JP2012157333A - Rice transplanter - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rice transplanter that can surely match a traveling direction with a seedling-arranging direction without being affected by the environment of a field.SOLUTION: Seedlings transplanted in a field are imaged with a left front camera and a right front camera 21, and the imaged seedlings are displayed on a displaying portion 8. An operator can confirm the seedling-arranging direction displayed on the displaying portion 8, steer the rice transplanter, coincide a line displayed on the displaying portion 8 with the row of seedlings placed at the most edge, and thus match the traveling direction with the seedling-arranging direction.

Description

  The present invention relates to a rice transplanter for continuously planting seedlings.

  When planting seedlings in a field by a rice transplanter, it is necessary to align the seedlings with a predetermined interval in order to maintain the quality of the cultivated crop and improve the yield. In general, a rice transplanter includes a large number of claws supported by a rotating shaft whose axial direction is the lateral direction, and the interval between seedlings can be adjusted by adjusting the number of rotations of the rotating shaft. The rice transplanter includes an arm that protrudes to the side of the traveling frame, and a substantially circular marker that is positioned at the protruding end of the arm and rotates about the protruding end. A plurality of protrusions are provided on the outer peripheral portion of the marker.

  When the rice transplanter is run, the marker rotates in contact with the field, and a concave portion is formed in the field by the protrusion. The concave portions are continuously formed in a line along the traveling direction of the rice transplanter, and serve as an index for the operator to determine the traveling direction of the rice transplanter. The operator aligns the traveling direction of the rice transplanter with the arrangement direction of the already planted seedlings by matching the horizontal positions of the row-shaped recesses and the pole (center marker) standing on the front bumper. (For example, refer to Patent Document 1).

JP 2008-22832 A

  However, the recess formed by the marker may sink into the water depending on the water level in the field, and the operator may not be able to visually recognize it. Moreover, the recessed part observed from a driver's seat was small compared with the center marker, and alignment with the center marker and the recessed part was not easy.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a rice transplanter that can reliably align the traveling direction and the seedling arrangement direction without being influenced by the environment of the field. To do.

  The rice transplanter which concerns on this invention is located in the rear part of a driving | running | working part, In a rice transplanter provided with the planting part which plants a seedling, the imaging part which images the front, and the display part which displays the image imaged by this imaging part It is characterized by providing.

  In the present invention, an image of the seedling planted in the field is captured by the imaging unit, and the captured seedling is displayed on the display unit. The operator can check the arrangement direction of the seedlings displayed on the display unit and steer the rice transplanter to match the traveling direction and the arrangement direction of the seedlings.

  The rice transplanter according to the present invention is configured such that the imaging unit can capture the right side or the left side of the traveling unit, and includes a selection unit that selects the right side or the left side of the traveling unit. The selected side is imaged by the imaging unit, and an image captured by the imaging unit is displayed on the display unit.

  In the present invention, when a seedling is planted on the right side of the rice transplanter, the right side is imaged by the imaging unit, the captured seedling is displayed on the display unit, and the seedling is planted on the left side of the rice transplanter Takes an image of the left side with an imaging unit and displays the imaged seedling on the display unit.

  The rice transplanter according to the present invention is configured such that the imaging unit can image the right side or the left side of the traveling unit, and images displayed on the display unit before and after turning of the traveling unit, Means is provided for switching from an image on one side imaged by the imaging unit to an image on the other side imaged by the imaging unit.

  In the present invention, each time the vehicle turns, the positional relationship between the planted seedling and the rice transplanter in the traveling direction is opposite to the left and right, so images displayed on the display unit are captured by the imaging unit before and after the turn. Switch from the image on one side to the image on the other side.

  The rice transplanter according to the present invention is characterized in that an alignment index along the alignment direction of the seedlings displayed on the display unit is arranged on the display unit.

  In the present invention, an alignment index for matching the traveling direction of the traveling unit and the arrangement direction of the seedlings is displayed on the display unit in a visible manner.

  The rice transplanter according to the present invention is characterized in that the alignment index is a line.

  In the present invention, the alignment index is represented by a line, and the line and seedling rows are aligned in the left-right direction so that the traveling direction of the traveling unit and the seedling arrangement direction can be aligned.

  The rice transplanter according to the present invention is characterized in that a direction indicator indicating a direction in which the traveling unit should travel is arranged on the display unit.

  In the present invention, in order to match the traveling direction of the rice transplanter and the arrangement direction of the seedlings, a direction index indicating the direction in which the rice transplanter should travel is displayed on the display unit.

  The rice transplanter according to the present invention is characterized in that the direction indicator is an arrow.

  In the present invention, the direction indicator is represented by an arrow, and the operator is prompted to steer the rice transplanter in the direction of the arrow in order to align the seedlings.

  The rice transplanter according to the present invention comprises means for recognizing the imaged seedling when the imaging unit is imaging a seedling, and highlights the seedling recognized by the means on the display unit. It is characterized by being.

  In the present invention, the seedling imaged by the imaging unit is recognized, and the recognized seedling is displayed on the display unit. The periphery of the seedling recognized at this time is surrounded by a frame or colored and emphasized, for example.

  The rice transplanter according to the present invention is characterized in that a position index indicating a position after planting of a seedling to be planted by the planting unit is arranged on the display unit.

  In the present invention, assuming that the seedling to be planted next to the currently planted seedling is planted in the field, a position index indicating the position of the seedling after planting is displayed on the display unit in a visible manner. To do.

  The rice transplanter according to the present invention is characterized in that the position index is a line indicating a row of seedlings after planting.

  In the present invention, the position index is represented by a line, indicating that the row of seedlings after planting is located on the line, and the operator can intuitively understand the assumed position of the seedling.

  The rice transplanter according to the present invention includes a steering unit that steers the traveling unit, and a detection unit that detects a steering amount by the steering unit, and based on the steering amount detected by the detection unit, An indicator indicating the traveling direction of the traveling unit is arranged on the display unit.

  In the present invention, the operator can easily recognize the index indicating the traveling direction of the traveling unit, and the rice transplanter can be easily moved straight.

  The rice transplanter according to the present invention is characterized in that an indicator indicating a range in which planting of seedlings should be prohibited is arranged on the display unit.

  In the present invention, by recognizing an index indicating a range in which planting of seedlings should be prohibited, for example, it is easy to secure a space for headland formation.

  The rice transplanter according to the present invention includes a drive source, and the planting part is arranged in the lateral direction, supports a plurality of claw parts for planting seedlings, the claw part, and the lateral direction is an axial direction. As a rotating shaft that is rotated by a driving force from the driving source, and a connecting portion that interrupts a driving force transmission path between the driving source and the rotating shaft, and is displayed on the display unit. A means for controlling the connection of the connection part based on the image is provided.

