JP2015008657A - Seeding transplanting machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a seedling transplanting machine that can prevent a traveling vehicle body from stepping on seedlings, or a seedling planting part from planting the seedlings in an overlapping position in the planting work at the headland.SOLUTION: A seedling transplanting machine includes: a traveling vehicle body 10; a seedling planting part 15 for planting seedlings in the field, liftably provided at the rearward of the traveling vehicle body 10; a turning interlocking control unit 100 for automatically raising the seedling planting part 15 when the traveling vehicle body turns in the field, and also making the seedling planting part 15 automatically descend and making the planting of the seedlings start by detecting the movement of a predetermined distance after turning; a turning mechanism 200 for turning the traveling vehicle body; a first distance detection unit 210 for detecting a distance to the field surface; and a turning instruction control unit 110 for turning the turning mechanism 200 when determined that the distance detected by the first distance detection unit 210 is a predetermined reference or less.

Description

  The present invention relates to a seedling transplanter such as a rice transplanter for transplanting rice seedlings or the like in a field.

  As a seedling transplanter such as a riding rice transplanter, the planting work start position after turning on the field is recognized by using GPS (Global Positioning System), and when the coordinates of the traveling vehicle body overlap the position, A seedling transplanter that enables planting work is known (see Patent Document 1).

  By using this conventional seedling transplanting machine, the planting start position of the seedling can be adjusted to the planting end position of the previous planting work strip even if a wheel slip or the like occurs during turning, so that Attachment accuracy is improved.

JP 2009-284795 A

  However, in the conventional seedling transplanter, when the turning position is recognized by the GPS, if the GPS recognition coordinate is different from the position to turn in the actual field, the seedling is moved by moving according to the coordinates indicated by the GPS. The planting position may be inappropriate, and the seedling planting accuracy may be reduced.

  Therefore, the seedling planting start position protrudes to the end of the field, i.e., the headland side, and when performing seedling planting work on the headland, the traveling vehicle body crushes the seedling already planted, Since it may happen that seedlings are repeatedly planted at a position where seedlings are already planted, there is a problem that the seedlings are consumed excessively.

  In consideration of the problems of the above-described conventional seedling transplanting machine, the present invention can secure a working condition for planting seedlings on the headland, and the traveling vehicle body steps on the seedlings when planting on the headland. An object of the present invention is to provide a seedling transplanting machine that can suppress planting seedlings at positions where seedling planting portions overlap.

In order to achieve the above object, the first present invention provides:
A traveling vehicle body (10);
A seedling planting section (15) for planting seedlings in a farm, which is provided at the rear of the traveling vehicle body (10) so as to be movable up and down;
When the traveling vehicle body (10) turns in the field, the seedling planting part (15) is automatically raised, and the seedling planting part (15) is automatically detected by detecting that it has moved a predetermined distance after turning. A swivel interlocking control device (100) for lowering and starting planting of seedlings,
A turning mechanism (200) for turning the traveling vehicle body (10);
A first distance detection device (210) for detecting a distance to a farm scene;
A turning instruction control device (110) for turning the turning mechanism (200) when the distance detected by the first distance detection device (210) is determined to be equal to or less than a predetermined reference; This is a seedling transplanting machine.

The second aspect of the present invention
Said 1st distance detection apparatus (210) is provided in the front side of said travel vehicle body (10), It is a seedling transplanter of the said 1st this invention characterized by the above-mentioned.

The third aspect of the present invention
The turning mechanism (200) includes a steering actuator (201) for steering a steering member (17) for steering the traveling vehicle body (10).
A GPS receiver (230) for acquiring the position coordinates of the traveling vehicle body (10);
An automatic rectilinear controller (120) for operating the steering actuator (201) using the GPS receiver (230) during straight traveling during planting work,
When the turning instruction control device (110) determines that the distance detected by the first distance detection device (210) is equal to or less than the predetermined reference, the automatic linear motion control device (120) interrupts the operation. Then, the turning is instructed, and the seedling transplanting machine according to the first or second aspect of the present invention is provided.

The fourth aspect of the present invention is
A movement distance detection sensor (240) for detecting a movement distance of the traveling vehicle body (10);
A main transmission (250) that controls forward, reverse, and stop of the traveling vehicle body (10);
The turning instruction control device (110), and a selection unit (260) for selecting one of the second turning instruction control device (130),
The second turning instruction control device (130)
The travel distance of the traveling vehicle body (10) detected from the time when it is determined that the distance to the farm scene detected by the first distance detection device (210) is equal to or less than the predetermined reference is stored in advance. When it coincides with the vehicle length data of the traveling vehicle body, the main transmission (250) is operated to stop traveling, the seedling planting part (15) is raised, and the seedling planting part is raised. Thereafter, the main transmission (250) is operated to move the traveling vehicle body backward, and when the traveling distance of the traveling vehicle body detected by the movement distance detection sensor (240) coincides with the vehicle length data, The seedling transplanter according to any one of the first to third aspects of the present invention, wherein the main transmission device is operated to stop traveling and the turning mechanism (200) is operated.

The fifth aspect of the present invention provides
A second distance detection device (220) for detecting a distance to an obstacle ahead of the traveling vehicle body;
The distance from the obstacle based on the detection result of the second distance detection device (220) is the maximum turning radius of the seedling transplanter and the time until the traveling vehicle body is completely stopped after the traveling stop command is issued. Third turning instruction control that activates the turning mechanism (200) regardless of the detection result by the first distance detecting device (210) when a predetermined distance greater than the limit distance obtained by adding the braking distance is reached. A seedling transplanting machine according to any one of the first to fourth aspects, further comprising a device (140).

The sixth aspect of the present invention provides
The first distance detection device (210) also serves as the second distance detection device (220),
The first distance detecting device (210) includes a distance detecting device rotating portion (271) capable of rotating in either the front or lower direction of the traveling vehicle body,
The fifth invention according to the fifth aspect, wherein the third turning instruction control device detects a distance from the obstacle when the first distance detecting device (210) is rotated upward from the horizontal. This is a seedling transplanter.

The seventh aspect of the present invention
A front seedling frame (300) for loading a spare seedling is provided on the front side of the traveling vehicle body (10),
The preliminary seedling frame (300)
A plurality of preliminary seedling platforms (18) on which the preliminary seedlings are placed;
A link mechanism (301) connected to the plurality of preliminary seedling mounts so as to be switchable between a deployed form and a laminated form;
A switching device (302) for operating the link mechanism (301) to switch between the unfolded form and the stacked form;
When the second distance detection device (220) does not detect the obstacle and the selection unit (260) selects the second turning instruction control device (), the traveling vehicle body (10) When reaching the end of the farm field, the switching device (302) is activated, and the reserve seedling frame is in the unfolded form. This is the seedling transplanter of the fifth or sixth aspect of the present invention.

In addition, the eighth aspect of the present invention
When the switching device (302) is activated and the preliminary seedling frame (300) is in the unfolded state, the seedling planting part (15) is not raised and the traveling vehicle body (10) is stopped. The seedling transplanter according to the seventh aspect of the present invention is characterized in that the above is maintained.

