JP2022115227A - Sulky type seedling transplanter - Google Patents

Abstract

To provide a sulky type seedling transplanter in which: a control unit 14 calculates a travel path in which rice planting work and fertilization work are performed by a sulky type seedling transplanter by autonomous travel on the basis of map data of a field, and by calculating a current position of the sulky type seedling transplanter by a GPS receiver 13, causes the sulky type seedling transplanter to autonomously travel along the travel path, however, when traveling along a furrow, especially, it is difficult to travel along the furrow on a deformed field and rice planting work and fertilization work at a proper furrow are difficult, therefore, the sulky type seedling transplanter capable of performing seedling planting work at a preferable furrow and traveling along the furrow properly, is required.SOLUTION: In a sulky type seedling transplanter in which, a seedling planting device 6 is mounted on a travel vehicle body 3, a detecting unit 21 provided on a side part of the travel vehicle body 3 detects a distance to a field and a distance to a top face of a furrow, and using the detection results, the control unit 14 recognizes the furrow.SELECTED DRAWING: Figure 2

Description

TECHNICAL FIELD The present invention relates to a ride-on seedling transplanter equipped with a seedling planting device on a traveling vehicle body.

Conventionally, the control device autonomously travels based on the map data of the field to calculate the travel route for rice planting and fertilization work, and the GPS receiver calculates the current position of the ride-on rice transplanter, along the travel route. It is known that a ride-on type rice transplanter is made to run autonomously (see, for example, Patent Document 1)

JP 2018-117561 A

However, when traveling along the ridge, it is difficult to travel along the ridge, especially in deformed fields, and it has been difficult to perform rice planting and fertilization work along the appropriate ridge.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a ride-on seedling transplanter capable of properly traveling along a ridge and planting seedlings along the ridge.

The invention according to claim 1 is a riding-type seedling transplanter in which a seedling planting device 6 is attached to a traveling vehicle body 3, and a detection device 21 provided on the side of the traveling vehicle body 3 detects the distance to the field field and the top surface of the ridge. This is a ride-on type seedling transplanter that detects the distance and recognizes the ridge with the control device 14 .

The invention according to claim 2 is the ride-on seedling transplanter according to claim 1, wherein the detection device 21 has a plurality of distance detection sensors 29a, 29b, and 29c arranged in parallel.

The invention according to claim 3 is the ride-on seedling transplanter according to claim 1 or claim 2, in which the traveling vehicle body 3 is caused to travel independently along the ridge recognized by the control device 14 .

The invention according to claim 4 is the ride-on seedling transplanter according to claim 1 or claim 2, wherein the control device 14 notifies the steering direction so that the traveling vehicle body 3 travels along the recognized ridge.

According to the invention of claim 5, the riding type according to any one of claims 1 to 4, wherein the detection device 21 can be switched between a state in which it is positioned on the side of the traveling vehicle body 3 and a state in which it is positioned in front of the traveling vehicle body 3. Seedling machine.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the riding type rice transplanter of embodiment of this invention. It is a front view of a passenger type rice transplanter. It is an exploded perspective view of the principal part of a passenger type rice transplanter. It is an exploded perspective view of the principal part of a passenger type rice transplanter. It is a perspective view of the principal part of a passenger type rice transplanter. It is a plan view for explaining the operation of the main part of the passenger-type rice transplanter. It is a plan view for explaining the operation of the main part of the passenger-type rice transplanter. It is a side view for operation|movement description of the principal part of a passenger type rice transplanter. It is a perspective view for operation|movement description of the principal part which shows the riding type rice transplanter of 2nd Embodiment of this invention.

A 6-row riding-type rice transplanter, which is an embodiment of the riding-type seedling transplanter of the present invention, will be described with reference to the drawings.