  In the present invention, when the image displayed on the display unit is analyzed and a place where planting of seedlings is not necessary (for example, a shore) is displayed on the display unit, or when a space at regular intervals is required for headland finishing, etc. In addition, the operation of the nail portion is automatically stopped so that the seedling is not planted in a place where the seedling planting is unnecessary or in the space.

  The rice transplanter according to the present invention includes a rear imaging unit that images the rear, and is configured to display an image captured by the rear imaging unit on the display unit.

  In the present invention, the display unit is used as a so-called back monitor.

  In the present invention, an image of the seedling planted in the field is captured by the imaging unit, and the captured seedling is displayed by the display unit. The operator can check the arrangement direction of the seedlings displayed on the display unit and steer the rice transplanter to match the traveling direction and the arrangement direction of the seedlings. The seedling imaged by the imaging unit is surely visually recognized via the display unit regardless of the field environment. In addition, the marker that has been used in the past is provided with a complicated mechanism combining springs and wires, for example, a mechanism for advancing or retracting the traveling unit, which increases the manufacturing cost, but the imaging unit and the display unit are configured. Is simple and can reduce the manufacturing cost.

  In the present invention, when the rice transplanter reciprocates between the opposite shores, the positions of the seedlings planted in the farm field are opposite to the traveling direction of the rice transplanter on the forward path and the return path. Therefore, in the forward or return path, the operator can select the right or left image of the rice transplanter imaged by the imaging unit by operating the selection unit so that the operator can surely see the seedling as a reference. it can.

  In the present invention, each time the rice transplanter turns, the position of the seedling planted in the field is opposite to the left and right with respect to the traveling direction of the rice transplanter. Therefore, every time the rice transplanter turns, the convenience of the operator can be improved by automatically switching the image displayed on the display unit to the right or left image of the rice transplanter imaged by the imaging unit. .

  In the present invention, the operator can display the alignment index for aligning the traveling direction of the traveling unit and the arrangement direction of the seedlings in a visually recognizable manner, so that the operator can display the index and the seedling displayed on the display unit. The seedlings to be planted in the field can be easily aligned.

  In the present invention, the alignment index is represented by a line, the line and the row of seedlings are superimposed on the display unit, and the traveling direction of the traveling unit and the alignment direction of the seedlings are aligned to facilitate operation by the operator. Can be conditioned.

  In the present invention, when the traveling direction of the rice transplanter and the arrangement direction of the planted seedlings do not match, the indicator indicating the direction in which the rice transplanter should travel is displayed on the display unit, thereby displaying the indicator. The operator who visually recognizes can immediately steer the rice transplanter in the direction indicated by the index.

  In the present invention, since the operator is prompted to steer the rice transplanter in the direction of the arrow in order to align the seedlings, the operator can quickly change the steering direction.

  In the present invention, the seedling imaged by the imaging unit is recognized, and the recognized seedling is displayed on the display unit. By surrounding the recognized seedling with, for example, a frame or coloring, the visibility of the seedling can be improved, and the operator can easily recognize the seedling.

  In the present invention, it is assumed that the seedling to be planted next to the currently planted seedling is planted in the field, and the position of the seedling after planting can be visually confirmed using an index (for example, a line) By displaying on the display unit in such a manner, when the indicator is displayed on the shore, the operator does not plant seedlings on the indicator displayed superimposed on the shore. By changing the setting of the attachment part, unnecessary planting of seedlings can be avoided. Conventionally, a headland having a width that can be planted by the planting part (for example, a width corresponding to eight strips for planting seedlings) is set, and planting other than the headland is performed to form a headland having the width. When I went, I changed the setting of the planting part appropriately, but by checking the indicator, even if the width of the headland becomes narrower than the width that can be planted by the planting part, Immediately before planting, the setting of the planting part can be changed corresponding to the width of the headland, and the burden on the operator can be reduced.

  In the present invention, the position index is represented by a line, indicating that the row of seedlings after planting is located on the line, and the operator can intuitively understand the assumed position of the seedling. The setting of the planting part can be changed easily and quickly.

  In the present invention, the operator can easily recognize the index indicating the traveling direction of the traveling unit, and the rice transplanter can be easily moved straight. Therefore, seedlings can be easily aligned.

  In the present invention, by recognizing an index indicating a range where planting of seedlings should be prohibited, for example, a space for forming a headland can be easily secured, and convenience for the user is improved.

  In the present invention, when the image displayed on the display unit is analyzed and a place where planting of a seedling is not necessary (for example, a shore) is displayed on the display unit or a headland finish, etc., a space at regular intervals is required. In such a case, unnecessary planting of seedlings can be avoided by automatically stopping the operation of the claw portion so that seedlings are not planted in a place or space where planting of seedlings is unnecessary.

  In the present invention, the image captured by the rear imaging unit is displayed on the display unit, and the display unit is used as a so-called back monitor, thereby confirming an area that has been a blind spot in the conventional rearview mirror. It is possible to ensure safety.

It is a perspective view which briefly shows the rice transplanter which concerns on Embodiment 1 seen from the right back. It is a perspective view which briefly shows the rice transplanter seen from the left front. FIG. 6 is a perspective view schematically showing an arm. FIG. 3 is a plan view schematically showing the vicinity of a dashboard panel. It is explanatory drawing explaining operation of a planting raising / lowering lever. FIG. 6 is an enlarged view schematically showing a stop lever. It is a transmission mechanism figure which shows schematically transmission of the driving force from an engine. 2 is a block diagram schematically showing a configuration around a controller. FIG. It is a schematic diagram which shows an example of the image displayed on the display part. It is a flowchart explaining the seedling recognition process by a controller. It is explanatory drawing explaining a seedling recognition process. It is a schematic diagram which shows an example of the image displayed on a display part after a seedling recognition process. It is a flowchart explaining the direction parameter | index display process by a controller. It is a schematic diagram which shows an example of the image which displayed the direction parameter | index which shows a right direction. It is a schematic diagram which shows an example of the image which displayed the direction parameter | index which shows the left direction. It is a schematic diagram which shows an example of the image which displayed the direction parameter | index which shows a front direction. FIG. 10 is an exploded perspective view schematically showing a configuration in the vicinity of a steering wheel of a rice transplanter according to a second embodiment. 2 is a block diagram schematically showing a configuration around a controller. FIG. It is a flowchart explaining the prediction line display process by a controller. It is a schematic diagram which shows an example of the image which displayed the prediction line. It is a schematic diagram which shows an example of the location of the field currently planted in the rice transplanter which concerns on Embodiment 3, and the image of the location which adjoins the location and performs planting of a seedling next. 10 is a schematic diagram illustrating an example of an image displayed on a display unit according to Embodiment 4. FIG. FIG. 10 is a block diagram schematically showing a configuration around a controller according to a fifth embodiment. It is a flowchart which shows the camera switching process by a controller. FIG. 10 is a perspective view schematically showing a configuration near the anchoring lever of a rice transplanter according to a sixth embodiment. 2 is a block diagram schematically showing a configuration around a controller. FIG. It is a flowchart explaining the stringing process by a controller. It is a schematic diagram which shows an example of the image displayed on the display part.

