JP2587799Y2 - Seedling supply device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a seedling replenishing apparatus for supplying spare seedlings to a transplanter such as a rice transplanter or a vegetable transplanter for performing rice transplanting.

[0002]

2. Description of the Related Art Heretofore, prior to the shortage of seedlings to be planted, a spare seedling was mounted on a transplanter, and the spare seedling was supplied to a seedling table as a planted seedling to continuously perform planting work.

[0003]

The prior art described above improves work efficiency by increasing the amount of spare seedlings loaded when seedlings are consumed quickly, such as a multi-row, high-speed riding type transplanter. However, an increase in the amount of spare seedlings to be loaded has an adverse effect on the machine balance of the transplanter, and there is a problem that the planting performance of seedlings and the running performance in wet fields are easily reduced. Therefore, a seedling box disclosed in JP-A-64-78974 is disclosed.
By using a transport vehicle, you can also transport spare seedlings,
In consideration of the workability of spare seedling supply and labor saving, transplanting
Machine is more defective than the conventional replenishment task of replenishing spare seedlings at headlands
It is easy to increase the number of seedlings, shortening the seedling replenishment work time and replenishing seedlings
There is a problem that labor cannot be easily reduced.

[0004]

In order to solve the problems] However, the present invention is, field
Seedlings are transported by a seedling carrier to a transplanter that continuously seeds
Detect the seedling replenishment time in the seedling replenishment device to replenish
Planting work position to reciprocate between the seedling remaining amount sensor and the headland in the field
Planting distance sensor for detecting the position, and detection of each sensor
The seedling replenishment point and seedling replenishment command to be calculated based on the results
A transmitter for transmission is provided in the transplanter, and
Receiver for receiving feed point and seedling replenishment command, and the receiver
Traveling driving means for prematurely moving to the seedling supply point based on the input
Is provided in the seedling carrier, and the seedling remaining amount sensor and the planting distance sensor are provided.
The seedling carrier was moved to the initial seedling supply point
And the seedlings from the second time onward are detected by the planting distance sensor.
It is configured to move the seedling carrier to the supply point
The seedling replenishment point and seedling replenishment order from the transplanter to the seedling carrier
Send the seedlings and calculate them separately for the first time and the second and subsequent times.
The seedling carrier can be automatically moved to the feeding point,
Seedling transportation depends on the difference between the distance and the distance to the first seedling supply point.
It is possible to switch the movement pattern of the truck, etc.
Seedling carrier can be moved in the shortest distance in
Easily reduce time and labor for replenishing seedlings
And reduce running load of spare transplanter
To improve planting work efficiency and planting performance
This can be easily achieved.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. 1 is a side view of a spare rice seedling transport control circuit, FIG. 2 is a side view of a riding rice transplanter, and FIG. 3 is a circuit diagram of a rice transplanting operation detecting circuit. As shown in FIG. (2) equipped with a steering handle (3), front and rear wheels (4) and (5), planting claws (6), a seedling mount (7), etc., and an engine (8)
Each part is driven to continuously perform rice transplanting work, and as shown in FIG. 2, a rice transplant controller (9) formed by a microcomputer is mounted on the rice transplanter (1).
A planting clutch sensor (10) for detecting that rice transplanting is being performed by operating a planting claw (6), and a seedling mounting table (7).
Seedling remaining amount sensor (11) that detects that seedlings need to be replenished, and a planting distance sensor (12) that detects the distance from the start of planting work to the seedling replenishment point or the rice planting work stop point.
And a transmitter (13) for converting the detection data of each of the sensors (10), (11), and (12) into a radio wave and transmitting the electric wave, is connected to the controller (9), and the sensors (10), (11)
The detection data of (12) is transmitted.

FIG. 4 is a side view of the seedling carrier (14), and FIG. 5 is an explanatory plan view of the same. The front wheels (15) and (15) and the rear wheels (16) and (16) are provided with a pair of left and right lugs. The machine (1
7) At the bottom, the engine (18) is mounted in the center of the machine (17), and a large number of spare seedlings (19) ...
A spare seedling stand (20) on which the machine is mounted is provided above the machine stand (17), and includes a transmission case (21), a front and rear traveling taratch case (22) (23), an axle case (2).
4) The output of the engine (18) is transmitted to the front and rear wheels (15) and (16) via (25) to drive the vehicle.

