JP2018166492A - Seedling transplanter - Google Patents

Abstract

To provide a seedling transplanter capable of planting with a desired number of seedling mats to a desired field.SOLUTION: In a seedling transplanter including a planting implement supported by a traveling machine body, liftably through a lifting linkage, a planting depth detection sensor for detecting a height from a bottom surface, of a float of the planting implement, and a planting implement position detection sensor for detecting a height of the planting implement to the traveling machine body, a slip ratio is calculated from a sinkage of a running wheel into the field, calculated based on the planting depth detection sensor and on the planting implement position detection sensor.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a seedling transplanter.

  Patent Document 1 discloses a rice transplanter that includes a vertical feed mechanism that intermittently conveys a seedling mat placed on a seedling stage to the lower end side, and a lateral feed mechanism in the left-right direction of the seedling stage. Has been. By the lateral feed mechanism, the seedling stage is reciprocated in the left-right direction, and when the seedling stage reaches the left and right reciprocating movement ends, the vertical feed belt constituting the vertical feed mechanism is operated, and the seedling mat is moved at a predetermined interval. By transporting to the lower end side of the seedling stage, the seedling mat of the seedling stage is stably supplied to the planting claws.

JP 2010-213638 A

  By raising and lowering the seedling platform, there is a seedling amount adjustment lever that can change the position of the planting claw relative to the seedling mat in multiple stages, and the operator can operate the seedling amount adjustment lever to The vertical amount of the seedling mat to be scraped can be adjusted.

In planting rice seedlings to paddy fields, the number of strains per field area and the number of seedling mats necessary for planting are set in anticipation of the yield per field area. And during planting work, by grasping the work area and number of seedling mats used for planting, each part is controlled so that the remaining seedling mat can be consumed with respect to the remaining work area Yes. For example, the consumption rate of the seedling mat is changed by adjusting the vertical amount of the seedling mat scraped off by the planting claws. However, because the slip ratio of the wheels changes according to the state of the field, it is difficult to accurately grasp the work area used for planting, and it is difficult to plant with the planned number of seedling mats There was a case.
Then, an object of this invention is to provide the seedling transplanter which can calculate a slip ratio appropriately.

  The seedling transplanter of the present invention includes a planting work machine supported by a traveling machine body so as to be able to be lifted and lowered via a lifting link mechanism, and a planting depth detection sensor for detecting a height from the bottom surface of the float of the planting work machine And a planting work machine position detection sensor for detecting the height of the planting work machine with respect to the traveling machine body, the planting depth detection sensor and the planting work machine position detection. The slip ratio is calculated from the amount of subsidence of the traveling wheel to the field calculated based on the sensor.

  Provided separately from the float, provided with a sensor that follows the field surface, and by measuring the swing angle of the sensor, the amount of settlement of the traveling wheel to the field in consideration of the amount of settlement of the float to the field calculate.

  By scraping the seedlings from the seedling mat placed on the seedling stand with planting claws and planting them in the field, and adjusting the vertical amount of scraping the seedling mat in the traveling direction of the traveling machine body in plan view, the planting The seedling amount calculation unit is configured to be capable of changing the amount of the seedling mat with the attached nail and capable of calculating a reference vertical amount from the field area and the number of seedling mats used for the field area. Is the actual work area where the planting work was performed and the number of seedling mats used based on the actual work area, the remaining work area and the remaining seedling. The reference vertical amount is corrected based on the target vertical amount calculated based on the number of mats, and the actual work area is determined based on the vehicle speed of the traveling machine body considering the slip ratio and the condition where the planting operation is performed. It is calculated from the work width set from the number.

  According to the present invention, a planting operation can be performed with a desired number of seedling mats on a desired field.

Side view of rice transplanter. The top view of a rice transplanter. One side view of a planting part. The other side view of a planting part. The figure which shows a dashboard. The block diagram which shows vertical amount control. The control block diagram of a seedling amount calculation part. The graph which shows the correlation with the amount of subsidence to the field of a rear wheel, and a slip rate. (A) Side view showing the amount of settlement of the rear wheel to the field (b) Side view showing the height from the ground contact surface of the rear wheel to the bottom of the float. The side view which shows the height from the ground-contact plane of a rear wheel to a rice field. (A) Rear view and side view of placement surface for each row of seedling mounting table provided with upstream rotating body and downstream rotating body (b) Seedling mounting table provided with upstream rotating body and downstream rotating body The rear view and side view of the mounting surface for every stripe. The figure which shows the detection of the seedling number of times of a seedling mat. The figure which shows correction | amendment of the seedling | jointing frequency | count of a seedling mat. The figure which shows correction | amendment of the residual amount of the seedling mat estimated. (A) Side view of downstream rotator (b) View showing downstream rotator as seen from placement surface side (c) View showing downstream rotator as seen from back side of placement surface. The figure which shows another embodiment of the rotation speed detection structure of a downstream rotary body. (A) Rear view of seedling mounting table showing positional relationship between seedling holding bar, upstream rotating body and downstream rotating body (b) Second implementation of positional relationship between seedling holding bar, upstream rotating body and downstream rotating body Rear view of seedling mounting table showing form (c) Rear view of seedling mounting table showing third embodiment of positional relationship between seedling holding bar and upstream rotating body and downstream rotating body (d) Seedling holding bar and upstream side The rear view which shows 4th embodiment of the positional relationship of a rotary body and a downstream rotary body. The flowchart figure showing the control aspect of the amount of vertical collection. The figure which shows the item displayed on an information terminal.

  Hereinafter, with reference to FIG.1 and FIG.2, the whole structure of the rice transplanter 1 which is one Embodiment of a seedling transplanter is demonstrated. The rice transplanter 1 includes a traveling machine body 2 and a planting work machine 3 attached to the rear part thereof, and performs planting work by the planting work machine 3 while traveling by the traveling machine body 2.

  The traveling machine body 2 includes an engine 4, a transmission 5 that shifts power from the engine 4, a vehicle body frame 6 that supports the engine 4 and the transmission 5, a front wheel 7 and a rear wheel that are driven by power transmitted from the engine 4 and the transmission 5. 8 etc.

  The power from the engine 4 and the transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported by the front part of the body frame 6, and the front wheel 7 is supported by the both right and left ends. Similarly, the rear axle case 10 is supported by the rear portion of the body frame 6, and the rear wheels 8 are supported at both left and right ends thereof. The upper part of the body frame 6 is covered by the step 11, and the operator can move on the step 11.

  The power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 through an inter-strain transmission (not shown). The inter-strain transmission is configured to change a planting interval of seedlings planted along the traveling direction of the traveling machine body 2. The seedling amount calculation unit 70 described later is connected to the inter-strain setting unit 9 (see FIG. 7) that sets the seedling planting interval steplessly, and is configured to be able to acquire the seedling planting interval.