  Hereinafter, the present invention will be described in detail with reference to the drawings showing a rice transplanter according to Embodiment 1. 1 is a perspective view schematically showing a rice transplanter viewed from the right rear, FIG. 2 is a perspective view schematically showing the rice transplanter seen from the left front, and FIG. 3 is a perspective view schematically showing an arm.

  The rice transplanter includes a traveling unit 1 including a chassis. A bonnet 2 is provided at a front portion of the traveling unit 1, and an engine 3 is provided inside the bonnet 2. A front axle case (not shown) that houses a transmission mechanism for transmitting the driving force of the engine 3 and a suspension is provided below the front portion of the traveling unit 1, and the front wheels 30 are supported by the front axle. . A rear axle case (not shown) that houses a transmission mechanism that transmits the driving force of the engine 3 and a clutch is provided below the rear portion of the traveling unit 1, and a rear wheel 31 is supported by the rear axle.

  On the left and right sides of the bonnet 2, a plurality of preliminary seedling platforms 4, 4,... A dashboard panel 5 is provided on the rear side of the bonnet 2, and a steering wheel 7 for steering the rice transplanter is disposed above the dashboard panel 5. A driver's seat 6 is provided on the rear side of the steering wheel 7.

  A planting unit 10 for planting seedlings is provided on the rear side of the driver's seat 6, and the planting unit 10 is connected to the traveling unit 1 via an elevating link 16 that moves the planting unit 10 up and down. The planting unit 10 includes eight seedling platforms 11 that are vertically elongated in the left-right direction, and planting claws 14 that are arranged near the lower end of the seedling platform 11 and that plant seedlings. . The number of seedling platforms 11 is not limited to eight, and may be six or four, for example. A seedling mat presser 12 that holds a plurality of seedlings (seedling mats) grown on a mat-like base is provided in the middle part of the seedling mounting base 11. At the lower end of the seedling table 11, a fence-shaped seedling mat holding mechanism 13 protruding upward is provided. Floats 15 and 15 for preventing settlement of the planting part 10 are provided on the left and right sides of the lower end part of the seedling mount 11 respectively.

  Two arms 20 and 22 projecting left and right are provided in the vicinity of the spare seedling stage 14 in the traveling unit 1. A right front camera 21 is provided at the tip of the arm 20 protruding to the right, and a left front camera 23 is provided at the tip of the arm 22 protruding to the left. Ends (base ends) opposite to the distal ends of the arms 20 and 22 are connected to the traveling unit 1 via pivots (not shown) protruding in the vertical direction, as shown in FIG. The arms 20 and 22 can be rotated around the base end side. Although FIG. 3 shows the arm 22, it goes without saying that the arm 20 can be similarly rotated. The operator rotates the arms 20 and 22 to the right or left when planting seedlings, thereby moving the left and right front cameras 21 and 23 away from the traveling unit 1 by a predetermined distance (running). The seedling can be imaged by placing the seedling at a position almost directly above the seedling closest to the section 1. When the seedling planting operation is completed, the arms 20 and 22 can be folded forward by turning the arms 20 and 22 forward.

  A shaft 17 extending vertically is provided on the left side of the planting portion 10, and a rear camera 18 is provided on the upper end portion of the shaft 17. The rear camera 18 is arranged on the upper side of the seedling stage 11 so as to take an image of the rear of the planting unit 10. A display unit 8 having a display panel (for example, a liquid crystal panel) is provided above the dashboard panel 5 with the display surface of the display panel facing the driver's seat 6 side. A line (alignment index) 100 extending vertically along the row of seedlings displayed on the display unit 8 is arranged at the center in the left-right direction of the display panel (see FIG. 9 described later). The line 100 may be in any form that can be visually recognized. For example, the line 100 is printed in advance on the surface of the display panel or displayed as an image (GUI: Graphical User Interface) on the display panel. Images captured by the left and right front cameras 21 and 23 or the rear camera 18 are displayed on the display unit 8. The display unit 8 and the left and right front cameras 21 and 23 and the rear camera 18 are connected via a controller 90 described later. The position of the line 100 in the left-right direction is not limited to the center, and may be closer to the right or left than the center. Further, although the line 100 is used as the alignment index, a broken line, an arrow, or another figure or symbol indicating the alignment direction of the seedlings may be used.

  Examples of the configuration of the display unit 8 include a reflective liquid crystal display device, a transflective liquid crystal display device, and a high-brightness liquid crystal display device. The high-brightness liquid crystal display device uses, for example, an LED (Light Emitting Diode). The front cameras 21 and 23 and the rear camera 18 may be provided with filters or diaphragms. The filter can prevent halation. In addition, the focus of each camera can be adjusted with high accuracy by the diaphragm.

  FIG. 4 is a plan view schematically showing the vicinity of the dashboard panel 5. The dashboard panel 5 includes a display unit 50 that displays the state of the rice transplanter, a main transmission lever 51 that is used for switching the traveling direction and the traveling speed, and a transmission fixing lever 52 that is used when the traveling speed is constant. Planting lift lever 53 for raising and lowering planting unit 10, turning planting unit 10 on and off, and switching between left and right front cameras 21 and 23, and seedling recognition switch 54 for recognizing seedlings displayed on display unit 8 In addition, an elevating button 55 for raising the planting unit 10 to a set height, and a back monitor switch 56 for displaying an image of the rear camera 18 on the display unit 8 are provided.

  FIG. 5 is an explanatory diagram for explaining the operation of the planting lift lever 53. As shown in FIG. 5, when the planting lifting / lowering lever 53 is moved upward, the planting unit 10 operates, and when the planting lifting / lowering lever 53 is moved downward, the planting unit 10 stops. To do. When the planting lift lever 53 is moved upward and then moved to the right, an image captured by the right front camera 21 is displayed on the display unit 8. When the planting lift lever 53 is moved upward and then moved to the left, an image captured by the left front camera 23 is displayed on the display unit 8. When the planting elevating lever 53 is positioned at the lowest position, the planting unit 10 is raised. When the planting lift lever 53 is positioned slightly below the position where the planting unit 10 operates, the planting unit 10 descends. When the planting elevating lever 53 is positioned between the position where the planting unit 10 is raised or lowered and on the right side of the position, the raising or lowering of the planting unit 10 stops.