  According to the first aspect of the present invention, when the turning instruction control device (110) determines from the detection result of the first distance detection device (210) that the traveling vehicle body (10) has reached the turning position, the turning mechanism (200). ) Is activated and a working line for planting seedlings on the headland can be secured, so that the traveling vehicle body (10) steps on the seedlings at the time of planting work on the headlands, and the seedling planting part (15) Planting seedlings at overlapping positions is prevented.

  In addition, since the operator does not need to perform the turning operation, the labor of the operator is improved, and the misplacement of the planting position due to an operation mistake, the twice planting of the seedling, the double supply of fertilizer, and the like are prevented. Improves planting accuracy and fertilization accuracy.

  Further, when it is detected by the first distance detection device (210) that the distance to the farm scene has become shorter, the turning instruction control device (110) determines that the traveling vehicle body (10) has approached the shore. Then, the working mechanism for the headland planting work is ensured by operating the turning mechanism (200), so that the traveling vehicle body (10) steps on the seedling, It is possible to prevent seedlings from being planted at a position where the attaching portion (15) overlaps.

  In addition, the rotation position can be kept constant by using the ridge formed on the side of the farm field and at a higher position than the farm scene, so that the planting start position and planting end position of the seedling can be maintained. The planting accuracy is improved.

  Further, according to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, the first distance detection device (210) indicates that the distance to the field scene has been shortened at the front end position of the traveling vehicle body (10). Since it is possible to detect, the turning instruction control device (110) can determine at an earlier time that the traveling vehicle body (10) has approached the coast, and by operating the turning mechanism (200) at an earlier time, the headland Since the work section for planting work is sufficiently secured, the traveling vehicle body (10) steps on seedlings during planting work at the headland, or seedlings are planted at positions where the seedling planting part () overlaps. Is prevented.

  Further, according to the third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, if the coordinates acquired by the GPS receiver (230) are different from the coordinates to be traveled, for example, the automatic straight-ahead control Since the device (120) operates the steering actuator (201) to move the steering member (17) and moves the traveling vehicle body (10) to the straight traveling position, the seedling can be planted in a straight line. The seedling planting accuracy is improved, and the operator does not need to steer, reducing the labor of the operator.

  Further, instead of using the GPS receiving device (230) for the detection of the heel, the turning according to the actual position of the heel is performed by using the detection result of the first distance detecting device (210). Therefore, the width of the headland planting work is uniform and the headland planting accuracy is improved.

  Further, according to the fourth aspect of the present invention, in addition to the effects of any one of the first to third aspects of the present invention, the selection unit (260) is operated, for example, control by the second turning instruction control device (130) is performed. If execution is selected, seedlings are planted until the traveling vehicle body (10) reaches the end of the field, and the revolving mechanism (200) is operated after traveling backward to the revolving position, so that planting corresponding to a field with different work conditions is performed. Since the attachment control and the automatic turning control are possible, the work efficiency and the seedling planting accuracy are improved.

  In addition, by automating planting to the end of the field and reverse traveling to the turning position, the operator's maneuvering becomes unnecessary, the labor of the operator is reduced, and the planting position due to operational mistakes is reduced. Misalignment is prevented and planting accuracy is improved.

  Further, according to the fifth aspect of the present invention, in addition to the effects of any one of the first to fourth aspects of the present invention, the second distance detection device (220) detects an obstacle in the traveling direction of the traveling vehicle body (10). When the distance between the traveling vehicle body (10) and the obstacle reaches a predetermined distance, the third turning instruction control device (140) operates the turning mechanism (200), thereby turning away from the obstacle. Therefore, the headland working position is secured and the seedlings that are wasted are reduced. Moreover, it can prevent that a 1st distance detection apparatus etc. contact and obstructs an obstacle at the time of turning.

In addition to the effects of the fifth invention, the sixth invention provides:
Moreover, the 2nd distance detection apparatus (220) different from a 1st distance detection apparatus (210) is detected by rotating the 1st distance detection apparatus (210), and detecting the height to a farm scene and the presence or absence of an obstruction. There is no need to provide it separately.

  Further, according to the seventh aspect of the present invention, in addition to the effects of the fifth or sixth aspect of the present invention, when the traveling vehicle body (10) reaches the field end without any obstacle such as a wall at the field end, it is automatically By switching the reserve seedling frame (300) to the unfolded form, it is possible to easily perform the seedling replenishment work at the end of the field, so that the work efficiency is improved.

  In addition to the effects of the seventh invention, according to the eighth invention, when the reserve seedling frame (300) is in the expanded state, the seedling planting part (15) remains lowered, Since the worker can replenish the seedling planting part (15) without lifting the seedling, the work efficiency is improved.

Left side view of a riding type rice transplanter according to an embodiment of the present invention The top view of the riding type rice transplanter of embodiment of this invention The block diagram which shows the control system of the riding type rice transplanter in embodiment of this invention The schematic diagram explaining the distance with the field scene detected with the 1st distance detection apparatus of the riding type rice transplanter of embodiment of this invention The top view which shows the maximum turning radius of the riding type rice transplanter of embodiment of this invention The flowchart for operation | movement description of the riding type rice transplanter of embodiment of this invention Schematic diagram showing a situation where the riding type rice transplanter of the embodiment of the present invention is planting while traveling forward in the field The schematic diagram which shows the condition where the 1st distance detection apparatus in this Embodiment detected the distance with the upper surface of a bag. The schematic diagram which shows the condition where the 2nd distance detection apparatus in this Embodiment detects the distance with the wall formed in the upper surface of a bag. Schematic left side schematic diagram of a riding type rice transplanter having a movable canopy in the present embodiment Schematic left schematic surface showing a state where the canopy of the present embodiment has moved rearward and obliquely upward Schematic plan view showing the positional relationship between the canopy of the present embodiment and the left and right spare seedling platforms Schematic left schematic view of a riding type rice transplanter having a movable cabin according to the present embodiment Schematic left schematic surface showing a state in which the cabin of the present embodiment has moved rearward and obliquely upward Schematic plan view showing the positional relationship between the cabin of this embodiment and the left and right spare seedling platforms (A): Schematic plan view schematically showing the configuration of this configuration example, (b): Schematic schematic view of the tip portion of the marker frame as viewed from the rear side of the main body. Flowchart for explaining the operation of the riding type rice transplanter when the second predetermined reference is used instead of the first predetermined reference in the control circuit unit of the present embodiment. Left side view of riding type rice transplanter for explaining the combined first distance detection device of the present embodiment The top view of the riding type rice transplanter for demonstrating the combined 1st distance detection apparatus of this Embodiment

(Embodiment)
1 and 2 show a left side view and a plan view of a riding type rice transplanter equipped with a seedling planting apparatus according to an embodiment of the present invention.

  In the present specification, the front / rear / left / right direction reference defines the front / rear, left / right reference based on the traveling direction of the vehicle body as viewed from the driver's seat.

  First, the outline | summary of a structure of the riding type rice transplanter 1 of this Embodiment is demonstrated using FIG. 1, FIG.

  This riding type rice transplanter 1 is equipped with an engine 11 and is provided with six strips via a lifting link device 14 behind a four-wheel drive traveling vehicle body 10 having a pair of left and right front wheels 12 and rear wheels 13 that are driven and rotated. The seedling planting part 15 of the planting is connected.

