JP2022011769A - Rice transplanter - Google Patents

Abstract

To provide a rice transplanter which has a seedling transplanting device mounted on the back of a traveling vehicle body to be boarded by an operator, and which efficiently moves to a plurality of farm fields so as to be capable of performing a seedling transplanting operation.SOLUTION: A rice transplanter is provided in which: an unmanned flight vehicle 32 is flown over a traveling vehicle body 10 having field map data 30 and a positioning device 31; and the unmanned flight vehicle 32 is tracked by a tracking camera 33 that is provided in the traveling vehicle body 10 so that a flight trajectory of the unmanned flight vehicle 32 can be stored as a scheduled transplantation path 34 on the field map data 30. The rice transplanter transplants seedings in a farm field while controlling a steering device 38 according to the scheduled transplantation path 34.SELECTED DRAWING: Figure 4

Description

The present invention relates to the operation of a rice transplanter for transplanting seedlings into a field.

In the rice transplanter described in Patent Document 1, in order to align the transplanting start position after turning in the headland, the raising and lowering of the seedling transplanting device is detected and the clutch engagement at the transplanting start is automated, thereby simplifying the operation of the machine. Is to be.

The rice transplanter described in Patent Document 2 describes a rice transplanter having an automatic steering function and an artificial steering function.

Japanese Unexamined Patent Publication No. 2002-335720 Japanese Patent No. 6320212

The transplanting work may be performed while visiting a plurality of fields, but in that case, the efficient transplanting work can be performed by moving the shortest distance to move the fields.

An object of the present invention is to enable a rice transplanter equipped with a seedling transplanting device at the rear of a traveling vehicle on which a worker is boarding, to efficiently move a plurality of fields and perform seedling transplanting work.

The above-mentioned problem of the present invention is solved by the following technical means.

According to the first aspect of the present invention, the unmanned vehicle 32 is flown over the traveling vehicle body 10 having the field map data 30 and the positioning device 31, and the unmanned vehicle body 32 is tracked by the tracking camera 33 provided on the traveling vehicle body 10. The rice planting machine is characterized in that the flight locus of 32 is stored on the field map data 30 as a planned transplantation route 34, and seedlings are transplanted to the field while controlling the steering device 38 according to the planned transplantation route 34.

The invention of claim 2 is claimed 1 in which the field transplantation route 35 of the traveling vehicle body 10 is stored as field transplantation data 36 for each field, and the field transplantation data 36 can be used for steering control of another farm work machine. The rice transplanter described in.

According to the third aspect of the present invention, ridge sensors 37L and 37R for measuring the distance to the ridges are provided on the left and right sides of the traveling vehicle body 10, and the distance between the traveling vehicle body 10 and the ridges measured by the ridge sensors 37L and 37R is equal to or less than a predetermined distance. The rice planting machine according to claim 1 or 2, wherein the steering device 38 is controlled so as not to become.

According to the invention of claim 1, the automatic control rice transplanter tracks the unmanned flying object 32 with the tracking camera 33, stores the flight trajectory as the planned transplant route 34 in the field map data 30, and travels on the planned transplant route 34. Since the steering device 38 is controlled, the unmanned flying object 32 can be flown over the automatically controlled rice transplanter so that the unmanned flying object 32 can be efficiently transplanted, so that the seedling transplanting work in the field can be performed via the shortest movement route. .. In addition, it is possible to guide the movement of a plurality of fields by the flight trajectory of the unmanned flying object 32.

In the invention of claim 2, since the automatic control rice transplanter stores the field transplantation route 35 as the field transplantation data 36 on the field map data 30 when performing the transplantation work, the field transplantation data 36 is used, for example, unmanned. It is possible to carry out control work such as spraying chemicals by flying the flying object 32 by autopilot, and it is possible to improve the efficiency of agricultural work.

In addition, the field transplanting data 36 can be used for the seedling transplanting work in the next fiscal year, and the unmanned flying object 32 becomes unnecessary.

In the invention of claim 3, in addition to the effect of any one of claims 1 or 2, the automatic control rice transplanter does not come too close to the ridge while measuring the distance to the ridge with the ridge sensors 37L and 37R. Since the steering device 38 is controlled, the machine body does not plunge into the ridges and break the ridges or damage the seedling transplanting device.

It is a right side view of the automatic control rice transplanter of embodiment of this invention. It is a top view of the automatic control rice transplanter of embodiment of this invention. It is a side view which shows the working state of the automatic control rice transplanter of embodiment of this invention. It is a control block diagram of the automatic control rice transplanter of embodiment in this invention. It is a top view which shows the transplantation locus of the automatic control rice transplanter of embodiment in this invention.

1 and 2 show a left side view and a plan view of an automatically controlled rice transplanter equipped with the seedling planting apparatus according to the embodiment of the present invention.

This automatically controlled rice transplanter is equipped with an engine 11 and plants 6 rows of seedlings via an elevating link device 14 behind a traveling vehicle body 10 equipped with a pair of left and right front wheels 12 and rear wheels 13 that are driven and rotated. The portions 15 are connected.