  The planting lift lever 53 is provided with a planting lift lever sensor 53a (see FIG. 8 described later) for detecting the position of the planting lift lever 53. The position of the planting lift lever 53 described above is detected by the planting lift lever sensor 53a. The planting elevating lever sensor 53a is configured by, for example, a potentiometer.

  FIG. 6 is an enlarged view schematically showing the strut lever 63. The floor surface below the dashboard panel 5 is provided with a shift pedal 60 that adjusts the traveling speed, a brake pedal 61 that is used when stopping traveling, and a parking brake lever 62 that is used when parking. Further, two stop levers 63, 63, 63, 63 for stopping the driving of the planting claws 14, 14,... Each anchoring lever 63 is used for driving or stopping the two planting claws 14, 14. As shown in FIG. 6, the planting claws 14, 14 are driven when the anchoring lever 63 is located on the front side, and the planting claws 14, 14 are stopped when located on the rear side. The anchoring lever 63 is connected to a clutch, which will be described later, that interrupts transmission of the driving force to the planting claws 14 and 14 via a wire (not shown).

  FIG. 7 is a transmission mechanism diagram schematically showing transmission of driving force from the engine 3. The output shaft of the engine 3 is connected to the transmission mechanism 80 via a V belt 81, a shaft 82 and a bearing 83. The transmission mechanism 80 is connected to the front wheel 30 via a shaft 84 and a bearing 85, and is connected to the rear wheel 31 via a shaft 86 and a bearing 87. The transmission mechanism 80 is connected to the planting unit 10. Note that the above-described front axle and rear axle are included in the transmission mechanism 80. The planting unit 10 supports the four planting claws 14 at the left and right ends, and includes four clutches 40, 40, 40, 40 that connect the rotation shaft 41 and the transmission mechanism 50 with the horizontal direction as the axial direction. I have. Each clutch 40, 40, 40, 40 is individually connected / disconnected by operation of the stop levers 63, 63, 63, 63.

  FIG. 8 is a block diagram schematically showing the configuration around the controller 90. In the dashboard panel 5, a CPU 91 (Central Processing Unit), ROM 92 (Read Only Memory), RAM 93 (Random Access Memory), and switching for switching the connection between the right front camera 21, the left front camera 23, the rear camera 18, and the display unit 8. A controller 90 having a switch 94 is provided. The selector switch 94 uses a three-contact rotary switch that switches the connection between the display unit 8 and the right front camera 21, the left front camera 23, and the rear camera 18. The changeover switch 94 may use another switch having three or more contacts.

  The CPU 91 reads the control program stored in the ROM 92 into the RAM 93 and executes it. Image signals are input to the controller 90 from the right front camera 21, the left front camera 23, and the rear camera 18. A signal indicating that the right front camera 21 or the left front camera 23 has been selected is input to the controller 90 from the planting lift lever sensor 53a. A signal indicating that the rear camera 18 has been selected is input from the back monitor switch 56 to the controller 90. A signal for recognizing the seedling displayed on the display unit 8 is input from the seedling recognition switch 54 to the controller 90. The controller 90 outputs an image signal to the display unit 8.

  When an off signal is input from the back monitor switch 56 to the controller 90 and a signal for selecting the right front camera 21 or the left front camera 23 is input to the controller 90 by the operation of the planting elevating lever 53, the controller 90 The selected right front camera 21 or left front camera 23 and the display unit 8 are connected via the changeover switch 94. The display unit 8 displays an image captured by the selected front camera.

  FIG. 9 is a schematic diagram illustrating an example of an image displayed on the display unit 8. FIG. 9A is a schematic diagram illustrating an example of an image captured by the right front camera 21.

  As illustrated in FIG. 9A, when the farm field is imaged by the right front camera 21, the seedlings 140 planted in the farm field are displayed on the display unit 8. The operator overlaps the leftmost column of the displayed seedlings 140 with the line 100, in other words, by matching the positions in the left-right direction, the traveling direction of the rice transplanter and the arrangement direction of the seedlings 140 are substantially the same. Can be made. As a result, the seedlings planted in the planting unit 10 are planted along the same direction as the rows of the seedlings 140 that have already been planted in the field, and the seedlings can be aligned. Note that when the image captured by the left front camera 23 is displayed on the display unit 8, the left and right are reversed, and the operator superimposes the line 100 on the rightmost column of the displayed seedling 140. The traveling direction of the rice transplanter and the arrangement direction of the seedlings 140 can be made substantially coincident.

  When an ON signal is input from the back monitor switch 56 to the controller 90, the controller 90 connects the rear camera 18 and the display unit 8 via the changeover switch 94, and an image signal indicating an image captured by the rear camera 18. Is output to the display unit 8.

  FIG. 9B is a schematic diagram illustrating an example of an image captured by the rear camera 18. In FIG. 9B, the line 100 is omitted. As shown in FIG. 9B, when the rear camera 18 captures an image, the planting unit 10 and the rear thereof are displayed on the display unit 8. Therefore, the operator can confirm whether there is an obstacle or a person in the vicinity of the planting unit 10, and can move the rice transplanter backward or drive the planting unit 10 while ensuring safety.

  When an ON signal is input from the seedling recognition switch 54 to the controller 90, the controller 90 executes seedling recognition processing and displays the execution result on the display unit 8.

  FIG. 10 is a flowchart for explaining seedling recognition processing by the controller 90, FIG. 11 is an explanatory diagram for explaining seedling recognition processing, and FIG. 12 is a schematic diagram showing an example of an image displayed on the display unit 8 after seedling recognition processing.

  The CPU 91 of the controller 90 stands by until an ON signal is input from the seedling recognition switch 54 (step S1: NO). When an ON signal is input from the seedling recognition switch 54 (step S1: YES), the CPU 91 recognizes the image displayed on the display panel by dividing it into a plurality of vertically long strip regions 101, 101,. Then (see FIG. 11A), one strip region 101 is extracted, and the green pixels in the extracted strip region 101 are counted (step S2). Examples of the number of pixels to be counted include a moving average value of the number of pixels counted at a predetermined time interval or the number of pixels at a predetermined time. Note that the present invention is not limited to the number of pixels, and a value indicating a feature for recognizing the seedling 140 may be calculated. For example, the ratio of the number of green pixels to the total number of pixels in the belt-like region 101 may be calculated.

  Then, the CPU 91 determines whether or not the number of green pixels exceeds the threshold A (step S3). Note that the threshold value A is read from the ROM 92 in advance in the RAM 93, and the CPU 91 can refer to the threshold value A from the RAM 93. If the number of green pixels does not exceed the threshold A (step S3: NO), a non-candidate flag is set in a predetermined storage area of the RAM 93 (step S4), and the process proceeds to step S6 described later.