  A driver's seat 12 is disposed in the middle of the front and rear of the traveling machine body 2, and a steering handle 13, an operating pedal 14, a dashboard 15 and the like are provided in front thereof. In addition to the steering handle 13, an operation tool for various operations and a display device are arranged on the dashboard 15.

  The planting work machine 3 is connected to the traveling machine body 2 via the lifting link mechanism 20. The lifting link mechanism 20 includes a pair of left and right upper links 21 and lower links 22, a lifting cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the lifting cylinder to raise and lower the planting work machine 3.

  The planting work machine 3 includes a planting arm 31, a planting claw 32, a seedling stage 33, a float 34, and the like. The planting claw 32 is attached to the planting arm 31. The planting machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 to the planting transmission case 36 provided in the planting work machine 3 through the planting center case 35, and the planting arm 31 and planting are planted from the planting transmission case 36. Power is distributed to the claws 32. The planting center case 35 is provided with a planting clutch, and the planting clutch is configured to connect and disconnect the transmission of power from the engine 4 to the planting work machine 3.

  The planting arm 31 is rotated by the power transmitted from the planting transmission case 36. A seedling is supplied to the planting claw 32 from a seedling stage 33. With the rotational movement of the planting arm 31, the planting claw 32 is inserted into the field and seedlings are planted so as to have a predetermined planting depth. In this embodiment, a rotary planting claw is employed, but a crank type may be used.

  The seedling stage 33 is composed of a plate-like member, and is disposed so as to incline forward and backward in a side view of the body. On the rear surface of the seedling mounting table 33, a mounting surface on which a seedling mat is mounted is arranged in the machine width direction according to the number of planting arms (the number of rice transplanters). Since the rice transplanter 1 of this embodiment is a six-plant rice transplanter, six placement surfaces are formed. On the placement surface, the seedling mat is placed in an inclined state.

  The float 34 is attached to the planting frame 37. Specifically, the front end of the float 34 is supported so as to be swingable in the vertical direction with respect to the planting frame 15, and the rear end of the float 34 is provided with a link mechanism 39 on a rotation support shaft 38 provided on the planting frame 15. (See FIG. 9B).

  In the float 34, a sensor 40 (see FIG. 10) that detects the field surface (field surface) is provided immediately before the planting position of the planting unit 4. The sensor 40 extends from the front toward the rear. The sensor 40 is supported by the planting frame 37 so as to be swingable in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the state where the tip is in contact with the field surface is maintained. That is, the rice transplanter 1 proceeds so that the tip of the sensor 40 always follows the field surface.

A lateral feed mechanism for reciprocating the seedling stage 33 in the machine body width direction will be described with reference to FIG.
As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side in the body width direction. A cross-shaped groove is formed on the outer peripheral surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slider receiver 43 is formed in a substantially T shape. The slider receiver 43 is provided with a feed screw 41 and accommodates the slider 42 so as to be slidable along the groove of the feed screw 41.

  A lower rail 44 is attached to the lower part of the front surface (back surface of the mounting surface) of the seedling mounting table 33. The lower rail 44 is disposed with the body width direction as a longitudinal direction. A slider receiver 43 is fixed to the lower rail 44 via a support arm 45.

  Below the lower rail 44, a guide rail 46 that supports the lower rail 44 so as to be slidable in the body width direction is provided. The guide rail 46 is disposed with the body width direction as a longitudinal direction. The guide rail 46 includes an engaging portion 46 a that engages with the lower rail 44, and an extending portion 46 b that extends from the engaging portion 46 a along the shape of the bottom of the seedling stage 33. When the lower rail 44 is engaged with the engaging portion 46 a of the guide rail 46, the lower rail 44 is configured to be slidable along the guide rail 46 in the body width direction. A stopper 47 for preventing the lower rail 44 from being detached from the guide rail 46 is detachably attached to the guide rail 46 with a bolt.

  On the side surface of the planting center case 35 where the feed screw 41 is extended, a lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling mounting table 33 is provided. The operator can adjust the lateral feed amount of the seedling stage 33 by operating the lateral feed switching lever 48 and change the number of times of lateral feed of the seedling stage 33. The transverse feed switching lever 48 is provided with a transverse feed number detection sensor 48a (see FIG. 7) that detects the number of transverse feeds of the seedling table 33 by detecting the position of the transverse feed switching lever. The seedling removal amount calculation unit 70 is connected to the transverse feed number detection sensor 48a, and is configured to be able to detect the number of transverse feeds of the seedling placing table 33.

A vertical feed mechanism that feeds a seedling mat placed on the seedling mount 33 downward will be described with reference to FIG.
As shown in FIG. 4, a longitudinal feed cam shaft 52 to which the longitudinal feed cam 51 is fixed extends from the planting center case 35 toward the other side in the body width direction. The longitudinal feed cam shaft 52 is connected to the feed screw 41 and comes into contact with the driven cam 53 when reaching the stroke end. The driven cam 53 is provided on a conveyor belt drive shaft 55 that drives the conveyor belt 54 below the seedling stage 33. When the longitudinal feed cam 51 and the driven cam 53 come into contact with the rotation of the longitudinal feed cam shaft 52, the driven cam 53 rotates. As the driven cam 53 is rotated, the conveyor belt drive shaft 55 is rotated, whereby the conveyor belt 54 is circulated and the seedling mat placed on the conveyor belt 54 is conveyed by a predetermined distance.

  A seedling rail support shaft 56 is supported on the front upper portion of each planting transmission case 36 so as to be rotatable in the left-right direction. A plurality of support frames 57 protrude rearward and upward from the seedling rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported by the support frame 57 in the horizontal direction. An arm 58 is attached to the front upper side from the seedling rail support shaft 56. At the other end of the arm 58, a rotation angle detection sensor 59 for detecting the rotation angle of the seed bed rail support shaft 56 is provided. The rotation angle detection sensor 59 is attached to the planting frame 37. The seedling rail support shaft 56 is provided with an actuator 56a (see FIG. 7). The seedling amount calculation unit 70 is connected to the rotation angle detection sensor 59 and can detect the vertical amount from the seedling mat.

  The seedling rail support shaft 56 is configured to be rotatable by driving and controlling the actuator 56a. Therefore, when the support frame 57 is rotated in accordance with the rotation of the seedling rail support shaft 56, the guide rail 46 (the seedling mounting table 36) is moved up and down (configured to be movable up and down). The distance between the planting transmission case 36 to be supported and the seedling stage 33 can be changed. Therefore, the vertical collection amount from the seedling mat by the planting claws 32 can be changed. Here, the vertical cutting amount refers to an amount of scraping off the seedling mat in the traveling direction of the traveling machine body 2 in plan view. By adjusting the amount of vertical harvesting, the amount of seedling mat taken by the planting claws 32 can be changed.