  Further, the traveling vehicle body 10 is provided with a driver seat 16, a steering handle 17 that steers the front wheels 12, and a spare seedling stand 18 on which spare seedlings are placed. An operation panel 2 in which various switches and display meters are arranged is provided below the steering handle 17, and a control circuit unit 3 is arranged on the back side of the operation panel 2.

  A mission case 4 is disposed at the front of the traveling vehicle body 10, and a front wheel final case 5 is provided on the left and right sides of the mission case 4, and left and right via a pair of left and right front wheel axles protruding outward. A pair of front wheels 12 are attached.

  The rotational power transmitted from the engine 11 to the transmission case 4 is shifted by the transmission in the transmission case 4 and then separated into the traveling power and the external extraction power and extracted. A part of the traveling power is transmitted to the front wheel final case 5 to drive the front wheel 12, and the rest is transmitted to the rear wheel gear case 6 to drive the rear wheel 13.

  Further, the external take-out power is transmitted to a planting clutch case 7 provided at the rear part of the traveling vehicle body 10 and further transmitted to the seedling planting unit 15 through the planting transmission shaft 8 and the planting transmission case 21. At the same time, it is transmitted to the fertilizer application device 9 by the fertilizer transmission mechanism.

  The seedling planting part 15 is provided with a seedling stand 22 inclined in a configuration in which the front part is higher on the upper side of the planting transmission case 21 and at the rear end part of the planting transmission part of the planting transmission case 21. Three sets of seedling planting devices 23 are provided for each group.

  In addition, the seedling stage 22 is configured to be movable in the left-right direction by engaging the upper left / right moving guide member 95 with the support roller 92 that rotatably supports the guide member 95 from the lower side.

  When the traveling vehicle body 10 is advanced with the center float 24 and the side float 26 in contact with the ground, the seedling stage 22 reciprocates left and right, and the mat seedling 28 (see FIG. 1) on the stage is moved to the lower end of the seedling stage 22. One stock is sequentially supplied to the seedling collection opening 25 of the seedling receiving frame 20 provided on the side, and the seedling planting device 23 separates it and takes it out and plant it in the field.

  Further, the configuration of the seedling transplanter 10 will be mainly described with reference to FIGS. 1, 2, and 3.

  Here, FIG. 3 is a block diagram showing a control system for the riding type rice transplanter according to Embodiment 1 of the present invention.

  As shown in FIG. 3, a turning mechanism 200 that automatically turns the traveling vehicle body 10 during automatic traveling or automatic turning is provided.

  The turning mechanism 200 includes a steering motor 201 for automatically rotating the steering handle 17, an electromagnetic clutch (not shown) for transmitting the rotational driving force of the steering motor to the steering handle 17, and the steering angle of the steering handle 17. It includes a steering angle sensor (not shown) to be detected, and is disposed below the operation panel 2.

  As shown in FIG. 3, when the traveling vehicle body 10 turns in the field, the raising / lowering link device 14 automatically raises the seedling planting unit 15 and detects that the seedling planting unit 15 has moved a predetermined distance after the turning. A turning interlock control device 100 is provided for automatically lowering 15 and starting planting of seedlings.

  In addition, as shown in FIGS. 1 and 2, a first distance detection device 210 configured by a sensor such as a laser or an ultrasonic wave that detects the distance to the farm scene is arranged back and forth in the lower center of the floor portion 30 of the traveling vehicle body 10. At the front end portion of the telescopic stay 40 disposed so as to be horizontally movable in the direction, the telescopic stay 40 is provided 90 ° downward with respect to a horizontal plane (not shown) of the telescopic stay 40. In addition, the second distance detection device 220 configured by a sensor such as a laser or an ultrasonic wave that detects a distance to an obstacle such as a wall in front of the traveling vehicle body 10 has a forward direction at the front end portion of the telescopic stay 40. In addition, it is provided with an inclination of 30 ° upward with respect to the horizontal plane of the telescopic stay 40. A telescopic rack portion 40a is formed on the upper surface side of the telescopic stay 40, and the telescopic rack portion 40a is slidably movable in the front-rear direction with the telescopic pinion 41 rotatably disposed on the back surface of the floor portion 30. The telescopic pinion 41 is connected, and is configured to rotate forward and backward by the telescopic pinion drive motor 42.

  When an operator operates a switch (not shown) on the operation panel 2, the telescopic pinion drive motor 42 rotates, and the traveling vehicle body 10 of the first distance detection device 210 and the second distance detection device 220 is rotated. The distance protruding forward from can be adjusted longer or shorter. Thereby, the operator can freely set the positions of the first distance detection device 210 and the second distance detection device 220 to the width of the headland (also referred to as the number of headland strips). Become wider.

  In the present specification, the farm scene refers to the surface 51a of the relatively soft mud layer 51 on the relatively hard soil layer 50 below the water surface 52 as shown in FIG. say. Therefore, the distance detected by the first distance detection device 210 can be displayed as the distance A in FIG. Here, FIG. 4 is a schematic diagram for explaining the distance from the farm scene 51a detected by the first distance detection device 210 of the riding type rice transplanter 1 of the present embodiment.

  In addition, when it is determined that the distance A (see FIGS. 4 and 7) detected by the first distance detection device 210 is equal to or less than the first predetermined reference, the turn instruction control for causing the turning mechanism 200 to perform automatic turning is performed. The device 110 is provided in the control circuit unit 3 (see FIG. 3). Note that the first predetermined criterion of the present embodiment is an example of the predetermined criterion of the present invention.

  There is always a step 55 in the height of the farm scene 51a and the ridge 54 (the height of the ridge 54 is higher than the farm scene 51a in any farm field) (see FIG. 8). That is, the distance A (see FIG. 7) measured by the first distance detection device 210 greatly changes to the distance B (see FIG. 8) at the step 55, and the first predetermined reference is set to an intermediate level between the distance A and the distance B. Then, when the distance B is measured, it can be determined that the distance is less than or equal to the first predetermined reference.

  Therefore, when there is no obstacle such as a wall on the ridge 54, the first distance detection device 210 is used to detect the step 55 (see FIG. 8), thereby determining the position at which the vehicle body 10 starts to turn automatically. Can be determined appropriately. Further, by detecting the level difference 55 between the farm scene 51a and the ridge 54, it is possible to match the positions of the planting start and planting end in any deformed rice field.

  Here, FIG. 7 is a schematic diagram showing a situation where the riding type rice transplanter 1 is planting while traveling forward in the field. FIG. 8 is a schematic diagram illustrating a situation in which the first distance detection device 210 has detected the distance B from the upper surface of the ridge 54.

  Further, when there is an obstacle such as a wall on the ridge 54, the position at which the automatic turning of the traveling vehicle body 10 can be appropriately determined using the detection result of the second distance detection device 220.

  Thereby, when there is no obstacle such as a wall in the fence 54, the step 55 between the farm scene 51a and the fence is detected, and when there is an obstacle such as a wall in the fence 54, the second distance detection device. By using the detection result of 220, it is possible to automatically align the planting start and planting end position of the whole process by automatically turning, so there is no need for supplemental planting, twice planting, fertilizer twice, Saves labor. Further, the steering handle 17 and the lever need not be operated at the time of turning, and the operator's fatigue can be reduced.