  If the number of green pixels exceeds the threshold A (step S3: YES), a candidate flag is set in a predetermined storage area of the RAM 93 (step S5). In FIG. 11B, the band-like area 101 in which the candidate flag is set is indicated by hatching, and the band-like area 101 in which the non-candidate flag is set is indicated by plain color. An address corresponding to each band-like area 101 is set in a predetermined storage area of the RAM 93. A non-candidate flag or a candidate flag is set in the storage area indicated by the address. Therefore, the flag of each band-like area 101 can be confirmed by referring to the address.

  Next, the CPU 91 determines whether or not the green pixels have been counted for all the band-like regions 101 (step S6). For example, the CPU 91 refers to the address and determines whether or not there is a storage area in which the flag is not set. When green pixels are not counted for all the band-like areas 101, 101,... 101 (step S6: NO), for example, when there is a storage area in which the flag corresponding to the band-like area 101 is not set, the CPU 91 Returns the process to step S2. When the green pixels are counted for all the band-like areas 101, 101,... 101 (step S6: YES), for example, when there is no storage area in which the flag is not set, the CPU 91 sets the band-like flag with the candidate flag set. From the region 101, the belt-like region 101 that displays the row of seedlings 140 that serves as a reference for the traveling direction of the rice transplanter is selected (step S7). For example, when an image captured by the right front camera 21 is displayed on the display unit 8, the band-like region 101 located on the leftmost side is selected from the candidates, and the image captured by the left front camera 23 is displayed. In the case where it is displayed on the part 8, the band-like region 101 located on the rightmost side is selected from the candidates. FIG. 11C shows the selected band-like region 101 by hatching. Then, the CPU 91 outputs a command for coloring the selected belt-like region 101 to the display unit 8 (step S8). The display unit 8 displays the selected strip region 101 in a colored manner. FIG. 12 shows the colored band-like region 101 by broken line hatching. The operator can easily align the traveling direction of the rice transplanter with the arrangement direction of the seedlings 140 by operating the steering wheel 7 and positioning the line 100 in the colored band-like region 101. The seedling recognition process recognizes the band-like region 101 including the seedling 140, but individually recognizes each seedling 140 displayed on the display unit 8 and places each seedling 140 around the recognized seedling 140. An enclosing frame may be displayed.

  In addition, when the line 100 does not exist in the colored strip | belt-shaped area | region 101, you may comprise the controller 90 to display on the display part 8 the direction parameter | index which shows the direction which a rice transplanter should advance. 13 is a flowchart for explaining the direction indicator display processing by the controller 90, FIG. 14 is a schematic diagram showing an example of an image displaying a direction indicator indicating the right direction, and FIG. 15 is an example of an image displaying a direction indicator indicating the left direction. FIG. 16 is a schematic diagram showing an example of an image displaying a direction indicator indicating the forward direction. It is assumed that information indicating the position of the line 100 is read from the ROM 92 in advance in the RAM 93 of the controller 90, and the CPU 91 can refer to information indicating the position of the line 100.

  The CPU 91 refers to the information indicating the line 100 and determines whether or not the line 100 is located on the left side of the selected strip-like region 101 (step S21). When the line 100 is located on the left side of the selected belt-like region 101 (step S21: YES), the CPU 91 outputs a command for displaying a rightward arrow to the display unit 8 (step S22). The display unit 8 displays a rightward arrow 120 (see FIG. 14). Therefore, the operator can be urged to operate the steering wheel 7 to turn the course of the rice transplanter to the right.

  When the line 100 is not located on the left side of the selected belt-like region 101 (step S21: NO), the CPU 91 determines whether or not the line 100 is located on the right side of the selected belt-like region 101 (step S23). When the line 100 is located on the right side of the selected belt-like region 101 (step S23: YES), the CPU 91 outputs a command for displaying a leftward arrow to the display unit 8 (step S24). The display unit 8 displays a leftward arrow 121 (see FIG. 15). Therefore, the operator can be urged to operate the steering wheel 7 to turn the course of the rice transplanter to the left.

  When the line 100 is not located on the right side of the selected belt-like region 101 (step S23: NO), the CPU 91 outputs a command to display a forward arrow to the display unit 8 (step S25). The display unit 8 displays a forward arrow 122 (see FIG. 16). Therefore, the operator can be urged to maintain the course of the rice transplanter.

  In the direction indicator display process, the belt-like region 101 is colored, but the belt-like region 101 may be uncolored. Further, although arrows are used as direction indicators, characters such as “right”, “left”, and “straight” may be used, or figures or symbols indicating other directions may be used.

  In the rice transplanter according to the first embodiment, the right and left front cameras 21 and 23 capture an image of seedlings planted in the field, and display the captured seedlings on the display unit 8. The operator confirms the arrangement direction of the seedlings displayed on the display unit 8, steers the rice transplanter, matches the line 100 to the row of seedlings located at the end, and sets the traveling direction and the arrangement direction of the seedlings. Can be matched. The seedlings imaged by the left and right front cameras 21 and 23 are surely visually recognized via the display unit 8 regardless of the field environment. Moreover, the marker used conventionally is provided with a complicated mechanism combining springs and wires, for example, a mechanism for moving into or out of the traveling unit 1, and the manufacturing cost increases, but the left and right front cameras 21, The configuration of the display unit 23 and the display unit 8 is simple, and the manufacturing cost can be reduced.

  Further, the periphery of the seedling positioned at the end can be colored and highlighted to improve the visibility of the seedling, and the operator can easily recognize the seedling. Further, when the line 100 and the row of seedlings located at the extreme end do not coincide with each other, a right arrow 120 and a left arrow 121 are displayed to prompt the operator to match both, so that the operator can quickly The steering direction can be changed.

  In the rice transplanter according to the first embodiment, the front cameras 21 and 23 are arranged on the left and right, respectively, but a pedestal that can be moved to the left and right via the rail is provided in the traveling unit, and one front camera is provided on the pedestal. May be. In this case, by moving the pedestal, it is possible to take an image of the seedling planted on the left and right with one front camera. Further, a pedestal capable of rotating around the axis with the vertical direction as the axial direction may be provided in the traveling unit, and one front camera may be provided on the pedestal. Also in this case, it is possible to take an image of seedlings planted left and right with one front camera by the rotation of the pedestal. Further, a support rod having one end portion pivoted on the upper and lower sides in the pivot direction may be provided in the traveling portion, and one front camera may be provided at the other end portion of the support rod. In this case, since the front camera pivots left and right around one end, it is possible to take an image of seedlings planted left and right with one front camera.

(Embodiment 2)
Hereinafter, the present invention will be described in detail with reference to the drawings showing a rice transplanter according to a second embodiment. FIG. 17 is an exploded perspective view schematically showing the configuration near the steering wheel 7.