  The seedling rail support shaft 56 is connected to the driven cam 53 via the interlocking wire 60. In accordance with the rotation of the seedling rail support shaft 56, the driven cam 53 is rotated by a predetermined angle by the tension applied to the interlocking wire 60, thereby adjusting the feed amount by the conveyor belt 54 according to the vertical amount from the seedling mat. doing.

  In the above configuration, when the power from the engine 4 is transmitted to the feed screw 41 through the planting center case 35, the slider 42 slides with respect to the groove of the feed screw 41 and slides with this. The child receiver 43 slides in the body width direction. When the slider receiver 43 is slid, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling stage 33 slides in the body width direction along with this. When the seedling stage 33 reaches the stroke end in the machine body width direction, the longitudinal feeding cam 51 comes into contact with the driven cam 53 and the conveyor belt drive shaft 55 rotates to circulate the conveyor belt 54.

  As the slider 42 reciprocates along the groove of the feed screw 41, the seedling stage 33 reciprocates along the guide rail 46. Planting the seedling platform 33 from one side to the other side or from the other side to the one side of the seedling mat placed on the seedling platform 33 by the reciprocating movement of the seedling platform 33 along the guide rail 46 by the lateral feed mechanism. The nail 32 scrapes off the seedling and allows it to be transplanted. When the planting claw 32 scrapes off the seedling on one side or the other side of the seedling mat by the vertical feed mechanism, the transport belt 54 operates to direct the seedling mat toward the lower end (rear end) of the placement surface. It can be transported. As described above, the seedling mat can be scraped off from the seedling mat placed on the seedling mount 33 by being reciprocated in the machine body width direction and appropriately transported downward.

The dashboard 15 will be described with reference to FIG.
A steering handle 13 is disposed at the left and right center of the dashboard 15, a main transmission lever 61 is provided on the left side of the steering handle 13, and a planting lift lever is provided on the right side of the steering handle 13. 62 is provided. Below the steering handle 13, a streak switch 63 for stopping the driving of the planting claws 32 for each predetermined streak, a speed setting volume 64 for setting the maximum speed, and a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34 Further, a select dial 66 and the like for setting the planting depth and the vertical take-up amount from the seedling mat are provided. In front of the steering handle 13, a monitor 67 for displaying the setting of the select dial 66 and the like, the speed of the traveling machine body 2, and the like is provided.

  The select dial 66 is a dial capable of setting various items (planting depth, vertical collection amount, etc.). The operator rotates the select dial 66 left and right, selects an item to be set from various items, and presses the select dial 66 to determine. For example, when setting the vertical amount, rotate the select dial 66 to the left and right to select the item of the vertical amount, and press the select dial 66 to determine that item, and rotate the select dial 66 to the left and right. By selecting the adjustment amount of the vertical amount and pressing the select dial 66, the vertical amount is set to the adjustment amount. The select dial 66 is connected to the seedling amount calculation unit 70 (see FIG. 7).

The reference vertical amount of the planting claw 32 will be described with reference to FIGS.
The reference vertical amount refers to a vertical amount that becomes a reference when a predetermined number of seedling mats are used to plant a predetermined field. The operator uses the select dial 66 to input the number of seedling mats to be used and the field area to the seedling harvesting amount calculation unit 70 before performing seedling planting work in the field. That is, the select dial 66 is provided as a field area input unit and a seedling mat number setting unit. The seedling amount calculation unit 70 calculates a reference vertical amount based on the input number of seedling mats and the field area, and drives and controls the actuator 56a. The seedling amount calculation unit 70 is configured to be able to detect the number of strains (the number of strains per predetermined area calculated from the planting interval set by the operator) from the detection value of the inter-strain setting unit 9. The seedling amount calculation unit 70 is configured to be able to calculate the number of strains in consideration of a slip rate described later. Here, the slip ratio is set from the amount of settlement of the rear wheel 8 in the field at the work start point or a predetermined reference value.

  The seedling collection amount calculation unit 70 calculates the target number of mats (number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the seedling amount calculation unit 70 calculates the reference vertical amount from the target number of mats, the number of times of horizontal feeding of the seedling mount 33 and the number of strains (or the number of strains considering the slip rate).

  In the above configuration, by driving and controlling the actuator 56a so as to achieve the reference vertical amount, when performing planting work on a desired field with a desired number of seedling mats without depending on the experience and intuition of the operator. The required vertical amount can be set.

When the planting work is started, the seedling amount calculation unit 70 is configured to determine the reference vertical amount based on the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Is corrected from time to time. Specifically, the seedling amount calculation unit 70 calculates the actual vertical amount based on the actual work area and the number of seedling mats used. The seedling removal amount calculation unit 70 then calculates the remaining work area calculated by subtracting the actual work area from the work area, and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. Based on the above, the target vertical amount is calculated. The seedling amount calculation unit 70 corrects the reference vertical amount by adding a value obtained by subtracting the actual vertical amount from the target vertical amount to the reference vertical amount as a correction amount.

The calculation of the actual work area will be described with reference to FIGS.
The actual work area is calculated from the vehicle speed of the traveling machine body 2 in consideration of the slip rate and the work width set from the number of strips on which the planting work is performed. The vehicle speed of the traveling machine body 2 is calculated using the rotational speed of the traveling wheel. In the present embodiment, calculation is performed using the rotation speed of the rear wheel 8. A rear wheel rotational speed detection sensor 8 a for detecting the rotational speed is provided on the rotational shaft of the rear wheel 8. The seedling amount calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to be able to detect the rotation speed of the rear wheel 8.

  As shown in FIG. 8, the slip ratio and the amount of settlement of the traveling wheel (rear wheel 8 in the present embodiment) on the field have a linear function correlation. The amount of subsidence of the rear wheel 8 on the field refers to the height from the ground contact surface to the field of the rear wheel 8 to the rice field (field surface). As the amount of subsidence of the rear wheels 8 on the field increases, the slip ratio increases in a linear function.

The amount of subsidence of the rear wheels 8 on the field will be described with reference to FIG.
The amount of subsidence of the rear wheel 8 in the field is provided in the planting work machine position detection sensor 71 and the link mechanism 39 of the float 34 or the rotation support shaft 38, which are composed of appropriate sensors such as a potentiometer sensor provided in the lifting link mechanism 20. It is calculated from a planting depth detection sensor 39a (see FIG. 7) comprising an appropriate sensor such as a potentiometer. The planting work machine position detection sensor 71 is provided on a lifting link frame 72 to which the rear end portions of the pair of left and right upper links 21 and lower links 22 are respectively attached. The seedling amount calculation unit 70 is connected to the planting work machine position detection sensor 71, and determines the height (distance) of the lowest point of the planting work machine 3 with respect to the traveling machine body 2, specifically, the planting claws 32. Configured to be detectable. The seedling collection amount calculation unit 70 is connected to the planting depth detection sensor 39a and configured to detect the height from the bottom surface of the float 34 of the planting work machine 3. The planting depth detection sensor 39a is configured to detect the nail projection h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float).