As shown in FIG. 1, a receiver (26) for receiving a radio wave from the transmitter (13) of the rice transplanter (1).
A forward / reverse switching motor (27) attached to the transmission case (21) to switch between forward output and reverse output; and an angular velocity sensor (28) for detecting the turning angle of the machine base (17).
And ultrasonic sensors (29), (30), (31), and (32) that are provided on the left and right sides of the front and rear surfaces of the machine base (17) and detect colliding substances.
Traveling clutch motors (33), (34), (35), (36) provided on the traveling clutch cases (22), (23) to drive and control the front and rear wheels (15, 16), and axle cases (24, 25) ) To connect the front and rear wheels (15) (16)
(37) (38) (39)
(40) and steering angle sensors (41), (42), (43), and (44) for detecting steering angles of the front and rear wheels (15) and (16).
And an axle rotation sensor (45) (4)
6) (47) and (48) are connected to a spare seedling controller (49) formed by a microcomputer. And rear wheels (16) (1
6) The front and rear wheels (15) (1)
6) is configured to perform a pivot turn that moves on substantially the same circumference.

FIGS. 6 and 7 are explanatory views of rice transplanting operations. The rice transplanting machine (1) is reciprocated from one headland to the other headland to perform rice transplanting operation. While the work shown in FIG. 6 in which the distance (A) to the first seedling supply point (50) is shorter than the length of one outbound path (A + B) is pattern A, the first seedling supply point ( The operation shown in FIG. 7 in which the distance (C + D) to 50) is longer than the length (C) of one forward trip is defined as pattern B, and the seedling carrier is placed at the seedling supply points (50) and (51) of the rice transplanter (1). (1
4) is automatically moved, and when the operations of the pattern A in FIG. 6 and the pattern B in FIG. 7 are performed, the seedlings are supplied to the seedling supply points (51)... After the first time before the rice transplanter (1). The seedling transporter (14) is driven at a higher speed than the rice transplanter (1) so that the transporter (14) arrives, and the spare seedling (19) mounted on the seedling transporter (14) in the course of the outward or return trip. Is supplied to the rice transplanter (1).

As is clear from the above, seedlings are continuously arranged in the field.
Seedling transporter on a rice transplanter (1)
In the seedling supply device for supplying seedlings according to (14),
A seedling remaining amount sensor (11) for detecting a replenishment time;
Planting distance to detect the planting work position to reciprocate between headlands
The sensor (12) and the detection of each of the sensors (11) and (12)
Seedling replenishment point (50) (51) to be calculated based on the output result
And a transmitter (13) for transmitting a seedling replenishment command,
In addition to the rice transplanter (1), the seedling supply points (50) (5)
1) and a receiver (26) for receiving a seedling supply command,
Based on the input from the receiver (26), the seedling supply point (50) (5)
The spare seedling control, which is the driving means for moving ahead in 1)
A roller (49) is provided on the seedling carrier (14),
By the detection of the quantity sensor (11) and the planting distance sensor (12)
Move the seedling carrier (14) to the first seedling supply point (50)
Two times by detecting the planting distance sensor (12).
Move seedling carrier (14) to seedling supply point (51)
It is configured to be. And the seedling supply point (5
0) (51) and seedling supply instruction from rice transplanter (1)
To the car (14) to distinguish between the first and second
At the seedling supply point (50) (51) to be calculated, the seedling carrier (1)
4) The distance between headlands on the field and the initial seedling
Seedling carrier by difference with distance to replenishment point (50)
Perform the switching of the movement pattern of (14), etc., and supply seedlings.
(50) Move the seedling carrier (14) to (51) the shortest
Reduces seedling replenishment work time and seedling replenishment effort
And reduce the amount of spare seedlings loaded on the transplanter (1).
Reduced running performance and improved planting work efficiency
It is designed to improve planting performance.