  As shown in FIG. 17, the steering wheel 7 is connected to an upper end portion of a steering shaft 70 provided in the vertical direction via a column bush 71 and a shaft bush 72. The steering shaft 70 has a magnetic body on its peripheral surface, and a rotation angle sensor 73 that detects the rotation angle of the steering shaft 70 is provided around the middle portion of the steering shaft 70. The rotation angle sensor 73 has means for detecting the position around the axis of the steering shaft 70, for example, a Hall element or a magnetic sensor.

  FIG. 18 is a block diagram schematically showing the configuration around the controller 90. The detection value of the rotation angle sensor 73 is input to the controller 90. The controller 90 integrates the detection values of the rotation angle sensor 73 and obtains the magnitude of the rotation angle. The ROM 92 stores an LUT (Look Up Table) indicating the relationship between the magnitude of the rotation angle and the expected traveling direction. The ROM 92 stores a threshold value.

  When the magnitude of the rotation angle is larger than the threshold value, in other words, when the controller 90 has rotated to an angle where it cannot go straight, the controller 90 refers to the LUT and displays an expected line for predicting the traveling direction described later on the display unit 8. (See FIG. 20 described later). Note that the threshold value is read from the ROM 92 into the RAM 93, and the CPU 91 can refer to the threshold value.

  FIG. 19 is a flowchart for explaining the predicted line display processing by the controller 90, and FIG. 20 is a schematic diagram showing an example of an image displaying the predicted line. 20A shows an image when the steering wheel 7 is rotated to the left, and FIG. 20B shows an image when the steering wheel 7 is rotated to the right.

  CPU91 waits until the magnitude | size of a rotation angle becomes larger than a threshold value (step S61: NO). If the rotation angle is not larger than the threshold value, the rice transplanter is considered to be traveling substantially straight. When the rotation angle is larger than the threshold value (step S61: YES), the CPU 91 accesses the ROM 92 and refers to the prediction table (step S62). And CPU91 determines the advancing direction corresponding to a rotation angle, and outputs the signal which displays an expected line on the display part 8 (step S63). As shown in FIG. 20A, when the steering wheel 7 is rotated to the left side, an expected line 123 curved to the left side is displayed on the display unit 8. As shown in FIG. 20B, when the steering wheel 7 is rotated to the right and left, an expected line 123 curved to the left is displayed on the display unit 8.

  In the rice transplanter according to the second embodiment, by displaying the predicted line 123, the operator can intuitively grasp the predicted traveling direction of the rice transplanter, and operates the steering wheel 7. The rice transplanter can go straight ahead. A switch for executing the predicted line display process may be provided so that the predicted line display process is executed only when the switch is turned on.

  Of the configuration of the rice transplanter according to the second embodiment, the same reference numerals are given to the same configurations as those of the first embodiment, and detailed description thereof is omitted.

(Embodiment 3)
Hereinafter, the present invention will be described in detail with reference to the drawings showing a rice transplanter according to a third embodiment. FIG. 21 is a schematic diagram showing an example of an image of a part of a farm field where planting is currently being performed and a part adjacent to the part and where a seedling is next planted.

  The right front camera 21 and the left front camera 23 of the rice transplanter according to Embodiment 3 use wide-angle lenses in order to cope with long-distance conditions. FIG. 21 shows the display unit 8 that displays the field imaged by the right front camera 21, and a curved line 100 is displayed on the right side according to the degree of distortion of the image by the wide-angle lens. A shore 130 is displayed at the left end of the display unit 8, and the shore 130 is indicated by hatching. On the left side of the display unit 8, there are eight predicted planting lines (position indices) 110, 110,... Indicating the position of the row of seedlings to be planted next at a location adjacent to the location where planting is currently being performed.・ 110 is arranged. In addition, the planting expected line 110 should just be an aspect visually recognized, for example, is previously printed on the surface of the display panel, or is displayed as an image on a display panel. The number of expected planting lines corresponds to the number of planting claws 14 and increases or decreases according to the number of planting claws 14.

  In FIG. 21, the leftmost predicted planting line 110 and the predicted planting line 110 located to the right of the predicted planting line 110 are displayed on the shore 130. Therefore, when planting a seedling next time, it is not necessary to drive the planting claws 14 and 14 corresponding to the two predicted planting lines 110 and 110. When the operator turns and performs the next planting, the planting claws 14 and 14 corresponding to the two predicted planting lines 110 and 110 (in this embodiment, the planting claws 14 on the right end and the planting nails). The driving of the planting claw 14) located on the left side of the claw 14 can be stopped by operating the stapling lever 63. For this reason, the operator can grasp | ascertain previously the planting place of an unnecessary seedling intuitively, can grasp | ascertain easily the planting nail | claw 14 which should stop a drive, and can advance a planting operation | work smoothly. In addition, when imaged with the left front camera 23, it is the same as that with the right front camera 21, except that the left and right positions are reversed.

  Although the planting expected line 110 is used as a position index, a broken line, an arrow, or another figure or symbol indicating the position of a seedling may be used. Of the configuration of the rice transplanter according to the third embodiment, the same reference numerals are given to the same configurations as those in the first or second embodiment, and the detailed description thereof is omitted.

(Embodiment 4)
Hereinafter, the present invention will be described in detail based on the drawings showing a rice transplanter according to a fourth embodiment. FIG. 22 is a schematic diagram illustrating an example of an image displayed on the display unit 8.
The right front camera 21 and the left front camera 23 use wide-angle lenses. FIG. 22 shows a farm field imaged by the right front camera 21, and a curved line 100 is displayed on the right side according to the degree of distortion of the image by the wide-angle lens. A shore 130 is displayed at the left end of the display unit 8, and the shore 130 is indicated by hatching. An arrow 125 facing leftward from the line 100 is displayed at the center in the vertical direction of the display unit 8. In addition, “8 items left” is displayed above the arrow 125.

  The rice transplanter is provided with a switch (not shown) for displaying the above-described arrow 125 and “remaining eight strips” in consideration of securing a space for finishing the headland. When the switch is on, an arrow 125 and “8 items left” are displayed. The arrow is not limited, and other symbols or marks may be displayed. In addition, depending on the specifications of the rice transplanter or the size of the space to be secured, it is possible to change the display of characters such as “4 items left” or “6 items left”.

  By turning on the switch, the arrow 125 and “remaining 8 items” can be displayed on the display unit 8. When the tip of the arrow 125 approaches the shore 130, when the current planting operation in the forward or return path is completed, the operation is performed by operating the stopper lever 63 to stop the driving of all planting claws 14 A person can reliably secure a desired space.

  Among the configurations of the rice transplanter according to the fourth embodiment, the same reference numerals are given to the same configurations as those of the first to third embodiments, and detailed description thereof is omitted.

