sensor 48 is processed in the same manner as the signal from the front ridge sensor 47. Therefore, when the data or the like subjected to the averaging process reaches a predetermined interval, the alarm device 50 as the notification device is activated, or the control for automatically lowering the seedling planting device A is performed. While the rear ridge sensor 48 detects the rear ridge, the rice transplanter is in the automatic raising and lowering control state in which the leveling float 16 is in contact with the ground, so that the traveling machine body 3 moves up and down under the influence of the unevenness of the headland. Also, since the seedling pedestal 14 to which the ridge sensor 48 is attached is maintained at a constant height from the field surface S by the operation of the automatic elevating control, there is no variation in the measured height of the ridge sensor 48 with respect to the ridge surface. Stable detection becomes possible.

Next, data processing in the case where the field is deformed and the ridge surface is oblique to the traveling direction of the traveling machine 3 as shown in FIG. 6 will be described. Ridge sensor 47,
When 47 are arranged on the left and right, the required interval to the ridge surface may be different on the left and right. In such a case, a predetermined interval cannot be obtained simply by averaging the data. Therefore, a threshold value is introduced for each of the left and right data to exclude data having a predetermined value or less. And
Here, since both the left and right detection values need to detect a predetermined interval, the data subjected to the threshold processing is further subjected to AND processing, and the data from both sensors 47 and the like indicate a numerical value that satisfies both. Is issued. Then, the planting is stopped in response to the output.

When the planting is stopped and the turn around the ridge is completed, as shown by a two-dot chain line in FIG. 6, alignment for restarting planting is performed. In this case, the traveling body 3 is turned over. Therefore, the necessary intervals to be detected by the left and right rear row sensors 48, 48 are different. Therefore, it is possible to cope with this by exchanging the threshold values corresponding to the left and right front row sensors 47, 47. The timing for changing the above-mentioned threshold value is as follows.
There is a method that utilizes the timing of taking in and out of the device. In other words, when turning around the ridge, switching is performed so that one of the left and right drawing markers 11 is always raised to the retired posture and the other is projected to the working posture.
The switching of 1 is used. A method using the timing of raising and lowering the seedling planting apparatus A is also conceivable. However, since the raising and lowering may be performed at the time of seedling replenishment or the like, the method does not necessarily correspond to the work mode, and therefore, there is an aspect that it is difficult to adopt.

[Another Embodiment] In the above-described embodiment, the form in which the ridge sensors 47 and 48 are provided one by one on the left and right respectively has been described. However, three or more ridge sensors 47 and 48 may be provided. Then, since a plurality of data are obtained, weighting may be performed when the averaging process is performed. In other words, if it is found that there is only one prominent data by comparison with other data, the prominent data is weighted, and the averaged data is balanced with the other data to optimize the averaged data. You may make it aim. B. As the ridge sensor, only one of the ridge sensor 47 for the front and the ridge sensor 48 for the rear may be provided.
In particular, providing the rear ridge sensor 48 has the following advantages. In other words, when determining the planting start point after turning around the ridge, the driver is driving with his / her back to the ridge, and the seedling planting device A at the rear has reached the planting start point. It is hard to see that. Therefore, the significance of providing the sensor 48 that can measure the interval with the rear ridge can be said to be greater than the case where the planting stop point at which the driving operation can be performed toward the ridge is determined. C. As the ridge sensors 47 and 48, those which can change the measurement target range or the measurement distance may be adopted. In other words, in the above case, the ultrasonic sensor was adopted. However, in the case of the ultrasonic sensor, the directivity and the reach distance can be arbitrarily selected by selecting the transmission frequency and the wavelength, and thus the ultrasonic sensor is suitable for the ridge sensor. I have. In the case of the ridge sensor 47 for the front,
Since the traveling body 3 moves up and down in accordance with the depth of the tillage, it is preferable that the traveling body 3 has a relatively wide directivity. On the contrary, in the case of the rear ridge sensor 48, it is attached to the seedling planting device A. Therefore, the vertical movement may be small and the directivity may be sharp due to the automatic elevation control. D. In addition, regarding the measurement target range, the ridge sensors 47, 4
It can be changed by changing the measurement direction of the sensor without changing the mounting position of 8 itself. For example, FIG.
As shown in (1), the transmitter 51 of the ultrasonic sensor can be swingably supported around one axis by the drive motor 53, so that the opening direction of the speaker portion can be changed. Can be changed. In this case, the swing mechanism may be used as a scanning mechanism. Thus, even with a single ridge sensor, if the measurement target range and the measurement distance are different, the number of planting strips at the time of round planting is different, The same sensor can cope with the case where the intervals are different. E. FIG. The ridge sensors 47 and 48 are configured so that the mounting positions can be movably classified into those that can be statically moved and those that can be dynamically moved. That is, as shown in FIG. 8A, when the ridge sensors 47 and 48 are mounted on the bracket 53, the mounting holes 53a of the bracket 53 are formed as long holes, and only the long holes are movable. As shown in FIG. 8B, a static one and a dynamic one in which the brackets 53 are attached to the sensors 47 and 48 and the brackets 53 are moved by the actuators 54 can be considered. With such a movable structure, the ridge sensor is moved to a predetermined measurement position only when necessary, such as when approaching the ridge, and when not necessary, the ridge sensor is positioned inside the traveling body 3. Thus, a configuration that does not hinder other operations can be achieved. F. When the ridge sensors 47 and 48 include transmitters such as ultrasonic sensors, it is necessary to avoid malfunction due to disturbance such as resonance with other transmission mechanisms. In the rice transplanter, since the engine 14 is the transmission source, it is necessary to select the transmission frequency of the ultrasonic sensor within a range that does not receive disturbance from the engine 14. G. FIG. Regarding the proper use of the front ridge sensor 47 and the rear ridge sensor 48, when planting the seedling planting device A in the lowering state, it is measured by the front ridge sensor 47 and the seedling planting device A rises. When turning around a ridge, the rear ridge sensor 4
A sensor for detecting the rising state of the seedling planting apparatus A may be provided so as to use the number 8, and the use may be selectively performed based on the detection result of the sensor. Here, this sensor is provided by a sensor 3 for detecting the operation position of the switching lever 32.
5, 36 or a sensor 34 for the lifting lever 30 may be used, but a contact type or non-contact type sensor for detecting the rising state of the link mechanism 10 may be provided.