  The seedling amount calculation unit 70 detects the length from the planting work machine position detection sensor 71 and the planting depth sensor 39a to the bottom surface of the float 34 with respect to the traveling machine body 2. The seedling amount calculation unit 70 subtracts the length from the lowest point (grounding surface) of the rear wheel 8 to the traveling machine body 2 to the bottom surface of the float 34 with respect to the traveling machine body 2, thereby The amount of subsidence h0 is calculated. Further, the amount of settlement of the rear wheel 8 in the field may be calculated in consideration of the amount of settlement d of the float 34 in the field (see FIG. 10).

  As shown in FIG. 10, the sensor 40 can be further used to calculate the subsidence amount h2 of the rear wheel 8 to the field in consideration of the subsidence amount d of the float 34 to the field. By measuring the swing angle θ of the sensor 40, the field surface height for planting the seedling can be detected. Thus, by detecting the field surface height by the sensor 40, the amount of settlement d of the float 34 can be measured. The seedling collection amount calculation unit 70 is connected to an appropriate field surface detection sensor 40a (see FIG. 7) such as a potentiometer provided at the rotation fulcrum of the sensor 40, and configured to detect the field surface height. As described above, by using the sensor 40 provided so as to follow the field surface, it is possible to accurately calculate the amount of settlement of the rear wheel 8 to the field in consideration of the amount of settlement d of the float 34 to the field. .

  The work width indicates the length in the machine width direction set from the planting interval in the machine width direction of the rice transplanter 1 and the number of strips on which the planting work is performed. The number of strips on which planting work is performed is detected by the connection / disconnection state of a unit clutch that connects / disconnects transmission of power to the planting arm 31 for each strip. The seedling amount calculation unit 70 is connected to a unit clutch sensor 63a (see FIG. 7) that detects connection / disconnection of the unit clutch, and is configured to be able to detect the number of lines on which planting work is performed.

  In the above configuration, the travel distance of the rear wheel 8 in consideration of the slip ratio can be calculated from the slip ratio calculated from the sinking amount of the rear wheel 8 to the field and the rotation speed of the rear wheel 8. Then, the actual work area is calculated from the work distance set according to the travel distance of the rear wheel 8 in consideration of the slip ratio and the number of strips on which planting work is performed.

The detection of the number of used seedling mats will be described with reference to FIGS.
As shown in FIG. 11, a rotating body is provided as a means for detecting the number of seedlings of the seedling mat on the placement surface on which the seedling mat for each line of the seedling placing stand 33 is placed. As the rotator, a downstream rotator 81 provided on the downstream side (downstream in the feeding direction of the seedling mat) on the mounting surface, and an upstream side (upstream in the feeding direction of the seedling mat) from the downstream rotator 81. And an upstream rotating body 85 to be provided. The seedling amount calculation unit 70 detects the number of times the seedling mat has been added (number of seedlings) based on the rotation state of the downstream side rotating body 81 and the upstream side rotating body 85.

  The downstream-side rotator 81 is provided so as to protrude upward from the placement surface (front surface) from the back surface side of the placement surface. The downstream rotating body 81 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the downstream rotating body 81.

  The downstream-side rotator 81 is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat when one seedling mat is placed on the placement surface from the lower end to the upper side. The downstream side rotator 81 is disposed on the lower side from the upper end of the seedling mat with the upper limit being a position spaced by a vertical feed amount F1 for one seedling mat. Further, the downstream side rotator 81 is arranged with the position at a predetermined distance F2 from the lower end to the upper side of the seedling mat as a lower limit. The predetermined interval refers to an interval that takes into account a time lag from when the compression ratio is calculated in one article described later until correction control of the reference longitudinal amount is performed. In order to detect the feed amount of the seedling mat based on the rotation interlocked with the vertical feed of the seedling mat, the downstream side rotating body 81 is preferably arranged near the lower end of the placement surface. Be placed.

  In addition, as a lower limit at which the downstream rotating body 81 is provided, when a new seedling mat is added after the upper end of the seedling mat is sent below the downstream rotating body 81, the new seedling mat is connected. You may set to the position where the space | interval of the grade which does not consume the seedling mat remaining by adding was added.

  The seedling amount calculation unit 70 adds one seedling succession number of the seedling mat when the downstream rotating body 81 transitions from a state where it does not rotate to a state where it rotates in conjunction with the vertical feed of the seedling mat. . When the downstream rotating body 81 is changed from a state where it is not rotating to a state where it rotates in conjunction with the vertical feed of the seedling mat, the downstream side rotating body 81 is linked with the vertical feeding of the seedling mat from the non-rotating state. This refers to when rotation is detected. The seedling removal amount calculation unit 70 determines whether the rotation is linked to the vertical feed of the seedling mat by the transport belt 54 from the number of rotations per predetermined time.

  When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat, the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat is performed within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the downstream side rotator 81 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stage 33 is vertically fed.

  The upstream rotating body 85 is provided so as to protrude upward from the placement surface (front surface) from the back surface side of the placement surface. The upstream rotating body 85 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the upstream rotating body 85.

  The upstream rotating body 85 has one seedling mat on the mounting surface at a position spaced apart from the lower end by a distance larger than the vertical length of at least one seedling mat and from the downstream rotating body 81 to the upper side. When placed, it is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat. The upstream side rotator 85 is disposed on the lower side from the upper end of the seedling mat with an upper limit at a position spaced by a vertical feed amount F1 for one seedling mat. In the present embodiment, the upstream rotating body 85 is disposed in the vicinity of a position where a vertical length interval of one seedling mat is spaced from the lower end to the upper side.

  In the state where the downstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat, the seedling amount calculating unit 70 operates in conjunction with the vertical feeding of the seedling mat from the state where the upstream rotating body 85 does not rotate. When transitioning to a rotating state, add one seedling number of seedling mats. When the state is changed from the state in which the upstream rotating body 85 is not rotated to the state in which the upstream rotating body 85 rotates in conjunction with the vertical feeding of the seedling mat, the upstream rotating body 85 is interlocked with the vertical feeding of the seedling mat from the non-rotating state. This refers to when rotation is detected. The seedling removal amount calculation unit 70 determines whether the rotation is linked to the vertical feed of the seedling mat by the transport belt 54 from the number of rotations per predetermined time.

  When the seedling amount calculating unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat, the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat is performed within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the upstream rotating body 85 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stage 33 is vertically fed.

  The seedling amount calculation unit 70 calculates the compression rate of the seedling mat when the state changes from the state of being rotated in conjunction with the vertical feed of the seedling mat of the upstream side rotator 85 to the state of not rotating. The compression rate includes the length in the feeding direction of the seedling mat placed on the seedling stage 33 (the length from the lower end of the placement surface measured in advance to the upstream side rotating body 85) and the downstream side rotating body 51. It is calculated by adding the feed amount of the seedling mat calculated from the number of rotations and dividing by the length of the seedling mat for the number of times of seedling passage.