The riding-type rice transplanter includes a link mechanism 4 and a hydraulic cylinder 5 for driving the link mechanism 4 up and down at the rear of a traveling vehicle body 3 having left and right front wheels 1 and left and right rear wheels 2, 2 for steering. A seedling planting device 6 for planting 6 rows is supported at the rear of the link mechanism 4 . A fertilizer applicator is also installed.

The traveling direction of the riding-type rice transplanter on the forward side is forward, the traveling direction on the backward side is backward, and the right side is the right side and the left side is the left side with reference to the forward posture.

<Running body 3>
The traveling vehicle body 3 is equipped with a prime mover 7 (engine or electric motor) at the center of the vehicle body, and is geared by a transmission case 8 to drive the left and right front wheels 1, 1 and the left and right rear wheels 2, 2. A driving force is transmitted to the planting device 6 .

A seat 10 is provided on a cover 9 that covers the prime mover 7, and a step floor 11 is provided on the upper part of the vehicle body.

A GPS receiver 13 is provided at the front of the traveling vehicle body 3 via a support 12, and a control device 14 calculates the current position of the riding rice transplanter. Further, the control device 14 stores map data, and records the coordinates of the fields where rice planting and fertilization work are performed and the roads (furrows) around the fields. Then, the traveling route for the riding-type rice transplanter to autonomously travel to perform the rice planting work and the fertilizing work is calculated and stored. Therefore, the control device 14 causes the riding rice transplanter to autonomously travel along the travel route while calculating the current position of the riding rice transplanter using the GPS receiver 13 .

A forward/backward tilt sensor 15 is provided near the GPS receiver 13 of the strut 12 .

A steering handle 16 is provided in front of the seat 10 . When the steering handle 16 is turned, a potentiometer is attached to the steering handle 16, and the control device 14 drives the left and right front wheels 1, 1 according to the turning operation direction and operation amount of the steering handle 16 by the electric motor 16a. , and the pilot can manually steer the aircraft.

Spare seedling mounts 17, 17 are provided on both left and right sides of the front portion of the traveling vehicle body 3.例文帳に追加The preliminary seedling mounting bases 17, 17 are constructed by providing three seedling mounting bases 20 on each of the preliminary seedling mounting base support frames 19, 19 whose bases are fixed to the frame 18 of the traveling vehicle body 3. As shown in FIG. The support frames 19 , 19 are connected at their upper ends with the support 12 .

Left and right detection devices 21, 21 are provided on both left and right sides of the front portion of the traveling vehicle body 3 for detecting the surface of mud or water (hereinafter referred to as field surface) and the upper surface of ridges or roads (hereinafter referred to as ridge).

The left and right detectors 21, 21 are bilaterally symmetrical and have the same configuration. a rotation support shaft 24 whose lower part is rotatably supported by a rotation support pipe 23 disposed coaxially with the axle 1a of the front wheel 1 in the direction of rotation, and which is bent 90 degrees in the middle and extends upward; A mounting shaft 27 bent 90 degrees in the middle and extending in the horizontal direction, the lower part of which is rotatably supported by a vertical hub 26 whose upper part is welded to the lower surface of a connection plate 25 welded to the upper end of 24; An outer ultrasonic sensor 29a, a middle ultrasonic sensor 29b, and an inner ultrasonic sensor 29a, middle ultrasonic sensors 29b, and inner ultrasonic sensors are arranged in order from the outside as three distance detection sensors provided on the lower surface of a mounting plate 28 provided at the tip of the shaft 27 so as to be slidable and fixed in the axial direction. It is composed of the sound wave sensor 29c.

The three outer ultrasonic sensors 29a, middle ultrasonic sensors 29b, and inner ultrasonic sensors 29c are provided on the mounting plate 28 so as to be slidable and fixed in the axial direction of the mounting shaft 27. The interval A between the sonic sensor 29b and the interval B between the middle ultrasonic sensor 29b and the inner ultrasonic sensor 29c are adjustable.