(Embodiment 5)
Hereinafter, the present invention will be described in detail with reference to the drawings showing a rice transplanter according to a fifth embodiment. FIG. 23 is a block diagram schematically showing the configuration around the controller 90. The dashboard panel 5 has a camera automatic changeover switch 57 for automatically switching an image displayed on the display unit 8 when the rice transplanter turns to an image captured by the right front camera 21 or the left front camera 23. It is provided. An on / off signal of the camera automatic changeover switch 57 is input to the controller 90.

  When an ON signal is input from the camera automatic changeover switch 57, the controller 90 integrates the detection values of the rotation angle sensor 73. When the accumulated rotation angle is larger than the threshold value B stored in the RAM 93 in advance, in other words, when the steering wheel 7 is rotated to an angle required for turning, the controller 90 operates the changeover switch 94 to The image displayed on the display unit 8 is switched to an image captured by the right front camera 21 or the left front camera 23. Note that the threshold value B is stored in advance in the ROM 92, the threshold value B is read into the RAM 93 from the ROM 92, and the CPU 91 can refer to the threshold value B.

  FIG. 24 is a flowchart showing camera switching processing by the controller 90. The CPU 91 determines whether or not an ON signal is input from the camera automatic changeover switch 57 (step S31). When the ON signal is not input from the camera automatic changeover switch 57 (step S31: NO), the CPU 91 ends the process.

  When the ON signal is input from the camera automatic changeover switch 57 (step S31: YES), the CPU 91 waits until the rotation angle becomes larger than the threshold value B (step S32: NO). When the magnitude of the rotation angle is larger than the threshold value B (step S32: YES), in other words, when the rice transplanter turns, the CPU 91 captures an image to be displayed on the display unit 8 with the right front camera 21. The image is switched to the image captured by the left front camera 23, or the image captured by the left front camera 23 is switched to the image captured by the right front camera 21 (step S33).

  Each time the vehicle turns, the image displayed on the display unit 8 is switched. Therefore, the operator can surely visually recognize the row of seedlings to be used as a reference, and can smoothly proceed with the seedling planting operation.

  Of the configuration of the rice transplanter according to the fifth embodiment, the same reference numerals are given to the same configurations as those of the first to fourth embodiments, and detailed description thereof is omitted.

(Embodiment 6)
Hereinafter, the present invention will be described in detail with reference to the drawings showing a rice transplanter according to a sixth embodiment. FIG. 25 is a perspective view schematically showing the configuration in the vicinity of the locking lever 63, and FIG. 26 is a block diagram schematically showing the configuration around the controller 90. One end of the anchoring lever 63 is configured to be easily gripped by the operator. The other end of the anchoring lever 63 is connected to a pivot 63a whose axial direction is the lateral direction, and the pivot 63a is rotatably provided at an appropriate position below the driver's seat 6. The anchoring lever 63 can be rotated around the pivot 63a. An output shaft of a servo motor 63c is connected to the pivot 63a via an electric motor clutch 63d, and a potentiometer 63b for detecting the rotation angle of the pivot 63a is provided. It is assumed that the motor clutch 63d is disconnected unless a process for stopping the driving of the planting claws 14 is performed in the anchoring process described later.

  The dashboard panel 5 is provided with an automatic stop switch 58 for automatically stopping the driving of the planting claws 14. An on / off signal is input from the automatic stop switch 58 to the controller 90, and a detection value is input from the potentiometer 63b to the controller 90. The controller 90 outputs a connection / disconnection signal to the motor clutch 63d, and outputs a drive signal to the servo motor 63c. When an ON signal is input from the automatic claw switch 58, the controller 90 executes a claw process that stops the driving of the planting claws 14 based on the image displayed on the display unit 8.

FIG. 27 is a flowchart for explaining the stopping process by the controller 90. The ROM 92 stores in advance a table in which the band-like areas 101, 101,... 101 and the planting claws 14 are associated with each other, the table is read from the ROM 92 to the RAM 93, and the CPU 91 stores the table from the RAM 93. Can be referred to.
The CPU 91 of the controller 90 determines whether or not an ON signal is input from the automatic pawl switch 58 (step S41). When the ON signal is not input from the automatic stop switch 58 (step S41: NO), the CPU 91 ends the process. When the ON signal is input from the automatic stop switch 58 (step S41: YES), the CPU 91 recognizes the image displayed on the display unit 8 by dividing it into the above-described band-shaped image, and the one band-shaped area is recognized. 101 is extracted, and the luminance of each pixel of the extracted band-like region 101 is summed (step S42). Then, the CPU 91 determines whether or not the total luminance value is less than the threshold value C (step S43). Examples of the total luminance value include a moving average value totaled at a predetermined time interval or a total value at a predetermined time. Note that the threshold value C is stored in advance in the ROM 92, the threshold value C is read from the ROM 92 into the RAM 93, and the CPU 91 can refer to the threshold value C from the RAM 93.

  Since the brightness of the shore 130 is smaller than that of the field filled with water, it is possible to determine whether or not the shore 130 is displayed in the band-like region 101 by calculating the brightness. Note that the present invention is not limited to the total luminance value, and a value indicating a feature for recognizing the shore 130 may be calculated. For example, a value obtained by applying the total value of luminance to the correction function or a value obtained by processing (adding / subtracting / dividing) the total value with a correction coefficient may be calculated. In addition to the brightness, the characteristic value for distinguishing between the water surface and the shore 130 (for example, a value based on the type of color: a value obtained by counting the number of pixels of each color by associating the inside of the farm with brown and the shore 130 with green). What is necessary is just to determine based on.

  If the total luminance value is not less than the threshold value C (step S43: NO), the CPU 91 sets a non-edge flag in a predetermined storage area of the RAM 93 (step S44), and the process proceeds to step S46 described later. When the total luminance value is less than the threshold value C (step S43: YES), the CPU 91 sets a bank flag in a predetermined storage area of the RAM 93 (step S45). In the predetermined storage area of the RAM 93, addresses corresponding to the respective band-like areas 101, 101,... 101 are set, and the storage area indicated by the address corresponding to the band-like area 101 obtained by calculating the total luminance value. A non-shore flag or a shore flag is set in Therefore, by referring to the address, the flags of the band-like areas 101, 101,..., 101 can be confirmed.