  The detection of the number of times of seedling passage during planting work will be described with reference to FIG. Here, the seedling amount calculation unit 70 is configured to be able to store the number of times of seedling passage. The seedling amount calculation unit 70 is configured to detect the rotational state and the rotational speed of the downstream side rotating body 81 and the upstream side rotating body 85 when the planting clutch is operated.

  In the present embodiment, two seedling mats are placed on the placement surface of the seedling placing stand 33. From here, the planting clutch is operated to start the planting work. When the seedling mat located on the lower end side is vertically fed by the transport belt 54, the downstream side rotator 81 rotates. When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 81 in conjunction with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling amount calculating unit 70 adds one seedling joining number (detects the first seedling mat). .

  As the first seedling mat is vertically fed, the upstream rotating body 85 is rotated by vertically feeding the seedling mat on the upper side of the first seedling mat to the lower end side. . When detecting the rotation of the upstream rotating body 85 interlocked with the vertical feed of the seedling mat, the seedling amount calculating unit 70 adds one seedling joining number (detects the second seedling mat).

  When the second seedling mat is vertically fed to the lower side of the upstream rotating body 85, the upstream rotating body 85 is shifted from the state of rotating in conjunction with the vertical feeding of the seedling mat to the state of not rotating. The The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 85 is not rotating. The seedling amount calculation unit 70 adds the length in the feeding direction of the seedling mat placed on the seedling stage 33 and the feeding amount of the seedling mat calculated from the number of rotations of the downstream rotating body 81. The compression ratio is calculated by dividing by the length of the seedling mat for the number of seedlings.

  And in the state where the upper end of the second seedling mat is located above the downstream side rotator 81 and below the upstream side rotator 85, when the seedling mat is added, The seedling collection amount calculation unit 70 adds one to the number of seedling joints (detects the third seedling mat) by detecting the rotation of the upstream rotating body 85 interlocked with the vertical feed of the seedling mat.

  Similarly, when the third seedling mat is vertically fed to the lower side of the upstream rotating body 85, the upstream rotating body 85 is not rotated from the state of rotating in conjunction with the vertical feeding of the seedling mat. Transition to. The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 85 is not rotating.

  As described above, when one seedling mat is placed on the placement surface on the upper side from the lower end, the downstream side rotating body 81 is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat. Thus, the first seedling mat placed on the placement surface can be detected.

  The upstream rotating body 85 has one seedling mat on the mounting surface at a position spaced apart from the lower end by a distance larger than the vertical length of at least one seedling mat and from the downstream rotating body 81 to the upper side. When the seedling mat is placed, it is provided at a position that can rotate in conjunction with the vertical feed of the seedling mat, so that the seedling mat is placed on the downstream side rotating body 81 (the downstream side rotating body 81 is placed on the seedling mat). When the seedling mat is newly added in a state where the seedling mat is rotated in conjunction with the vertical feed), the seedling mat can be detected.

  Further, since the downstream rotating body 81 is configured to rotate in conjunction with the vertical feed of the seedling mat, the feed amount of the seedling mat can be calculated based on the number of rotations of the downstream rotating body 81. That is, the downstream rotating body 81 is used as a seed mat feed amount detection means. In addition, the length from the lower end of the mounting surface to the upstream side rotator 85 is measured in advance, and from the state of rotating in conjunction with the vertical feed of the seedling mat of the upstream side rotator 85 to the state of not rotating. The compression rate can be calculated by detecting the transition.

  In the above configuration, the seedling amount calculation unit 70 uses the compression ratio to determine the seedling based on the length of the seedling mat before compression from the seedling mat feed amount calculated from the number of rotations of the downstream rotating body 81. The number of mats used can be calculated.

The correction | amendment of the seedling | joining frequency | count of a seedling mat is demonstrated using FIG.
The seedling amount calculation unit 70 calculates a seedling mat calculated from the number of seedling mating times detected based on the rotation state of the downstream rotating body 81 and the upstream rotating body 85 and the rotation speed of the downstream rotating body 81. And the remaining amount of the seedling mat placed on the placement surface is estimated from time to time. The seedling amount calculation unit 70 corrects the seedling mating number of times of the seedling mat based on the remaining amount of the seedling mat and the rotation state of the downstream side rotating body 81 and the upstream side rotating body 85.

  In the embodiment shown in FIG. 13, one seedling mat is placed on the placement surface of the seedling placing stand 33, and the planting clutch is operated from here to start the planting operation. When the seedling mat located on the lower end side is vertically fed by the conveyor belt 54, the downstream side rotator 81 is rotated. When the seedling amount calculating unit 70 detects the rotation of the downstream rotating body 81 in conjunction with the vertical feeding of the seedling mat by the conveyor belt 54, the seedling amount calculating unit 70 adds one seedling joining number (detects the first seedling mat). . The seedling amount calculation unit 70 calculates the feed amount of the seedling mat based on the number of rotations of the downstream rotating body 81 and subtracts the feed amount of the seedling mat from the length of one seedling mat. Estimate the remaining amount.

  Then, when two seedling mats are added at the same time in a state where the seedling mat is placed on the downstream side rotating body 81, the rotation associated with the vertical feeding of the seedling mat of the upstream side rotating body 85 is detected. By doing so, the number of seedling passages is incremented by 1 (the second seedling mat is detected). The feed amount of the seedling mat is calculated from the number of rotations of the downstream rotating body 81, and the remaining amount of the seedling mat is estimated by subtracting the feed amount of the seedling mat from the length of two seedling mats.

  When the estimated seedling mat remaining amount is lower than the upstream rotating body 85, the seedling amount calculating unit 70 rotates the upstream rotating body 85 in conjunction with the vertical feeding of the seedling mat. Detect whether or not. When the rotation linked to the vertical feed of the seedling mat of the upstream rotating body 85 is detected, the seedling mat is placed on the upstream rotating body 85 against the remaining amount of the seedling mat, that is, the estimated seedling mat Since the actual amount of seedling mat is larger than the remaining amount of seedlings, the number of seedlings is corrected. Specifically, the number of seedlings of seedling mat is added by one (correction from two to three) . If it is detected in the above situation that the upstream rotating body 85 has transitioned from the state of rotating in conjunction with the vertical feed of the seedling mat to the state of not rotating, the estimated remaining amount of seedling mat is estimated. And the actual remaining amount of the seedling mat is determined to be the same, and the number of seedlings is not corrected.

  When the third seedling mat is sent to the lower side of the upstream rotating body 85, the upstream rotating body 85 is changed from being rotated in conjunction with the vertical feeding of the seedling mat to being not rotated. Transitioned. The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when detecting the state where the upstream rotating body 85 is not rotating.