Further, the rotation support shaft 24 is provided with a gear 30a at its shaft end which is arranged coaxially with the axle 1a of the front wheel 1 in the lateral direction of the vehicle body. The gear 30a meshes with a driving gear 30b of an electric motor 31 provided on the upper portion of the U-shaped support frame 22. As shown in FIG. Therefore, when the electric motor 31 is driven in forward and reverse directions, the lower portion of the rotation support shaft 24 rotates around the axle 1a in the directions of the arrows (a) and (b). The outer ultrasonic sensor 29a, middle ultrasonic sensor 29b, and inner ultrasonic sensor 29c are adjusted in the direction away from the field or ridge surface and in the direction to approach the field or ridge surface.

Based on the detection of the longitudinal inclination of the traveling vehicle body 3 by the longitudinal inclination sensor 15 , the electric motor 31 is driven and controlled by the control device 14 provided inside the operation panel 32 below the steering handle 16 .

That is, when the ground on which the left and right front wheels 1, 1 travel on the ground changes, the three outer ultrasonic sensors 29a, middle ultrasonic sensor 29b, and inner ultrasonic sensor 29c become closer to the field or ridge surface. The forward/backward tilt sensor 15 detects the forward tilt of the traveling vehicle body 3, and the control device 14 rotates the electric motor 31 forward to rotate the lower part of the rotation support shaft 24 in the direction of the arrow (A) according to the tilt angle. The outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c are moved in a direction away from the field or ridge surface, and the three outer ultrasonic sensors 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c are moved. and the distance between the field surface and the top of the ridge are controlled to be constant.

When the plowing ground on which the left and right front wheels 1, 1 run on the ground becomes shallower, the three ultrasonic sensors 29a, 29b, and 29c become farther from the field or the upper surface of the ridge. The sensor 15 detects the rearward tilt of the traveling vehicle body 3, and the control device 14 reverses the electric motor 31 to rotate the lower part of the rotation support shaft 24 in the direction of the arrow (B) according to the tilt angle, thereby generating three external ultrasonic waves. The sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c are moved in a direction approaching the field or the upper surface of the ridge, and the three outer ultrasonic sensors 29a, the middle ultrasonic sensor 29b, the inner ultrasonic sensor 29c and the field or Control so that the distance of the upper surface of the ridge is constant.

Further, the mounting shaft 27 is provided with a gear 34a at the lower vertical shaft end. The gear 34a meshes with a driving gear 34b of an electric motor 35 provided on the lower surface of the connecting plate 25. As shown in FIG. Therefore, the lower part of the mounting shaft 27 rotates in the directions of arrows (c) and (2) by forward and reverse driving of the electric motor 35, so that the three outer ultrasonic sensors 29a, the middle ultrasonic sensor 29a, and the middle ultrasonic sensor 29a fixed to the tip of the mounting shaft 27 rotate. The sonic sensor 29b and the inner ultrasonic sensor 29c can be switched between a state in which they are positioned in front of the traveling vehicle body 3, a state in which they are positioned in the left and right sides of the traveling vehicle body 3, and a stored state in which they face the rear of the traveling vehicle body 3. FIG.

Then, the electric motor 35 is driven by the detector posture change dial 36 provided on the operation panel 32, and the three outer ultrasonic sensors 29a, the middle ultrasonic sensors 29b, and the inner ultrasonic sensors of the left and right detectors 21, 21 are operated. The sensor 29c is switched between a state in which the sensor 29c is positioned in front of the traveling vehicle body 3, a state in which the sensor 29c is positioned in the left and right sides of the traveling vehicle body 3, and a stored state in which it faces the rear of the traveling vehicle body 3.

<Seedling planting device 6>
The seedling planting device 6 includes a planting tool 38, three leveling floats 39, and a seedling platform 40, which are provided on both left and right sides of the rear of six planting transmission cases 37 arranged at predetermined intervals in the left-right direction. etc.