[Brief description of the drawings]

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

FIG. 2 is a rear view showing the structure of a drawing marker.

FIG. 3 is a side view showing a switching lever.

FIG. 4 is a plan view showing a guide of a lifting lever.

FIG. 5 is a control configuration diagram.

FIG. 6 is an operation diagram showing a planting operation state.

FIG. 7 is a side view showing a detection form of a front row sensor.

8A is a side view showing a device for changing the posture of the ridge sensor. FIG. 8B is a side view showing a state in which the ridge sensor is moved.

[Explanation of symbols]

 Reference Signs List 3 traveling body 11 drawing marker 47 front ridge sensor 48 rear ridge sensor 49 control means 50 notification device L spacing from ridge C planting clutch

Claims (16)

[Claims] 1. A traveling machine is provided with a plurality of ridge sensors for measuring an interval with a ridge in front of the traveling direction, and a control means for determining a start timing of a next operation based on a detection result of the ridge sensor. Rice transplanter. 2. A rice transplanter having a ridge sensor for measuring an interval between a ridge behind the traveling direction and a seedling planting device, and a control means for determining a next operation timing based on a detection result of the ridge sensor. . 3. A ridge sensor for front which measures an interval with a ridge ahead in the traveling direction, and a ridge sensor for rear which measures an interval with a ridge behind the traveling direction, and one of the ridge sensors is detected. A rice transplanter having control means for determining a next operation timing based on a result. 4. The rice transplanter according to claim 1, wherein the plurality of ridge sensors are dispersedly arranged on the left and right in the planting width direction. 5. The control device according to claim 1, further comprising control means for averaging a detection result of each of the ridge sensors and determining a start timing of a next operation based on the averaging result. Rice transplanter according to one of the above. 6. The rice transplanter according to claim 1, wherein said control means weights a detection result of said ridge sensor. 7. The method according to claim 1, wherein the control means sets a threshold value for the detection result of the ridge sensor, and determines a start timing of a next operation based on a numerical value exceeding the threshold value. The rice transplanter according to any one of the above. 8. The rice transplanter according to claim 7, wherein said threshold is changeable. 9. The rice transplanter according to claim 8, further comprising control means for performing an AND process on a detection result of each of the row sensors. 10. A measurement target range of the ridge sensor, or
The rice transplanter according to any one of claims 1 to 9, wherein a measurement distance can be changed. 11. The rice transplanter according to claim 1, wherein a mounting position of the ridge sensor is movable. 12. A seedling planting device is attached to the traveling body so as to be able to move up and down, and a ground contact sensor for detecting a height of the seedling planting device with respect to the ground is provided. The rice transplanter according to any one of claims 1 to 11, further comprising control means for vertically adjusting a measurement range of the front ridge sensor in conjunction with a raising / lowering operation of the seedling planting device. . 13. The control means so as to measure by the front ridge sensor at the time of planting work and to detect by the rear ridge sensor at the time of turning on the ridge. 13. The rice transplanter according to any one of to 12. 14. A left and right drawing marker for marking a running index line on a field scene is configured to be able to retreat, and a control means is provided for switching the threshold value in accordance with the retreat timing of the drawing marker. 9. The rice transplanter according to 9. 15. The rice transplanter according to claim 1, wherein the next operation based on the detection result of the ridge sensor is a notification device that notifies the end of planting or the timing of starting planting. 16. The rice transplanter according to claim 1, wherein the next operation based on the detection result of the row sensor automatically stops the planting clutch.