This embodiment is configured as described above, and FIG.
As shown in the rice transplanter control flowchart of FIG. 3, the rice transplant controller (9) of FIG. 3 is operated. The planting clutch sensor (10) detects that the planting clutch is engaged, and the rice planting operation is performed by the planting claw (6). Then, the measurement of the planting distance is started by the planting distance sensor (12). Then, when the seedling remaining amount sensor (11) for detecting the seedling replenishing time of the seedling placing stand (7) is turned on before the planting clutch is disengaged, that is, in the middle of one forward trip, the seedling remaining amount sensor (11) is turned on. Is turned on, via the transceivers (13) and (26), FIG.
Instructs the seedling carrier (14) to start in Pattern A of
Also, the planting distance data (A) of the outward path at the sensor (11) ON position is transmitted. On the other hand, when the planting clutch disengagement is detected by the sensor (10) before the seedling remaining sensor (11) is turned on, that is, the seedling remaining sensor (1)
When 1) is turned on, the planting distance data (C) corresponding to the length of one forward path is transmitted by detecting the planting clutch disengagement of the sensor (40), and the sensor (40) re-engages the planting clutch. By detecting the direction change of rice transplanter (1),
The planting distance measurement of the sensor (12) is restarted, and when the seedling remaining amount sensor (11) is turned on, that is, when the sensor (11) is turned on on the return path, the seedling transportation is performed in the pattern B of FIG. Instruct the car (14) to start and transmit the planting distance data (D) for the return trip.

FIG. 9 is a flow chart showing the control of the pattern A of FIG. 6. When a start instruction in the pattern A is inputted to the spare seedling controller (49) of FIG. Seedling transport vehicle (1
4) After laterally moving and moving to an unplanted area, the transport vehicle (14) is turned by a 90-degree pivot turn, and is advanced by the data (A) by receiving the planting distance data (A). By moving the transport straight along the trajectory, turning by a 90-degree pivot turn and laterally moving the rice transplanter (1) by the number of planting strips, the transporter (14) moves to the rice transplanter (1) at the replenishment position (50). A spare seedling (19) is replenished to the seedling mounting table (7) by an operator who is approaching and riding on the rice transplanter (1). When the seedling replenishment completion signal is received, the transport vehicle (14) is laterally moved by the number of the planting streaks of the rice transplanter (1), and the planting distance data (B) corresponding to the remaining portion of the outward path.
Is received, and when 2B = A, the position of the transporter (14) becomes the next seedling supply point (51), so that 2B> A is determined, and the next seedling supply is performed centering on the transporter (14). It is calculated whether or not the point (51) is on the start end side of the return trip. As shown in FIG. 6, when 2B> A and the second replenishment point (51) is located on the start end side of the return trip, a 90-degree pivot turn is performed. After the turn, the seedlings are advanced by a distance (2B-A) to the point (51) to replenish the seedlings.
Seedling replenishment is performed by moving backward by the distance (A) to the replenishment point (51), and the seedling carrier (14) automatically and sequentially moves to the next replenishment point (51) from the fourth time by unmanned operation. .
On the other hand, when 2B> A does not hold as shown in FIG. 6, that is, the second replenishing point (5
When 1) is located, the vehicle turns by a 90-degree pivot turn, moves backward (A-2B) to the point (51), and replenishes seedlings.
In 1), the seedling carrier (14) automatically and sequentially moves by unmanned operation.

FIG. 10 is a flow chart showing the control of the pattern B of FIG. 6. When a start instruction in the pattern B is input to the spare seedling controller (49) of FIG. The seedling transport vehicle (14) is moved laterally by the number of the planting strips and moved to an unplanted area, and then the transport vehicle (14) is turned by a 90-degree pivot turn, so that the planting distance data (C) and the data (D) are obtained. ) Receive and advance by the difference (CD) of each data to the first replenishment point (50)
And transport the spare seedlings (19) of the transport vehicle (14) to the rice transplanter (1). Further, when the seedling replenishment completion signal is received, the transport vehicle (14) is laterally moved by the number of the planting strips of the rice transplanter (1), makes a 90-degree pivot turn, and performs the second replenishment point (51). To the next replenishing point (51) from the third time onward after receiving the seedling replenishment signal, the seedling carrier (14) is automatically and unmannedly operated. Moving.

FIG. 11 is a flowchart showing turning control of the seedling carrier (14) by a pivot turn. The steering motor (3) is controlled by a 90-degree pivot turn command.
7) to (40) are operated, the four wheels are pivot-turned, and the left and right front wheels (15) and (15) are shaped like a letter C, and the left and right rear wheels (16) and (16) are shaped like a inverted letter C. And the front and rear wheels (15) (1)
6) is started while drift correction is performed, and when the angular velocity deviation value input from the angular velocity sensor (28) becomes substantially equal to or larger than a predetermined turning angle, the pivot turn is stopped. 9 and a 90-degree pivot turn in FIG. 10 is performed.