  Further, as shown in FIG. 3, the GPS receiver 230 that acquires the position coordinates of the traveling vehicle body 10 and the automatic rectilinear operation that operates the steering motor 201 using the GPS receiver 230 during straight traveling during planting work. And a control device 120. That is, the position coordinates of the traveling vehicle body 10 received by the GPS receiving device 230 are compared with the coordinate values of the map data stored in advance in the memory (not shown) of the automatic linear advance control device 120. When there is a deviation from the coordinate value to be passed, the steering motor 201 that steers the steering handle 17 is operated and moved to the coordinate position of the map data.

  With the above-described configuration, since the seedling can be planted in a straight line by using the GPS receiver 230 during the straight traveling during the planting operation, the planting accuracy of the seedling is improved and the operator This eliminates the need for maneuvering and reduces the labor of the operator.

  In addition, when the turning instruction control device 110 determines that the distance A detected by the first distance detection device 210 is equal to or less than the first predetermined reference, for example, the first distance detection device 210 enters above the bag. When measuring the distance B from the upper surface of the cocoon, there is a large step 55 between the upper surface of the cocoon and the farm scene 51a, and it is determined that the measured distance is clearly below the first predetermined reference. The configuration is such that the linear control device 120 interrupts the operation control of the steering motor 201 using the coordinate position acquired by the GPS receiver 230 and instructs the turning mechanism 200 to turn the traveling vehicle body 10.

  With the above-described configuration, it is possible to perform turning according to the actual position of the heel by using the detection result of the first distance detecting device 210 instead of using the GPS receiving device 230 to detect the heel. As a result, the width of the headland planting work is aligned and the headland padding accuracy is improved. More specifically, for example, it is difficult to obtain an accurate position coordinate even when using a GPS receiving device 230 for a thin cement made cage, and the turning start position and the turning end position are likely to be displaced. Even in such a situation, the above configuration makes it possible to perform turning in accordance with the actual position of the kite.

  Although the above problem can be solved by using a high-accuracy GPS receiver, there is an effect that the cost can be suppressed because the cost can be increased as the accuracy increases.

  Further, as shown in FIG. 3, a travel distance detection sensor 240 that detects the travel distance of the traveling vehicle body 10, a main transmission 250 that controls forward, backward, and stop of the traveling vehicle body 10, a turning instruction control device 110, A selection switch 260 for selecting one of the second turning instruction control devices 130 is provided.

  The second turning instruction control device 130 detects the moving distance of the traveling vehicle body 10 detected from the time point when the distance to the field scene 51a detected by the first distance detecting device 210 is determined to be equal to or less than the first predetermined reference. When the vehicle length data of the traveling vehicle body 10 stored in advance in a memory (not shown) in the second turning instruction control device 130 coincides, the main transmission 250 is activated to stop the traveling vehicle body 10 from traveling. After raising the seedling planting part 15 and raising the seedling planting part 15, the main transmission 250 is operated to move the traveling vehicle body 10 backward and the traveling vehicle body 10 detected by the movement distance detection sensor 240 is moved. When the reverse movement distance coincides with the vehicle length data, the main transmission device 250 is operated to stop the traveling vehicle body 10 and the turning mechanism 200 is operated.

  Here, the vehicle length means the length from the foremost end surface of the front wheel 12 to the planting position of the seedling planting device 23 of the seedling planting unit 15, and hereinafter referred to as a vehicle length L. (See FIG. 1).

  With the above configuration, when the operator operates the selection switch 260 and selects to execute control by the second turning instruction control device 130 before starting the work, for example, the seedling is kept until the traveling vehicle body 10 reaches the field end. Since the swivel mechanism 200 is operated after traveling backward to the swivel position, planting control and automatic swivel control corresponding to farm fields with different work conditions can be performed, so that work efficiency and seedling planting accuracy are improved.

  In addition, by automating planting to the end of the field and reverse traveling to the turning position, the operator's maneuvering becomes unnecessary, the labor of the operator is reduced, and the planting position due to operational mistakes is reduced. Misalignment is prevented and planting accuracy is improved.

  Further, as shown in FIG. 3, after the second distance detection device 220 detects the presence of an obstacle ahead, the distance from the obstacle based on the detection result of the second distance detection device 220 is a riding type rice transplanter. When a predetermined predetermined distance greater than a limit distance obtained by adding the maximum turning radius R of 1 (see FIG. 5) and the braking distance from when the traveling stop command is issued until the traveling vehicle body completely stops, Regardless of the detection result by the first distance detection device 210, a third turning instruction control device 140 that operates the turning mechanism 200 is provided. Here, FIG. 5 is a plan view showing the maximum turning radius R of the riding type rice transplanter 1 during turning.

  With the above configuration, when the second distance detection device 220 detects an obstacle in the traveling direction of the traveling vehicle body 10 and the distance between the traveling vehicle body 10 and the obstacle reaches the predetermined distance, the third turning instruction control device. When 140 turns the turning mechanism 200, the vehicle can turn at a sufficient distance from the obstacle, so that the headland working position is secured and waste seedlings are reduced. Further, it is possible to prevent the first distance detection device 210, the second distance detection device 220, and the like from coming into contact with obstacles and being damaged during turning.

  Next, the operation of the riding type rice transplanter 1 according to the present embodiment will be described with reference to FIG. 6 mainly.

  FIG. 6 is a flowchart for explaining the operation of the riding rice transplanter 1.

  First, before starting the planting work on the farm field, the operator sets the number of headland strips in advance using the headland strip number setting switch (not shown) of the operation panel 2 (see step S101). It is assumed that the selection switch 260 is set to select the turning instruction control device 110.

  When the number of headland strips is input from the headland strip number setting switch, the control circuit unit 3 until the travel vehicle body 10 is completely stopped after the travel stop command is issued while the riding type rice transplanter 1 is traveling. The extension distance β of the telescopic stay 40 corresponding to the total distance obtained by adding the braking distance, which is the distance, and the margin width α for one or two strips to the input width of the headland strip is determined. The feeding distance β (see FIG. 1) means the distance from the foremost end surface of the front wheel 12 to the first distance detection device 210.

  Here, the meaning of adding the margin width α is that normally seedlings are not planted until the last minute, so it is necessary to consider the margin width α in order to secure the distance of the set headland number. is there. In this way, by taking into account the margin width α, planting seedlings already planted in the linear process will not be crushed at the time of planting work in the headland, so work such as supplemental planting and double planting Can be saved, saving labor.

  Then, the control circuit unit 3 rotates the telescopic pinion drive motor 42 using the feeding distance β. As a result, the telescopic rack portion 40a slides through the telescopic pinion 41, and the position of the first distance detecting device 210 moves so as to protrude forward by the feeding distance β with reference to the foremost end surface of the front wheel 12 (step S102). reference).

  Thereafter, the planting work is started (see step S103), and the planting of the seedling can be performed in a straight line by using the GPS receiver 230 during the straight traveling during the planting work. The planting accuracy is improved and the labor of the operator is reduced.