Further, the traveling vehicle body 10 is provided with a driver's seat 16, a steering handle 17 for steering the front wheels 12, and a spare seedling mounting table 18 on which spare seedlings are placed.

In this specification, the front-rear and left-right direction standards define the front-rear and left-right reference based on the traveling direction of the vehicle body when viewed from the driver's seat 16.

The seedling planting section 15 is provided with an inclined seedling mounting table 22 having an upper front portion on the upper side of the planting transmission case 21 to be transmitted from the engine 11, and is behind the planting transmission section of the planting transmission case 21. A set of seedling planting devices 23 is provided at each of the two rows at the end.

When the traveling vehicle body 10 is advanced with the center float 24 and the side float 26 grounded, the seedling mounting table 22 moves back and forth to the left and right, and the mat seedlings on the table are placed on the lower end side of the seedling loading table 22. Each plant is sequentially supplied to the seedling picking port 25 of 20, and the seedling planting device 23 separates each plant and plants it in the field.

A center marker 9 is erected in the center of the left and right at the tip of the traveling vehicle body 10, and a tracking camera 33 pointing upward is provided on the center marker 9, and an unmanned flying object 32 flying over the sky is tracked and its flight trajectory information is received. , The flight trajectory information is stored as a planned transplant route on the field map data 30 stored in the control unit 29. When the automatic control rice transplanter starts the transplanting run by automatic steering, as shown in Fig. 5, while tracing the memorized planned transplanting route, the field with the circled number 2 goes through the field with the circled number 2 to the field with the circled number 3. Run while moving and perform transplant work.

In the automatic control block diagram of FIG. 4, the automatic control rice transplanter receives the radio wave from the positioning satellite by the positioning device 31 and recognizes it as the position information on the field map data 30 of the traveling vehicle body 10, and the locus moved by the transplanting work is determined. It is stored as a transplanted field diagram 39 for each field with circled numbers 1 to 3, and is taken out to the outside so that it can be used by another automatic control rice transplanter or weeder.

When the steering device 38 is controlled by the positioning information from the unmanned flying object 32, when the unmanned flying object 32 is out of the view of the tracking camera 33, the steering device 38 is controlled to stop the traveling.

Further, left and right ridge sensors 37L and 37R are provided on the left and right sides of the traveling vehicle body 10, and a steering device is provided so that the traveling vehicle body 10 travels a distance that does not come too close to the ridges and does not come off too much when traveling around the ridges. 38 is controlled.

By providing the ridge sensors 37L and 37R in front of the traveling vehicle body 10, the traveling can be stopped before the collision.

For the control of this automatic control rice transplanter, as shown in FIG. 4, the control unit 29 is provided with a positioning device 31 that receives radio waves from the field map data 30 and a positioning satellite and recognizes the position of the aircraft on the field map data 30 for tracking. The flight trajectory obtained by the camera 33 tracking the unmanned flying object 32 is stored in the field map data 30 as the planned transplantation route 34, and the steering device 38 is controlled to go around the planned transplantation route 34.

The tracking camera 33 does not recognize the flight trajectory of the unmanned flying object 32, but the unmanned flying object 32 is equipped with a positioning device, and the flight trajectory is transmitted wirelessly to the control unit 29 of the automatic control rice planting machine to carry out the planned transplant route. If 34 is created, the unmanned flying object 32 can be flown separately from the running of the automatically controlled rice planting machine.

Further, the control unit 29 of the automatic control rice transplanter stores the transplantation movement locus on the field map data 30 as the transplanted field diagram 39 and makes it possible to retrieve it as the field transplantation data 36. For example, control of the autopilot unmanned flying object 32. If it can be used as data, the unmanned aircraft 32 can be automatically controlled and sprayed.

10 Traveling vehicle body 30 Field map data 31 Positioning device 32 Unmanned flying object 33 Tracking camera 34 Scheduled transplant route 35 Field transplant route 36 Field transplant data 37L Ridge sensor (left ridge sensor)
37R ridge sensor (right ridge sensor)
38 Steering device

Claims (3)

An unmanned flying object (32) is flown over a traveling vehicle body (10) having a field map data (30) and a positioning device (31), and the tracking camera (33) provided on the traveling vehicle body (10) is used to fly the unmanned flying object (32). The flight trajectory of the unmanned vehicle (32) is stored in the field map data (30) as a planned transplant route (34), and the field is controlled while controlling the steering device (38) according to the planned transplant route (34). A rice transplanter characterized by transplanting seedlings to. Claim that the field transplantation route (35) of the traveling vehicle body (10) is stored as field transplantation data (36) for each field, and the field transplantation data (36) can be used for steering control of another farm work machine. The rice transplanter described in 1. A ridge sensor (37L, 37R) for measuring the distance to the ridge is provided on the left and right sides of the traveling vehicle body (10), and the distance between the traveling vehicle body (10) and the ridge measured by the ridge sensor (37L, 37R) is a predetermined distance. The rice transplanter according to claim 1 or 2, wherein the steering device (38) is controlled so as not to be as follows.

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