<Fertilizer>
The fertilizing device (not shown) is provided with a fertilizer tank at the rear of the traveling vehicle body 3, and a feed-out device for each row is provided at the bottom of the fertilizer tank. It is conveyed through the fertilizing pipe into the grooving device provided on the leveling float 39 and fertilized in the field.

<Rice planting work>
Mat-like seedlings are placed on the seedling mounting table 40 of the seedling planting device 6, granular fertilizer is supplied to the fertilizer tank of the fertilizing device, and each part of the machine body is driven to advance the machine body, whereby rice is planted while performing fertilization work. can work.

In the riding-type rice transplanter, the GPS receiver 13 receives GPS signals in the field, the controller 14 calculates the current position, and the field and the road (furrow) around the field stored in the controller 14. It autonomously travels based on the coordinates and the calculated travel route in the field, and performs rice planting and fertilization work along the travel route.

On the travel route in the round-trip process in the central part of the field, the operator seated on the seat 10 operates the detection device attitude change dial 36 to operate the three outer ultrasonic sensors 29a and the middle ultrasonic sensors 29b of the left and right detection devices 21, 21, respectively. , the inner ultrasonic sensor 29 c is positioned in front of the traveling vehicle body 3 .

Then, the left and right inner ultrasonic sensors 29c of the left and right detectors 21, 21 detect the height of the field (the average value of the height of the field detected by the left and right inner ultrasonic sensors 29c is taken as the height of the field), and control is performed. The device 14 controls the delivery rotation speed of each row delivery device of the fertilizing device in accordance with the height of the field field to provide an appropriate amount of fertilization.

On the travel route along the ridge of a field, an operator seated on the seat 10 uses the detector attitude change dial 36 to move the detector 21 on the ridge side out of the left and right detectors 21, 21 to the side extending toward the ridge. The detection device 21 on the side opposite to the ridge side is positioned in front of the traveling vehicle body 3.例文帳に追加

Autonomous driving control along the running route at the edge of the ridge is a deformation field that is not a straight rectangular or square ridge, and the ridge is curved or uneven. difficult to proceed.

Therefore, the outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c of the detection device 21 on the ridge side detect the distance to the upper surface of the ridge or the field surface at the edge of the ridge. The outer ultrasonic sensor 29a, middle ultrasonic sensor 29b, and inner ultrasonic sensor 29c detect the distance to the field.

Then, the control device 14 is driven so that the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b of the detection device 21 on the ridge side detect the upper surface of the ridge, and the inner ultrasonic sensor 29c detects the field scene along the ridge. By controlling the motor 16a to steer the left and right front wheels 1, 1, the riding-type rice transplanter can be advanced along the ridge.

Specifically, since the upper surface of the ridge is higher than the field surface, the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b of the detection device 21 on the ridge side detect substantially the same height (detect substantially the same distance), The inner ultrasonic sensor 29c of the detection device 21 on the side and the inner ultrasonic sensor 29c of the detection device 21 on the opposite side of the ridge detect substantially the same height (the inner ultrasonic sensor 29c of the detection device 21 on the opposite side to the ridge detects Since the field is always detected, if the left and right inner ultrasonic sensors 29c detect substantially the same distance, the inner ultrasonic sensor 29c of the detection device 21 on the ridge side detects the field. ), the detection height (detection distance) of the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b of the detection device 21 on the ridge side is the same as that of the inner ultrasonic sensor 29c of the detection device 21 on the ridge side and the detection device 21 on the opposite side of the ridge. By controlling the steering of the left and right front wheels 1, 1 by controlling the driving electric motor 16a so as to maintain a state in which the height (detection distance) is greater than the detection height (detection distance) of the inner ultrasonic sensor 29c, the riding-type rice transplanter can be placed on a ridge. can proceed along.

The control operation for independent traveling along the ridge will be explained based on FIG. (substantially the same height is detected), and the inner ultrasonic sensor 29c detects the field surface, so the riding-type rice transplanter is advancing along the ridge.