  Next, the scene where the traveling vehicle body 10 enters the turning operation will be described for each case.

  That is, during the planting work in the straight traveling in step S103, the second distance detection device 220 detects the presence or absence of an obstacle such as a wall provided on the front ridge 54 (see FIG. 7), and removes the obstacle. If not detected, the process proceeds to step S105 (see step S104).

  In step S105, since there is no obstacle ahead, the vehicle travels straight until the first distance detection device 210 detects the step 55, and when the step 55 is detected (see FIG. 8), the turn command from the turn instruction control device 110 is detected. As a result, the turning mechanism 200 is activated to automatically start turning.

  On the other hand, when the second distance detection device 220 detects an obstacle such as a wall provided on the eave 54 in front during planting work in a straight traveling in step S103 (see step S104), the process proceeds to step S106. The control circuit unit 3 determines whether or not the width of the set headland number set in step S101 is larger than the maximum turning radius R (step S106).

  And when it determines with the width | variety of a setting headland number being larger than the maximum turning radius R, it progresses to step S107.

  In step S107, even if there is a wall on the ridge 54, it can turn without contacting the wall, so the distance from the obstacle detected by the second distance detection device 220 corresponds to the set number of pillows. When γ (the width of the set pillows + the braking distance + the margin width α) is reached, a turning command is output from the third turning instruction control device 140 to the turning mechanism 200, and the turning is automatically started.

  On the other hand, when it is determined that the width of the set headland number is equal to or less than the maximum turning radius R, the process proceeds to step S108 (see FIG. 9).

  That is, in step S108, if the turn is made using the set number of pillows, the maximum turning radius R cannot be secured, and the traveling vehicle body 10 may come into contact with the wall. When the distance from the obstacle detected by the second distance detection device 220 reaches a predetermined distance δ (= maximum turning radius R + braking distance + room width α) without using the number, A turning command is output from the turning instruction control device 140 to the turning mechanism 200, and turning is automatically started.

  As a result, the vehicle can automatically turn while leaving a sufficient distance from the obstacle, so that the headland working position is secured and waste seedlings are reduced. Moreover, it can prevent that a 1st distance detection apparatus etc. contact and obstructs an obstacle at the time of turning.

  FIG. 9 is a schematic diagram showing a situation in which the second distance detection device 220 detects the distance from the wall formed on the upper surface of the flange 54.

  Next, when the selection switch 260 is set by the operator to select the second turning instruction control device 130, the traveling vehicle body 10 is moved to the position just before the field end and the planting operation is performed. This will be described with reference to FIG.

  In this case, even if the number of headland strips described in step S101 is not set, in step S102, the feeding distance β is automatically set using the vehicle length L stored in advance in the memory. The position of the first distance detection device 210 moves so as to protrude forward by a distance obtained by adding the braking distance to the vehicle length L with reference to the foremost end face of the front wheel 12.

  After the planting work is started (see step S103), the process proceeds to step S104.

  Since the control operation of the second turning instruction control device 130 is performed on the premise that there is no obstacle such as a wall in the reed, the second distance detection device 220 does not detect an obstacle ahead in step S104. However, control different from that in step S105 described above is performed.

  That is, in a situation where the second distance detection device 220 has not detected an obstacle ahead, the second turning instruction control device 130 has a first predetermined distance to the field scene 51a detected by the first distance detection device 210. Detection is performed when it is determined that the distance is below the reference, that is, when the first distance detection device 210 first measures the distance B to the ridge 54 while measuring the distance A to the farm scene 51a. When the travel distance of the traveling vehicle body 10 to be started matches the data of the vehicle length L of the traveling vehicle body 10 stored in advance in a memory (not shown) in the second turning instruction control device 130, the main transmission 250. To stop the traveling of the traveling vehicle body 10, raise the seedling planting unit 15, raise the seedling planting unit 15, operate the main transmission 250 to move the traveling vehicle body 10 backward, Moving distance detection sensor When the reverse travel distance of the traveling vehicle body 10 detected by 240 coincides with the data of the vehicle length L, the main transmission device 250 is operated to stop the traveling vehicle body 10 and the turning mechanism 200 is operated to perform automatic turning. Start.

  Accordingly, when the selection switch 260 is operated and the control by the second turning instruction control device 130 is selected, seedlings are automatically planted until the traveling vehicle body 10 reaches the end of the field, and the backward traveling is automatically performed to the turning position. Then, the turning mechanism 200 is operated, so that planting control and automatic turning control corresponding to farm fields with different work conditions can be performed, so that work efficiency and seedling planting accuracy are improved.

  In addition, by automating planting to the end of the field and reverse traveling to the turning position, the operator's maneuvering becomes unnecessary, the labor of the operator is reduced, and the planting position due to operational mistakes is reduced. Misalignment is prevented and planting accuracy is improved.

  Next, the structure of the canopy (rain visor) interlocked with the movement of the reserve seedling frame will be described with reference to FIGS.

  Here, FIG. 10 is a schematic left schematic view of a riding rice transplanter equipped with a movable canopy, and FIG. 11 is a schematic left schematic surface showing a state where the canopy is moved rearward and obliquely upward. FIG. 12 is a schematic plan view showing the positional relationship between the canopy and the left and right spare seedling mounts 18.

  As shown in FIG. 10, spare seedling frames 300 for loading spare seedlings are provided on both the left and right sides of the front side of the traveling vehicle body 10. The preliminary seedling frame 300 operates a plurality of preliminary seedling mounting bases 18 on which preliminary seedlings are mounted, a link mechanism 301 that connects the plurality of preliminary seedling mounting bases 18 so as to be switchable between a deployed form and a stacked form, and a link mechanism 301. And a switching device 302 that switches between a deployed configuration and a stacked configuration, and the rotation shaft of the switching device 302 can rotate in both forward and reverse directions with respect to the rotation support shaft 301a of the link mechanism 301. It is connected to. One end 301b of the link mechanism 301 is rotatably connected to the rear end portion of the uppermost preliminary seedling stage 18, and the other end 301c of the link mechanism 301 is the front end of the lowermost preliminary seedling stage 18. It is connected with the part so that rotation is possible.

  Further, a canopy 310 that covers the upper side of the driver seat 16 is held by the right frame 320R and the left frame 320L. One end portion 320Ra of the right side frame 320R and one end portion 320La of the left side frame 320L are respectively arranged on the outer rear end portion 18Ra of the rightmost lowermost preliminary seedling stage 18 and the outer rear side of the leftmost lowermost preliminary seedling stage 18. It is firmly fixed to the end 18La (see FIGS. 10 and 12).

  In addition, on the left and right outer sides of the steering handle 17, the vertically rising portions of the right frame 320R and the left frame 320L are configured to also function as the assisting grips 321R and 321L.

  Under the above configuration, when the second distance detection device 220 does not detect an obstacle in front and the second turning instruction control device 130 is selected by the selection switch 260, the traveling vehicle body 10 is at the end of the field. When reaching, the traveling vehicle body 10 stops traveling. Then, when the switching device 302 is operated and the link mechanism 301 is rotated counterclockwise in FIG. 10, all of the stacked seedling stands 18 arranged in the vertical direction at a predetermined interval are arranged. However, as shown in FIG. 11, the spare seedling frame 300 is in a deployed form, as shown in FIG. 11.