  As described above, the remaining amount of the seedling mat is estimated, and the number of seedlings is corrected based on the estimated remaining amount of the seedling mat and the rotation state of the downstream side rotating body 81 and the upstream side rotating body 85. Thus, for example, even when two seedling mats are seeded at the same time or when one seedling mat is arranged from the downstream rotating body 81 to the upstream rotating body 85, the number of seedlings is accurately detected. can do. Further, when the remaining amount of the seedling mat is estimated, if the compression rate is calculated, the compression rate may be taken into consideration.

The correction of the remaining amount of the seedling mat will be described with reference to FIG.
In the embodiment shown in FIG. 14, the estimated seedling mat remaining amount is on the lower side of the downstream side rotator 81, and the case where the downstream side rotator 81 has transitioned to a non-rotating state. Assumed. When the seedling amount calculation unit 70 detects that the downstream side rotator 81 has transitioned to a non-rotating state, it is estimated based on the number of rotations of the downstream side rotator 81 rotated by the seedling mat joint. Correct the remaining amount of the seedling mat.

  After detecting the transition from the state of rotating in conjunction with the vertical feed of the seedling mat of the downstream rotating body 81 to the state of not rotating, when the seedling mat is added, the seedling mat to be added Comes into contact with the downstream rotating body 81 and the downstream rotating body 81 is rotated. Then, the downstream rotating body 81 is rotated until the lower end of the seedling mat to be joined comes into contact with the upper end of the remaining seedling mat. Therefore, if there is a difference between the estimated remaining amount of seedling mat and the actual remaining amount of seedling mat, the seedling mat to be transferred to the actual remaining position of the seedling mat is sent. Therefore, the seedling removal amount calculation unit 70 subtracts the seedling mat feed amount calculated based on the number of rotations of the downstream rotating body 81 from the estimated seedling mat remaining amount. The remaining amount is corrected to be the actual amount of the seedling mat.

  As described above, when it is detected that the downstream rotator 81 has transitioned to a non-rotating state, the estimation is based on the number of rotations of the downstream rotator 81 that is generated by newly adding a seedling mat. By correcting the remaining amount of the seedling mat, the remaining amount of the seedling mat can be calculated accurately, and the number of seedlings can be calculated accurately.

  In the above configuration, the downstream rotating body 81 and the upstream rotating body 85 are provided as seedling passage number detecting means, but the present invention is not limited to this. For example, the number of seedlings may be detected while estimating the remaining amount of the seedling mat using only the downstream rotating body 81.

  The configuration of the downstream-side rotator 81 will be described with reference to FIGS. 15 (a), 15 (b), and 15 (c). Since the upstream side rotator 85 has the same structure as the downstream side rotator 81, description thereof is omitted. 15A shows the configuration of the downstream side rotator 81 in a side view, and FIG. 15B shows the configuration of the downstream side rotator 81 in a rear view (as viewed from the placement surface side). In FIG. 15C, the configuration of the downstream-side rotator 81 is shown in a front view (viewed from the back side of the mounting surface).

  A plurality of protrusions 81 a arranged radially with respect to the rotation center are provided on the outer peripheral portion of the downstream rotating body 81. The downstream side rotator 81 is provided such that the protrusion 81a protrudes upward from the placement surface from the back surface side of the placement surface via the through hole 33a. The downstream side rotator 81 is configured to rotate in conjunction with the vertical feed of the seedling mat while the protrusion 81a bites into (engages with) the bottom surface of the seedling mat that is vertically fed on the placement surface. The surface of the protrusion 81a on the contact side with the seedling mat is configured by a shape that warps the upstream side in the rotational direction of the downstream side rotating body 81. If it says from the relationship between the seedling mounting base 33 and the downstream side rotary body 81, the surface of the protrusion 81a on the contact side with the seedling mat is configured by a shape that warps toward the source of the seedling mat. In the present embodiment, the protrusion 81a is formed to be curved toward the upstream side in the rotation direction of the downstream-side rotating body 81 from the base end portion to the tip end portion in a side view.

  As described above, the surface on the contact side of the protrusion 81a of the downstream rotating body 81 with the seedling mat is formed in a shape that warps the upstream side in the rotation direction, so that the vicinity of the upper side of the downstream rotating body 81 When the seedling mat is sent to the placement surface, the seedling mat is likely to come into contact with the protrusion 81a (easy to be caught). Therefore, it is possible to prevent the downstream rotating body 81 from slipping and to rotate the downstream rotating body 81 in conjunction with the vertical feed of the seedling mat.

  Further, the protrusion 81a may be formed as a star wheel without being curved upstream in the rotation direction from the base end portion to the tip end portion in the side view, or may be rotated from the base end portion to the tip end portion in the side view. It may be formed to be inclined to the upstream side in the direction, and the tip may be formed in a pointed shape. The protrusion 81a is easily hooked on the downstream side surface or bottom surface of the seedling mat by forming the tip portion in a pointed shape. Therefore, it is possible to prevent the downstream rotating body 81 from slipping and to rotate the downstream rotating body 81 in conjunction with the vertical feed of the seedling mat.

  The downstream side rotator 81 is attached to the back surface of the seedling stage 33 via the stay 82 so as to be rotatable around the pitch axis. A boss portion 81 b is provided at the rotation center of the downstream side rotator 81. The boss portion 81 b is provided with a screw 83 every 90 degrees in the rotation direction. By detecting the screw 83 by a proximity sensor 84 provided on one end side of the stay 82, the rotational speed of the downstream rotating body 81 is determined. Detectable.

  Further, by using the downstream rotator 81 and the upstream rotator 85 as the means for detecting the number of seedlings of the seedling mat, not only the number of seedlings but also the feed amount of the seedling mat can be detected. Therefore, for example, in the state where the seedling mat is placed on the upstream rotating body 85, when the rotation of the upstream rotating body 85 according to the rotation of the downstream rotating body 81 is not detected, the seedling feeding failure is detected. be able to.

  In the above configuration, in order to prevent erroneous detection due to the rotation of the downstream side rotator 81 due to an external force such as wind, the downstream side rotator 81 is biased to the back side of the seedling stage 33 by an elastic member. It may be locked. In this case, when the seedling mat is placed on the downstream rotating body 81, the urging force of the elastic member is such that the downstream rotating body 81 is pushed to the back side of the seedling placing table 33 by its own weight. It is set so that the latching of the seedling stage 33 on the back side is released and the downstream side rotating body 81 is rotatable. The upstream rotating body 85 may be configured in the same manner.

  Moreover, although the rotation speed of the downstream rotary body 81 is detected by detecting the screw 83 provided in the boss | hub part 81b of the downstream rotary body 81 with the proximity sensor 84, it is not limited to this.