When the detection device 21 on the ridge side is in the state of X2, the outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c detect the ridge (detect substantially the same height), so the riding-type rice transplanter can Since it is too close to the ridge, the control device 14 controls the driving electric motor 16a to steer the left and right front wheels 1, 1 to the right, and advance the riding-type rice transplanter away from the ridge.

When the detection device 21 on the ridge side is in the state of X4 or X6, the outer ultrasonic sensor 29a detects the ridge, and the middle ultrasonic sensor 29b and the inner ultrasonic sensor 29c detect the farm field. Since the rice transplanter is too far from the ridge, the control device 14 controls the driving electric motor 16a to steer the left and right front wheels 1, 1 to the left, so that the riding-type rice transplanter moves closer to the ridge.

The detection device 21 has a mounting plate 28 provided with three outer ultrasonic sensors 29a, a middle ultrasonic sensor 29b, and an inner ultrasonic sensor 29c. . Therefore, if the mounting plate 28 is slid inward and fixed, the riding-type rice transplanter moves autonomously along the ridge with a distance close to the ridge, and the mounting plate 28 is slid outward in the fuselage. If fixed, the riding-type rice transplanter will autonomously travel along the ridge at a distance from the ridge.

The three outer ultrasonic sensors 29a, middle ultrasonic sensors 29b, and inner ultrasonic sensors 29c are provided on the mounting plate 28 so as to be slidable and fixed in the axial direction of the mounting shaft 27. The interval A between the sonic sensor 29b and the interval B between the middle ultrasonic sensor 29b and the inner ultrasonic sensor 29c are adjustable. Therefore, the space A between the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b is adjusted so as to fit within the ridge width. Further, by adjusting the interval B between the middle ultrasonic sensor 29b and the inner ultrasonic sensor 29c, it is possible to change the timing sensitivity for steering control of the left and right front wheels 1, 1 when autonomously traveling along the ridge. That is, when the interval B is adjusted narrowly, the timing of steering control of the left and right front wheels 1, 1 becomes sensitive, and when the interval B is adjusted wide, the timing of steering control of the left and right front wheels 1, 1 becomes insensitive.

On the other hand, when the outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c of the detection device 21 on the opposite side of the ridge detect a height clearly different from the field height (the detection device on the opposite side of the ridge) When the outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c of 21 detect the same height as the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b of the detection device 21 on the ridge side, etc.) , the control device 14 determines that there is an obstacle in the field, stops the driving of each part, stops the machine, and notifies the abnormality by a buzzer, a lamp, or an audio alarm.

Further, when both the outer ultrasonic sensor 29a and the middle ultrasonic sensor 29b of the detection device 21 on the ridge side do not detect the ridge (such as when both detect the field height), the control device 14 detects the vehicle speed decelerates and anomalies are notified by buzzer, lamp, or voice alarm.

<Crossing the ridge>
When the rice planting work and the fertilization work in the field are completed and the worker who is seated on the seat 10 moves over the ridge and escapes from the field, the three detectors 21, 21 on the left and right sides are operated by the detector posture change dial 36. The external ultrasonic sensor 29 a , the intermediate ultrasonic sensor 29 b , and the internal ultrasonic sensor 29 c are positioned in front of the traveling vehicle body 3 .

Then, the left and right outer ultrasonic sensors 29a, middle ultrasonic sensors 29b, and inner ultrasonic sensors 29c of the left and right detection devices 21, 21 sequentially detect the distance to the ridge as the aircraft advances, so that the control device 14 detects the shape of the ridge. Calculate Then, when the left and right front wheels 1, 1 approach the ridge, if the shape of the ridge calculated by the controller 14 is not suitable for crossing the ridge (the slope is too steep, or the ridge is too high, the aircraft will overturn). (e.g., when there is a risk of accident), notify with a buzzer, lamp, or voice alarm.
<Another embodiment>

(1) In the above embodiment, the control device 14 detects the upper surface of the ridge and the field surface with the detection device 21 on the ridge side, and controls the drive electric motor 16a to steer the left and right front wheels 1, 1 to provide a ride-on type rice planting. Although an example in which the machine autonomously travels along the ridge is shown, the control device 14 detects the top surface of the ridge and the field surface with the detection device 21 on the ridge side, and displays the steering direction display device (right side) provided on the operation panel 32. and left direction display lamp or right and left direction display monitor), and the operator operates the steering handle 16 according to the display to manually travel along the ridge. good.