  The right frame 320R and the left frame 320L that are fixed to the outer rear end portions 18Ra and 18La of the lowermost preliminary seedling stage 18 are directed obliquely upward at the rear side in conjunction with the movement of the preliminary seedling frame 300 to the unfolded form. Move.

  Further, when the switching device 302 is activated and the preliminary seedling frame 300 is in the unfolded state, the seedling planting unit 15 is not raised, and the stopped state of the traveling vehicle body 10 is maintained.

  With the above configuration, during normal planting work, the canopy 310 is in a low position above the operator's head and has a high rainproof effect, and when supplying fertilizer and seedlings, the canopy 310 has the spare seedling frame 300 deployed. In conjunction with the operation to move to the upper position of the fertilizer hopper 9a behind the worker, it moves to a higher position where a rainproof effect is required and the fertilizer or seedling mat is easily replenished.

  As a result, it can be realized with a lighter configuration than the conventional canopy.

  In the above configuration example, the left and right sides of the preliminary seedling frame 300 can be unfolded and the canopy 310 is held by the left and right frames 320L and 320R. As long as any one of the two can be developed, the canopy 310 may be held only by the one side frame that is coupled only to the spare seedling frame 300 on the one side. That is, since the canopy 310 is lightweight, a cantilever configuration can be realized.

  Next, a configuration of the cabin that is different from the canopy 310 and that is linked to the movement of the reserve seedling frame will be described with reference to FIGS. 13 to 15.

  Here, FIG. 13 is a schematic left-side schematic diagram of a riding rice transplanter including a movable cabin 400, and FIG. 14 is a schematic left-side schematic diagram illustrating a state in which the cabin has moved rearward and obliquely upward. FIG. 15 is a schematic plan view showing the positional relationship between the cabin 400 and the left and right spare seedling platforms 18.

  Here, it demonstrates centering on a different point from the structural example provided with the said canopy 310. FIG.

  That is, the basic configuration of the reserve seedling frames 300 provided on both the left and right sides of the front side of the traveling vehicle body 10 is the same as the configuration example including the canopy 310, and a plurality of reserve seedling platforms are operated by the operation of the switching device 302. 18 is common in that it can be switched between a developed form and a laminated form, and the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 13, at the rear end portions 18La and 18Ra of the lowermost preliminary seedling stage 18 and the central portions 18Lb and 18Rb, the lower end portions of the rear cabin frames 420LB and 240RB, and the front cabin frame 420LF, The lower end portions of 240RF are fixed, and the cabin roof 430 constituting the ceiling of the cabin 400 is attached to the upper end portions thereof.

  The front end portion of the cabin 400 is pivotally connected to the front edge of the cabin roof 430 so that the upper end portion is pivotable. The rear surface portion of the cabin 400 has an upper end portion that is the cabin roof. A flip-up rear window 411 is provided that is pivotally connected to the rear edge of 430. Both the front window 410 and the rear window 411 are formed of a transparent resin plate. The pair of left and right side window portions 421L and 421R between the front cabin frames 420LF and 420RF and the rear cabin frames 420LB and 420RB are covered with a transparent resin plate or a transparent vinyl sheet. In addition, a pair of left and right door handles 415 are connected between the rear cabin frames 420LB and 420RB and the rear window 411 so as to be opened and closed by hinges 413 at the center of the rear cabin frames 420LB and 420RB. Doors 414L and 414R are provided.

  With the above configuration, during normal planting work, the operator can comfortably work in the cabin 400 by the air conditioning function of air conditioning, and when supplying fertilizer and seedlings, the cabin 400 has the spare seedling frame 300. In conjunction with the movement to become a deployed form, the front window is moved to a high position where a rainproof effect is required above the fertilizer hopper 9a behind the worker and the replenishment work of fertilizer and seedling mat is easy. Since the part 410 and the rear window part 411 jump upward, they do not interfere with the work.

  With the above configuration, by providing the cabin 400 that was not provided in conventional rice transplanters, it is possible to realize a comfortable work space with air conditioning function of air conditioning, and work in all weather such as rainy weather, strong wind, and control As a result, work efficiency is improved.

  Next, an example of the configuration of the marker device for the purpose of maintaining the straightness at the time of planting work in the riding type rice transplanter will be described with reference to FIGS. 16 (a) and 16 (b).

  FIG. 16A is a schematic plan view schematically showing the configuration of this configuration example, and FIG. 16B is a schematic schematic view of the tip portion of the marker frame as viewed from the rear side of the main body.

  In conventional riding type rice transplanters, marks (straight lines) are marked on the mud surface of the field with side markers and water wheel markers, and the operator confirms the marks visually while moving straightly during planting work. Although it was assisting, there was a case where sunlight reflected on the water surface of the field and it was difficult to visually recognize the mark on the mud surface.

  The marker device 500 shown in this example is arranged at the front part of the riding type rice transplanter 1, and a transparent tube prepared in advance with a predetermined length and having LEDs 510 embedded therein at regular intervals is planted. At the same time as traveling, the steering handle 17 is drawn out and arranged on the field scene of the adjacent strip, and after turning at the field end, the light emitted from the LED is received by the light receiving unit 530 provided in the rice transplanter 1. It is the structure which can implement | achieve the assistance of automatic straight drive by controlling automatically.

  Specifically, as shown in FIG. 16 (a), the marker device 500 disposed in the front portion of the traveling vehicle body 10 is a tube in which a pair of left and right transparent tubes 520L and 520R are wound in a coil shape and disposed vertically. A holding frame 501 that rotatably holds the holding portion 530, and left and right sides that are rotatably connected to both ends of the holding frame 501 and the other end is rotatably connected to the front side surface of the traveling vehicle body 10. A pair of connecting arms 502L and 502R and tubes 520L and 520R, which are arranged on the left and right ends of the holding frame 501 and are wound around the tube holding portion 530, are alternately fed out from the left and right ends of the holding frame 501 to the field. A pair of left and right tube feeding / winding portions 540L and 540R for winding for the purpose, and the turning of the traveling vehicle body 10 with the turning operation A projecting drive unit 550 coupled to the front side surface of the left coupling arm 502L for alternately projecting a pair of left and right tube feeding / winding units 540L and 540R in the opposite direction, and a front surface of the traveling vehicle body 10 It is the structure provided with the light-receiving part 560 which light-receives the light of LED arrange | positioned protruding ahead from the center position. In addition, a tube holding portion rotating portion 570 that rotates the tube holding portion 530 in synchronization with the operation of the tube feeding / winding portions 540L and 540R is provided at the central portion of the holding frame 501.

  An anchor 521 with a weight 521a attached to the tip is attached to the final end located on the outermost periphery of the tubes 520L and 520R wound around the tube holding portion 530 in a coil shape.

  Next, the operation of the marker device 500 of this example will be described with reference to FIGS.