  As shown in FIG. 16, the downstream rotator 81 is provided with an elliptical cam 86 that rotates together with the downstream rotator 81 and a microswitch 87 that repeatedly turns on and off as the cam 86 rotates. The micro switch 87 is arranged to be on when the short diameter end of the cam 86 and the arm 87a are in contact with each other and to be off when the long diameter end of the cam 86 and the arm 87a are in contact with each other. In the above configuration, the rotation speed of the downstream rotating body 81 can be detected by repeating the microswitch 87 on and off every 90 degrees.

  In addition to the above configuration, a rotary encoder may be attached to the rotating shaft of the downstream rotating body 81 to calculate the rotational speed (rotational angle) of the downstream rotating body 81, or the downstream rotating body 81 may be calculated. A rotational sensor (rotational angle) of the downstream side rotating body 81 may be calculated by attaching a potentiometer to the rotating shaft.

  Moreover, although the rotary body is used as the seedling mat feed amount detection means, the present invention is not limited to this. In the contact type measurement method, a capacitance type gauge, a load cell, or the like can be considered. For example, the capacitance type gauge is installed over the entire placement surface, so that the feed amount and the remaining amount of the seedling mat of the seedling placing stand 33 can be accurately measured. Moreover, the load cell can detect the feed amount of the seedling mat based on the load of the seedling mat placed on the placement surface, for example, by being attached to the support member of the seedling placing stand 33.

  Further, in the non-contact type measurement method, a laser distance meter, image processing of a captured image of a camera, an optical sensor, a brightness sensor, and the like can be considered. For example, the laser distance meter is provided so as to be able to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat placed, thereby detecting the feed amount of the seedling mat. . Further, the camera can detect the feed amount of the seedling mat by performing image processing on the photographed image by providing the seedling mat placed on the placement surface so as to be capable of photographing. The optical sensor includes, for example, a light emitting unit and a light receiving unit that detects that a light beam from the light emitting unit is blocked by the seedling mat, so that the feeding amount of the seedling mat can be detected.

  With reference to FIG. 17, positions of the downstream-side rotating body 81 and the upstream-side rotating body 85 in the body width direction will be described.

  The seedling holding bar has a role of holding the seedling mat on each placement surface from above and performing smooth conveyance, and is formed in a bar shape with the feeding direction of the seedling mat of the seedling mounting base 33 as the longitudinal direction. In the embodiment shown in FIG. 17A, the long-diameter seedling presser bar 88a is provided symmetrically with respect to the center of the placement surface, and the short-diameter seedling presser bar 88b is provided at the center of the placement surface.

  The upstream rotating body 85 is provided at the center of the placement surface. The downstream-side rotator 81 is disposed below the short-diameter seedling holding bar 88b (in the direction of pressing the seedling mat).

  As described above, the downstream side rotator 81 is disposed below the short-diameter seedling holding bar 88b, so that no space is formed between the seedling mat and the downstream side rotator 81, and the downstream rotator 81 is downstream of the seedling mat. The side rotating body 81 can be bitten. Therefore, the downstream rotating body 81 can be prevented from slipping, and the feed amount of the seedling mat can be accurately calculated from the rotational speed of the downstream rotating body 81.

  In the embodiment shown in FIG. 17B, the upstream side rotator 85 is disposed below (in the direction of pressing the seedling mat) a long-diameter seedling pressing bar 88a located on the right side. Therefore, similarly, the slip of the upstream rotating body 85 can be prevented, and the seedling mat feed amount can be accurately calculated from the rotational speed of the upstream rotating body 85.

  In the embodiment shown in FIG. 17C, three long-diameter seedling holding bars 88a are arranged side by side symmetrically with respect to the center of the placement surface. The upstream side rotator 85 and the downstream side rotator 81 are disposed below (in the direction to press the seedling) a long-diameter seedling presser bar 88a disposed in the center. Therefore, the same effect is produced.

  In the embodiment shown in FIG. 17D, two long-diameter seedling holding bars 88a are arranged side by side symmetrically with respect to the center of the placement surface. The upstream rotating body 85 is disposed below the long-diameter seedling holding bar 88a located on the right side (in the direction of pressing the seedling mat). Therefore, the same effect is produced.

  As described above, the upstream side rotary body 85 and the downstream side rotary body 81 are prevented from slipping by arranging the upstream side rotary body 85 and the downstream side rotary body 81 below the seedling presser bar (in the direction of pressing the seedling mat). It is possible to accurately calculate the feed amount of the seedling mat from the rotational speed. Further, a plurality of the upstream rotating bodies 85 and the downstream rotating bodies 81 may be arranged side by side at the same height.

  In the above configuration, the seedling amount calculation unit 70 calculates the actual vertical amount based on the actual work area and the total number of seedling mats used. The seedling amount calculation unit 70 calculates the number of actual mats (number of seedling mats used per predetermined area) from the number of seedling mats used by adding all the numbers of seedling mats used for each line and the actual work area. Then, the seedling amount calculation unit 70 calculates the actual vertical amount from the number of actual mats, the number of horizontal feeds of the seedling mount 33, and the number of strains in consideration of the slip rate.

  The seedling amount calculation unit 70 calculates the remaining work area calculated by subtracting the actual work area from the field area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. Based on this, the target longitudinal amount is calculated. The seedling collection amount calculation unit 70 calculates a target mat number (number of seedling mats per predetermined area) from the remaining work area and the number of remaining seedling mats. The seedling amount calculation unit 70 calculates the target vertical amount from the target mat number, the number of horizontal feeds of the seedling mount 33, and the number of strains in consideration of the slip rate.

  When the seedling amount calculation unit 70 calculates the actual vertical amount and the target vertical amount, a value obtained by subtracting the actual vertical amount from the target vertical amount is added as a correction amount to the reference vertical amount, thereby obtaining a reference The vertical take-up amount is corrected and the actuator 56a is driven and controlled.

  In the above configuration, the actual vertical amount is calculated from the actual work area and the number of seedling mats used for all the strips, and the target vertical amount is calculated from the remaining work area and the number of remaining seedling mats for all the strips. Although the amount of correction for all the strips is calculated from the amount and the target longitudinal amount, it is not limited to this, the amount of correction is calculated for each strip, and the amount of correction for all strips based on the amount of correction for each strip May be calculated.

  The seedling amount calculation unit 70 calculates the number of actual mats for each strip from the actual work area for each strip and the number of seedling mats used for each strip, Calculate the actual amount taken up for each item from the number of shares in consideration of the slip ratio. Then, the seedling amount calculation unit 70 calculates the target mat number for each strip from the remaining work area for each strip and the number of remaining seedling mats for each strip, and the lateral feed of the target mat count for each strip and the seedling mount 33 Calculate the target vertical amount for each item from the number of shares in consideration of the frequency and slip rate. The seedling amount calculation unit 70 calculates the correction amount for each line by subtracting the target vertical amount from the actual vertical value calculated for each line, and calculates the total amount based on the correction amount calculated for each line. You may calculate the correction amount of a rule.