(2) FIG. 9 shows a second embodiment of the detection device 21 in which the mounting plate 28 is provided with rollers 41 that roll on the upper surface of the ridge.

That is, left and right pantographs 42, 42 are provided on the forward side of the mounting plate 28 in the traveling direction, and cylindrical rollers 41 are rotatably provided on lower end pivots 43, 43 of the left and right pantographs 42, 42. As shown in FIG. Tension springs 45, 45 are provided between intermediate pivots 44, 44 of the left and right pantographs 42, 42, and the roller 41 is biased downward.

A potentiometer 46 is provided on an intermediate pivot 44 of the left pantograph 42 to detect the opening angle of the left pantograph 42 , and the controller 14 calculates the vertical height of the roller 41 .

Therefore, when the detection device 21 on the ridge side detects the ridge, the roller 41, which is pivotally supported by the left and right pantographs 42, 42 in a state of being urged toward the upper surface of the ridge, moves along the ridge as the fuselage advances. It rolls on the upper surface and crushes the grass on the upper surface of the ridge. Therefore, the outer ultrasonic sensor 29a, the middle ultrasonic sensor 29b, and the inner ultrasonic sensor 29c can appropriately detect the height of the ridge, and the vehicle can travel well along the ridge.

In addition, the control device 14 calculates the vertical height of the roller 41 with the potentiometer 46, and when the upward displacement amount of the roller 41 is larger than the specified value while the roller 41 is rolling on the top surface of the ridge, If there is an obstacle on the upper surface of the ridge, it will reduce the speed of the aircraft and notify the abnormality with a buzzer, lamp, or voice alarm. At the same time, the electric motor 31 is rotated forward to rotate the lower portion of the rotary support shaft 24 in the direction of the arrow (A) to move the mounting plate 28 away from the upper surface of the ridge so that the roller 41 can climb over the obstacle. do. If the phenomenon that the amount of upward displacement of the roller 41 is larger than the specified value is not resolved even when the mounting plate 28 is moved away from the upper surface of the ridge as described above, the control device 14 stops driving each section. Stop and stop the aircraft from advancing, and notify the abnormality by buzzer, lamp, or voice alarm.

3 traveling vehicle body 6 seedling planting device 14 control device 21 detection device 29a distance detection sensor (external ultrasonic sensor)
29b distance detection sensor (middle ultrasonic sensor)
29c Distance detection sensor (inner ultrasonic sensor)

Claims (5)

In a riding type seedling transplanter equipped with a seedling planting device (6) on a traveling vehicle body (3), a detection device (21) provided on the side of the traveling vehicle body (3) detects the distance to the field and the upper surface of the ridge. and a control device (14) recognizes a ridge based on each detected distance. 2. Riding seedling transplanter according to claim 1, characterized in that the detection device (21) has a plurality of distance detection sensors (29a, 29b, 29c) arranged side by side. 3. The ride-on seedling transplanter according to claim 1 or 2, wherein the traveling vehicle body (3) is caused to travel independently along the ridge recognized by the control device (14). 3. The ride-on seedling transplanter according to claim 1 or 2, wherein the control device (14) informs the steering direction so that the traveling vehicle body (3) travels along the recognized ridge. The detecting device (21) according to any one of claims 1 to 4, characterized in that it can be switched between a state in which the detecting device (21) is positioned on the side of the traveling vehicle body (3) and a state in which it is positioned in front of the traveling vehicle body (3). Riding type seedling transplanter.

Images