  When the riding type rice transplanter 1 starts planting work in which seedlings are planted while traveling straight in the direction of arrow C in the field, a switch operation by an operator is performed in advance, and the overhang drive unit 550 is based on the operation. , And the pair of left and right connecting arms 502L and 502R rotate counterclockwise, so that the left tube feeding / winding portion 540L protrudes greatly to the left side of the front portion of the traveling vehicle body 10 (FIG. 16 ( a)).

  When the planting operation is started, the left tube feeding / winding unit 540L and the tube holding unit 530 start driving in the direction in which the tube is fed out, and the weight attached to the final end of the left tube 520L The attached anchor 521 falls to the field by its own weight, and the weight 521a at the tip enters the relatively hard soil layer (cultivating board) 50, so that the start position of the tube feeding is fixed.

  In conjunction with the planting work of the traveling vehicle body 10, the left tube feeding / winding portion 540L and the tube holding portion 530 are continuously driven in the direction in which the left tube 520L is fed out, so that the tube can be added to the farm scene 51a. 520L is arranged. The arrangement position of the tube 520L becomes the center position of the strip where the traveling vehicle body 10 is to turn and perform the planting operation.

  After the traveling vehicle body has planted to the end of the field, it turns counterclockwise (see arrow D in FIG. 16A), but in conjunction with this turning operation, the overhang drive unit 550 automatically turns. When operated, the pair of left and right connecting arms 502L and 502R rotate clockwise, so that the right tube feeding / winding portion 540R protrudes greatly to the right side of the front portion of the traveling vehicle body 10 (FIG. 16A). (See arrow E).

  When this turning operation is completed, the left tube feeding / winding portion 540L and the tube holding portion 530 are switched to drive in the direction in which the left tube 520L is collected, and the right tube feeding / winding projecting greatly to the right side. The part 540R starts to rotate in the direction in which the right tube 520R is fed out in synchronization with the tube holding part 530. The anchor 521 with a weight attached to the final end of the right tube 520R falls to the field by its own weight, and the weight 521a at the tip enters the relatively hard soil layer (cultivator) 50, so that the tube is fed out. The start position is fixed.

  After the traveling vehicle body 10 completes the turning, the light receiving unit 560 provided in front of the center position of the front portion of the traveling vehicle body 10 has already been disposed in the farm scene 51a, and the collection work can be performed from the last disposed side. By starting the automatic control of the steering handle 17 while receiving the light from the LED 510 embedded in the left tube 520L that has started, an automatic linear advance assist is performed.

  In conjunction with the planting work of the traveling vehicle body 10, the right tube feeding / winding portion 540R and the tube holding portion 530 continue to drive in the direction in which the right tube 520R is fed out, so that the tube is added to the farm scene 51a. 520R is arranged.

  By repeating the above operation, each time the turning operation is performed in each of the pair of left and right tubes 520L and 520R, the feeding and collection of the tubes are alternately performed. That is, when one of the tubes is being drawn out, the other tube is being collected, and when one of the tubes is being collected, the other tube is being drawn out.

  As a result, it is possible to improve the assist performance of the straight traveling.

  In addition, manual rectilinear assistance can also be performed by an operator visually recognizing the light from the LED.

  In the above example, the configuration in which the right tube 520R and the left tube 520L are prepared has been described. However, the present invention is not limited to this. And it is good also as a structure which carries out the collection | recovery operation | work at the same time it pays out one side except the straight run of the last strip | line.

  In the above-described embodiment, the configuration in which the first distance detection device 210 is used to detect the step 55 between the farm scene 51a and the cocoon 54 has been described. However, the present invention is not limited thereto. The thickness of the soft mud layer 51 gradually increases, the depth of the farm scene 51a from the water surface 52 gradually decreases, and the distance A to the farm scene 51a detected by the first distance detector 210 gradually decreases. There is a tendency.

  Therefore, in the field where the above-mentioned tendency occurs within a range of substantially the same distance from the edge of the field, the second predetermined reference set in advance is set to be larger than the set value when the step 55 is detected. Thus, when it is determined that the distance A measured by the first distance detection device 210 is equal to or less than a predetermined second predetermined reference at a time prior to detecting the step with the heel, It is good also as a structure which starts automatic turning. This configuration will be further described with reference to FIG.

  Here, FIG. 17 is a flowchart for explaining the operation of the riding rice transplanter 1 when the control circuit unit 3 uses the second predetermined reference instead of the first predetermined reference. Note that the second predetermined standard corresponds to an example of the predetermined standard of the present invention.

  That is, in step S201, the operator sets the number of headland strips using the headland strip number setting switch (not shown) of the operation panel 2 as in step S101 described in FIG.

  When the number of headland strips is input from the headland strip number setting switch, the control circuit unit 3 until the travel vehicle body 10 is completely stopped after the travel stop command is issued while the riding type rice transplanter 1 is traveling. The second extension distance β ′ of the telescopic stay 40 corresponding to the total distance obtained by adding the braking distance, which is the distance, to the input width of the headland strip is determined. Here, unlike the case of step S102 in FIG. 6, the margin width α is not added to the second feeding distance β ′. The reason for this is that in this configuration, the distance between the farm scene 51a and the first distance detection device 210 tends to be gradually shortened, because the field characteristics that are generated from the same distance from the shore are utilized. This is because when the first distance detection device 210 detects that the distance is equal to or less than the second predetermined reference, a substantially constant distance from the edge is secured, which corresponds to the margin width α described above.

  Then, the control circuit unit 3 rotates the telescopic pinion drive motor 42 using the second feeding distance β ′, and the position of the first distance detection device 210 is second feeding with reference to the foremost end surface of the front wheel 12. It moves to project forward by a distance β ′ (see step S202).

  Thereafter, the planting work is started (see step S203), and the planting of the seedling can be performed in a straight line by using the GPS receiver 230 during the straight traveling during the planting work. The planting accuracy is improved and the labor of the operator is reduced.

  Next, as shown in S204, the width of the set headland strip number will be described according to whether or not it is larger than the maximum turning radius R.

  That is, when the width of the set headland strip is equal to or larger than the maximum turning radius R, as shown in step S205, even if there is a wall on the ridge 54, it is possible to turn, so that the first distance detection device 210 detects it. Based on the result, the vehicle automatically turns using the distance of the set headland number (see step S205).

  On the other hand, when the width of the set headland strip is smaller than the maximum turning radius R, as shown in step S206, the second distance detection device 220 is classified according to whether or not an obstacle is detected in front, If no obstacle is detected, the process proceeds to step S207. If an obstacle is detected, the process proceeds to step S208.

  In step S207, since there is no obstacle ahead, based on the detection result of the first distance detection device 210, the vehicle automatically turns using the distance of the set headland number.

  Step S208 is the same as step S108 in FIG. That is, when turning using the width of the set number of pillows, since the maximum turning radius R cannot be secured, there is a possibility that the traveling vehicle body 10 may come into contact with the wall. When the distance from the obstacle detected by the second distance detection device 220 reaches a predetermined distance δ (= maximum turning radius R + braking distance + room width α), the third turning instruction control device A turning command is output from 140 to the turning mechanism 200, and turning is automatically started.