  Next, the CPU 91 determines whether or not the total luminance has been calculated for all the strip regions 101, 101,... 101 (step S46). When the sum of luminance is not calculated for all the strip regions 101, 101,... 101 (step S46: NO), the CPU 91 returns the process to step S42. When the total luminance is calculated for all the band-like areas 101, 101,... 101 (step S46: YES), the CPU 91 determines whether or not the band-like area 101 for which the bank flag is set exists. (Step S47). When the belt-like area 101 in which the bank flag is set does not exist (step S47: NO), the CPU 91 ends the process. When the belt-like region 101 in which the bank flag is set exists (step S47: YES), the CPU 91 refers to the table and determines the planting claw 14 to be stopped (step S48). For example, when an image captured by the right front camera 21 is displayed on the display unit 8, the band-like region 101 in which the shore flag is set and the planting claw 14 for planting a seedling on the left side of the belt-like region 101 are determined. To do. When an image picked up by the left front camera 23 is displayed on the display unit 8, the band-like area 101 in which the edge flag is set and the planting claw 14 for planting a seedling on the right side of the band-like area 101 are determined. To do.

  Then, the CPU 91 refers to the detection value of the potentiometer 63b to determine whether or not the anchoring lever 63 corresponding to the planting claw 14 to be stopped is located on the rear side, in other words, the anchoring lever 63 is connected to the planting claw 14. It is determined whether or not it is in a position to stop driving (step S49). When the stapling lever 63 is at a position where the driving of the planting claw 14 is stopped (step S49: YES), the CPU 91 ends the process. If the stapling lever 63 is not in a position to stop the driving of the planting claw 14 (step S49: NO), the CPU 91 outputs a connection signal to the motor clutch 63d corresponding to the determined planting claw 14 (step S50). Then, a drive signal is output to the servo motor 63c connected to the motor clutch 63d (step S51). The servomotor 63c moves the stapling lever 63 to a position where the driving of the planting claw 14 is stopped based on the drive signal. Then, the CPU 91 outputs a disconnection signal to the motor clutch 63d (step S52).

  FIG. 28 is a schematic diagram illustrating an example of an image displayed on the display unit 8. FIG. 28 shows an example of an image captured by the right front camera, where the shore 130 is indicated by hatching, and the belt-like region 101 is indicated by a broken line. When the bank 130 is displayed in the belt-like region 101, the driving of the planting claws 14 corresponding to the belt-like region 101 is stopped. For example, in FIG. 28, a shore 130 is displayed in the leftmost belt-like region 101, and a farm field is displayed in the two belt-like regions 101 and 101 adjacent to the right of the belt-like region 101. The controller 90 stops the driving of the planting claws 14 for planting seedlings on the left side of the band-like region 101 at the left end. Specifically, the controller 90 outputs a drive signal to the servo motor 63c to operate the anchoring lever 63, leaving the two planting claws 14 and 14 located at the right end, and the other six planting claws 14. , 14,..., 14 are stopped. The band-like region 101 only needs to be recognized by the controller 90 and need not be displayed on the display unit 8.

  In the rice transplanter according to the sixth embodiment, the image displayed on the display unit 8 is analyzed. For example, when the shore is displayed on the display unit 8, the operation of the nail 14 at the position corresponding to the shore is displayed. Can be automatically stopped to avoid unnecessary planting of seedlings.

  You may comprise as follows. When the arrow 125 is displayed as in the fourth embodiment, it is determined by analyzing the image whether or not the tip of the arrow 125 is close to the shore 130. If it is determined that the vehicle is approaching, it is determined whether the traveling unit 1 has turned. When the traveling unit 1 turns, it is considered that the traveling part 1 travels through a portion where a headland should be formed. When it determines with the driving | running | working part 1 having turned, the drive of all the planting claws 14 is stopped. By comprising in this way, the space for headland formation can be ensured automatically.

  Of the configuration of the rice transplanter according to the sixth embodiment, the same reference numerals are given to the same configurations as those of the first to fifth embodiments, and the detailed description thereof is omitted.

  The embodiment described above is an exemplification of the present invention, and the present invention can be implemented in various modified forms within the scope defined by the matters described in the claims and the description of the claims. it can.

1 traveling part 8 display part 10 planting part 14 planting claw (claw part)
18 Rear camera (rear imager)
21 Right front camera (imaging part)
23 Left front camera (imaging part)
40 Clutch (transmission part)
41 Rotating shaft 53 Planting lift lever (selection part)
53a Planting lift sensor (selector)
100 lines (line index)
110 Planting line (position index)
120, 121, 122 Arrow (direction indicator)
123 Expected line 125 Arrow

Claims (14)

In the rice transplanter equipped with a planting part for planting seedlings, located at the rear of the traveling part,
An imaging unit for imaging the front;
A rice transplanter comprising: a display unit that displays an image captured by the imaging unit. The imaging unit can capture the right side or the left side of the traveling unit,
A selection unit for selecting a right side or a left side of the traveling unit;
The rice transplanter according to claim 1, wherein the imaging unit images the side selected by the selection unit, and an image captured by the imaging unit is displayed on the display unit. Machine. The imaging unit can capture the right side or the left side of the traveling unit,
Means for switching the image displayed on the display unit from the image on one side captured by the imaging unit to the image on the other side captured by the imaging unit before and after turning of the traveling unit. The rice transplanter according to claim 1. The rice transplanter according to any one of claims 1 to 3, wherein an arrangement index along the arrangement direction of the seedlings displayed on the display unit is arranged on the display unit.   The rice transplanter according to claim 4, wherein the alignment index is a line. The rice transplanter according to any one of claims 1 to 5, wherein a direction indicator indicating a direction in which the traveling unit should travel is arranged on the display unit.   The rice transplanter according to claim 6, wherein the direction indicator is an arrow. When the imaging unit is imaging a seedling, comprising means for recognizing the imaged seedling,
The seedling machine according to any one of claims 1 to 7, wherein the seedling recognized by the means is highlighted on the display unit. The rice transplanter according to any one of claims 1 to 8, wherein a position index indicating a position after planting of a seedling to be planted by the planting unit is arranged on the display unit.   The rice planter according to claim 9, wherein the position index is a line indicating a row of seedlings after planting. A steering section for steering the traveling section;
Detecting means for detecting a steering amount by the steering unit;
9. The indicator according to claim 1, wherein an indicator indicating a traveling direction of the traveling unit is arranged on the display unit based on a steering amount detected by the detection unit. Rice transplanter. The rice transplanter according to any one of claims 1 to 11, wherein an index indicating a range in which seedling planting is to be prohibited is arranged on the display unit. With a drive source,
The planting part is
A plurality of nails that are juxtaposed in the horizontal direction and plant seedlings,
A rotating shaft that supports the claw portion and rotates by a driving force from the driving source with the lateral direction as an axial direction;
A connecting portion for connecting a driving force transmission path between the driving source and the rotating shaft;
The rice transplanter according to any one of claims 1 to 12, further comprising means for controlling the connection of the connection unit based on an image displayed on the display unit. A rear imaging unit for imaging the rear,
The rice transplanter according to any one of claims 1 to 13, wherein an image captured by the rear imaging unit can be displayed on the display unit.

Images