  In the above configuration, the correction control of the reference vertical amount is performed after the number of seedling mats used for all the number of lines to be planted is calculated. Therefore, the correction control is performed after one line calculates the compression ratio. There will be a time lag before For this reason, in consideration of the time lag, the downstream side rotator 81 is arranged on the placement surface of each line of the seedling placing table 33 with a predetermined interval upward from the lower end.

  As described above, by making it possible to calculate the actual work area where the actual planting work was performed and the number of seedling mats used for the actual planting work during planting work, It can be corrected. Therefore, planting work can be performed with a desired number of seedling mats for a desired field. Therefore, the consumption efficiency of the seedling mat can be improved.

  The vertical amount control of the planting claw 32 will be described with reference to FIG. In the following, it is assumed that the planting clutch is connected and the planting machine 3 is operating. When the vertical control is started, the actual work area is calculated as needed from the travel distance and work width of the rear wheel 8 in consideration of the slip ratio. In addition, the downstream rotating body 81 and the upstream rotating body 85 are appropriately rotated in conjunction with the vertical feed of the seedling mat, and the number of seedling joints is detected from the rotation state of the downstream rotating body 81 and the upstream rotating body 85. At the same time, the feed amount of the seedling mat is calculated from the number of rotations of the downstream rotating body 81 as needed.

  In step S <b> 110, the seedling collection amount calculation unit 70 determines whether the field area and the number of seedling mats are input using the select dial 66. When the field area and the number of seedling mats are input, the process proceeds to step S120.

  In step S120, the seedling amount calculation unit 70 controls the drive of the actuator 56a so that the reference vertical amount is calculated based on the field area and the number of seedling mats, and the process proceeds to step S130.

  In step S <b> 130, the seedling collection amount calculation unit 70 determines whether or not the state where the seedling amount calculating unit 70 has changed from the state of rotating in conjunction with the vertical feed of the seedling mat of the upstream side rotator 85 to the state of not rotating. If the state where the upstream rotating body 85 is not rotating is detected, the process proceeds to step S140.

  In step S140, the seedling amount calculation unit 70 calculates the number of seedling mats used for each strip from the compression rate calculated based on the feed amount of the seedling mat for each strip and the number of seedlings of the seedling mat, and step S150. To migrate.

  In step S150, the seedling collection amount calculation unit 70 determines whether or not the number of seedling mats used for each item has been calculated. When the number of seedling mats used is calculated, the process proceeds to step S160.

  In step S160, the seedling amount calculation unit 70 calculates the actual vertical amount based on the actual work area and the number of seedling mats used, and proceeds to step S170.

  In step S170, the seedling amount calculation unit 70 calculates a target vertical amount based on the remaining work area and the number of remaining seedling mats, and proceeds to step S180.

  In step S180, the seedling amount calculation unit 70 corrects the reference vertical amount based on the actual vertical amount and the target vertical amount, and drives and controls the actuator 56a so that the corrected reference vertical amount is obtained. Then, the process proceeds to step S190.

  In step S190, the seedling amount calculation unit 70 determines whether or not the actual work area is a field area. When the actual work area is the field area, the process ends. When the actual work area is not the field area, the process proceeds to step S130.

The grasping and planning of the planting work by the information terminal 91 will be described with reference to FIG.
The communication unit of the rice transplanter 1 transmits and receives various data via a wide area communication network such as the Internet, and can perform data communication with an external information terminal 91 connected via the wide area communication network. It is configured to be able to.

  As shown in FIG. 19 (a), the information terminal 91 detects the elapsed time, the number of stocks, the number of transverse feeds, the amount of subsidence of the rear wheels, the slip rate, and the amount per stock, which are detected during planting work in a certain field. Data such as the number of stems, the number of stems per predetermined area, the remaining work area, the number of remaining seedling mats, etc. are received and displayed. Various types of data may be displayed in real time during the planting operation, or may be displayed at the end of the planting operation.

  As described above, by allowing the information terminal 91 to receive various kinds of detailed data, an administrator who manages a plurality of fields uses the information terminal 91 to grasp the work status for each field. can do.

  As shown in FIG. 19B, the relationship between the number of stems per unit area and the yield and the relationship between the number of strains and the yield may be displayed. In this case, the breakdown of the yield can be used for the next plan by showing the ratio of sized rice to scrapped rice.

  In addition, in anticipation of the yield per predetermined area of the field in advance, when setting the number of stocks and the number of seedling mats per predetermined area, various information is input to the information terminal 91 to simulate the required number of mats and the number of stocks. It can be carried out. Therefore, the manager can make a plan from the seedling transplanting stage or the seedling mat growing stage, and can appropriately set the required number of mats and the number of strains.

  1: rice transplanter, 2: traveling machine, 3: planting work machine, 8: rear wheel, 20: lifting link mechanism, 32: planting claw, 33: seedling stage, 39a: planting depth detection sensor, 56: Seedling rail support shaft, 56a: Actuator, 60: Interlocking wire, 63: Stopper switch, 66: Select dial, 70: Seedling amount calculation unit, 71: Planting work machine position detection sensor, 81: Downstream rotating body , 84: proximity sensor, 85: upstream rotating body, 88a and 88b: seedling presser bar

Claims (3)

A planting work machine supported by the traveling machine body so as to be able to be lifted and lowered via a lifting link mechanism;
A planting depth detection sensor for detecting a height from the bottom surface of the float of the planting work machine;
A planting machine position detection sensor for detecting the height of the planting machine relative to the traveling machine body, a seedling transplanter comprising:
A seedling transplanting machine, wherein a slip rate is calculated from a subsidence amount of a traveling wheel to a field calculated based on the planting depth detection sensor and the planting work machine position detection sensor. Provided separately from the float, provided with a sensor that follows the field surface,
The seedling transplanter according to claim 1, wherein the amount of settlement of the traveling wheel to the field in consideration of the amount of settlement of the float to the field is calculated by measuring the swing angle of the sensor. By scraping the seedlings from the seedling mat placed on the seedling stand with planting claws and planting them in the field, and adjusting the vertical amount of scraping the seedling mat in the traveling direction of the traveling machine body in plan view, the planting It is configured to be able to change the amount of seedling mat with the attached nail,
A seedling amount calculating unit capable of calculating a reference vertical amount from a field area and the number of seedling mats used for the field area,
The seedling amount calculation unit, during the planting work, the actual vertical amount calculated based on the actual work area where the planting work was performed and the number of seedling mats used for the actual work area, Correct the reference vertical amount from the target vertical amount calculated based on the remaining work area and the number of remaining seedling mats,
The seedling transplanter according to claim 1 or 2, wherein the actual work area is calculated from a vehicle speed of the traveling machine considering the slip ratio and a work width set from the number of strips on which planting work is performed. .

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