  As a result, the vehicle can automatically turn while leaving a sufficient distance from the obstacle, so that the headland working position is secured and waste seedlings are reduced. Moreover, it can prevent that a 1st distance detection apparatus etc. contact and obstructs an obstacle at the time of turning.

  Moreover, although the said embodiment demonstrated the structure which provided the 1st distance detection apparatus 210 and the 2nd distance detection apparatus 220 each separately, it is not limited to this, For example, as shown in FIG. 18, FIG. The distance detection device 270 also functions as both the first distance detection device 210 and the second distance detection device 220 described above, and the combined distance detection device 270 can be used in any direction forward or downward of the traveling vehicle body 10. The third turning instruction control device 140 includes a distance detecting device rotating portion 271 configured by a rotatable motor, and the third turning instruction control device 140 rotates the dual-purpose distance detecting device 270 upward from the horizontal (for example, 30 ° upward from the horizontal). When it does, the structure which detects the distance with an obstruction may be sufficient. Here, FIG. 18 is a left side view of the riding type rice transplanter for explaining the combined distance detection device 270, and FIG. 19 is a plan view of the riding type rice transplanter for explaining the combined distance detection device 270. is there.

  Specifically, as shown in FIG. 18, the distance detecting device rotating portion 271 is fixed to the upper end side of the telescopic stay 40 by a fixing member 273. One end portion of the rotation arm 274 is fixed to one end side of the combined distance detection device 270 so as to exhibit a “h” shape as a whole. Further, one end side of the dual-purpose distance detection device 270 is connected to the distal end portion of the telescopic stay 40 so as to be rotatable about the rotation shaft 270a. Further, one end portion is connected to the distance detecting device rotating portion 271 side so as to be swingable up and down, and the other end portion is configured by a swinging arm 275 rotatably connected to the other end portion of the rotating arm 274. Yes. When the swing arm 275 moves upward, for example, the laser light projecting surface and the light receiving surface of the combined distance detector 270 are directed downward, and when the swing arm 275 moves downward, the combined distance detector 270 emits light. The surface and the light receiving surface are configured to face forward.

  With this configuration, the first distance shown in FIG. 1 is detected by rotating the dual-purpose distance detection device 270 downward and forward, and detecting the height to the farm scene 51a, the presence or absence of obstacles in front, and the distance. There is no need to provide both the detection device 210 and the second distance detection device 220.

  The transplanting machine according to the present invention can secure a working strip for planting seedlings on the headland, and the traveling vehicle body steps on the seedlings at the time of planting work on the headlands, or the seedling planting portions overlap. It can be applied to a seedling transplanter that can suppress planting of seedlings and has high industrial applicability.

DESCRIPTION OF SYMBOLS 10 Traveling vehicle body 11 Engine 12 Front wheel 13 Rear wheel 21 Planted electric case 40 Telescopic stay 40a Telescopic rack part 41 Telescopic pinion 42 Telescopic pinion drive motor 210 First distance detection device 220 Second distance detection device

Claims (8)

A traveling vehicle body (10);
A seedling planting section (15) for planting seedlings in a farm, which is provided at the rear of the traveling vehicle body (10) so as to be movable up and down;
When the traveling vehicle body (10) turns in the field, the seedling planting part (15) is automatically raised, and the seedling planting part (15) is automatically detected by detecting that it has moved a predetermined distance after turning. A swivel interlocking control device (100) for lowering and starting planting of seedlings,
A turning mechanism (200) for turning the traveling vehicle body (10);
A first distance detection device (210) for detecting a distance to a farm scene;
A turning instruction control device (110) for turning the turning mechanism (200) when the distance detected by the first distance detection device (210) is determined to be equal to or less than a predetermined reference; A seedling transplanter characterized by that.   The seedling transplanter according to claim 1, wherein the first distance detection device (210) is provided on a front side of the traveling vehicle body (10). The turning mechanism (200) includes a steering actuator (201) for steering a steering member (17) for steering the traveling vehicle body (10).
A GPS receiver (230) for acquiring the position coordinates of the traveling vehicle body (10);
An automatic rectilinear controller (120) for operating the steering actuator (201) using the GPS receiver (230) during straight traveling during planting work,
When the turning instruction control device (110) determines that the distance detected by the first distance detection device (210) is equal to or less than the predetermined reference, the automatic linear motion control device (120) interrupts the operation. The seedling transplanting machine according to claim 1, wherein the turning is instructed. A movement distance detection sensor (240) for detecting a movement distance of the traveling vehicle body (10);
A main transmission (250) that controls forward, reverse, and stop of the traveling vehicle body (10);
The turning instruction control device (110), and a selection unit (260) for selecting one of the second turning instruction control device (130),
The second turning instruction control device (130)
The travel distance of the traveling vehicle body (10) detected from the time when it is determined that the distance to the farm scene detected by the first distance detection device (210) is equal to or less than the predetermined reference is stored in advance. When it coincides with the vehicle length data of the traveling vehicle body, the main transmission (250) is operated to stop traveling, the seedling planting part (15) is raised, and the seedling planting part is raised. Thereafter, the main transmission (250) is operated to move the traveling vehicle body backward, and when the traveling distance of the traveling vehicle body detected by the movement distance detection sensor (240) coincides with the vehicle length data, The seedling transplanter according to any one of claims 1 to 3, wherein the main transmission device is operated to stop traveling and the turning mechanism (200) is operated. A second distance detection device (220) for detecting a distance to an obstacle ahead of the traveling vehicle body;
The distance from the obstacle based on the detection result of the second distance detection device (220) is the maximum turning radius of the seedling transplanter and the time until the traveling vehicle body is completely stopped after the traveling stop command is issued. Third turning instruction control that activates the turning mechanism (200) regardless of the detection result by the first distance detecting device (210) when a predetermined distance greater than the limit distance obtained by adding the braking distance is reached. A seedling transplanter according to any one of claims 1 to 4, characterized in that it comprises a device (140). The first distance detection device (210) also serves as the second distance detection device (220),
The first distance detecting device (210) includes a distance detecting device rotating portion (271) capable of rotating in either the front or lower direction of the traveling vehicle body,
6. The third turning instruction control device according to claim 5, wherein when the first distance detection device (210) is rotated upward from the horizontal, the distance to the obstacle is detected. Seedling transplanter. A front seedling frame (300) for loading a spare seedling is provided on the front side of the traveling vehicle body (10),
The preliminary seedling frame (300)
A plurality of preliminary seedling platforms (18) on which the preliminary seedlings are placed;
A link mechanism (301) connected to the plurality of preliminary seedling mounts so as to be switchable between a deployed form and a laminated form;
A switching device (302) for operating the link mechanism (301) to switch between the unfolded form and the stacked form;
When the second distance detection device (220) does not detect the obstacle and the selection unit (260) selects the second turning instruction control device (), the traveling vehicle body (10) The seedling transplanter according to claim 5 or 6, characterized in that when the end of the field is reached, the switching device (302) is activated and the preliminary seedling frame is in the unfolded form.   When the switching device (302) is activated and the preliminary seedling frame (300) is in the unfolded state, the seedling planting part (15) is not raised and the traveling vehicle body (10) is stopped. The seedling transplanter according to claim 7, wherein the seedling transplanter is maintained.

Images