FIG. 12 is a flow chart showing the straight traveling control of the seedling carrier (14), in which the vehicle is moved forward (reverse) while performing drift correction according to the straight traveling command, and the angular velocity deviation value inputted from the angular velocity sensor (28). Is larger than the specified steering value, the steering angle is corrected by controlling the steering motors (37) to (40), and the vehicle is advanced (reverse) by a predetermined distance. If the predetermined distance is not reached, the vehicle is advanced further by the drift correction distance. (Reverse) and stop.

The position of the rice transplanter (1) and the seedling carrier (14) is detected by a short-range radar installed at a certain location, and errors in turning and straight traveling by the angular velocity sensor (28) are detected by the radar. After the correction, the seedling carrier (14) is operated unattended and the seedling supply point (50)
It can be easily moved to (51).

[0016]

[Effects of the Invention] As is clear from the above embodiment, the present invention provides a method of transferring seedlings to a transplanter (1) for continuously planting seedlings in a field.
In a seedling supply device for supplying seedlings by a car (14),
A seedling remaining amount sensor (11) for detecting seedling replenishment time;
Planting distance to detect planting work position to reciprocate between headlands
The separation sensor (12) and the sensors (11) and (12)
Seedling replenishment point (50) (5) to be calculated based on the detection result
1) and a transmitter (13) for transmitting a seedling replenishment command,
A seedling replenishing point (50) provided at the transplanter (1).
(51) and a receiver (26) for receiving a seedling supply command
And a seedling supply point (50) based on the input of the receiver (26).
The traveling drive means (49) for moving ahead in (51) is
It is installed on the seedling carrier (14), and is connected to the seedling remaining amount sensor (11).
Initial seedling replenishment point based on detection of attached distance sensor (12)
The seedling carrier (14) is moved to (50) and the planting distance
Second and subsequent seedling replenishment points based on detection by sensor (12)
It is configured to move the seedling carrier (14) to (51).
Seedling supply point (50) (51) and seedling supply instruction
From the transplanter (1) to the seedling carrier (14)
Seedling replenishment point (50) calculated separately for the second and subsequent times
Automatically moving the seedling carrier (14) to (51)
And the distance between headlands on the field and the first seedling replenishment point (50)
Movement of the seedling carrier (14) depending on the distance to
Can be switched, and seedling supply points (50)
Move the seedling carrier (14) to (51) in the shortest distance
To reduce seedling replenishment work time and replenish seedlings.
Labor can be easily reduced, and a transplanter
(1) Improve running performance by reducing the amount of spare seedlings loaded
Planting work efficiency and planting performance.
The top and the like can be easily achieved.

[Brief description of the drawings]

FIG. 1 is a preliminary seedling transport control circuit.

FIG. 2 is a side view of the riding rice transplanter.

FIG. 3 is a diagram of a rice transplanting work detection circuit.

FIG. 4 is a side view of the seedling carrier.

FIG. 5 is an explanatory plan view of the same.

FIG. 6 is an explanatory diagram of a rice transplanting operation.

FIG. 7 is an explanatory view of the same.

FIG. 8 is a flowchart of rice transplanter control.

FIG. 9 is a flowchart of pattern A control.

FIG. 10 is a flowchart of pattern B control.

FIG. 11 is a flowchart of turning control.

FIG. 12 is a flowchart of straight-ahead control.

[Explanation of symbols]

(1) Riding rice transplanter (transplanter) (11) Seedling remaining amount sensor (12) Planting distance sensor (13) Transmitter (14) Seedling carrier (26) Receiver (49) Spare seedling controller (running driving means) ) (50) (51) seedling supply point

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Satoru Okada 1-32 Chaya-cho, Kita-ku, Osaka City Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Hiroshi Kawabuchi 1-32, Chaya-cho, Kita-ku, Osaka-shi Inside Yanmar Agricultural Machinery Co., Ltd. (72) Inventor Yasushi Mizukura 1-32 Chayacho, Kita-ku, Osaka-shi Inside Yanmar Agricultural Machinery Co., Ltd. (72) Wataru Nakagawa 1-32 Chayacho, Kita-ku, Osaka-Yanmar Agricultural Machinery Co., Ltd. (58) Field surveyed (Int. Cl. ⁶ , DB name) A01C 11/00

Claims (1)

(57) [Scope of request for utility model registration] A transplanter for continuously planting seedlings in a field
Seedling replenishment to replenish seedlings by seedling transporter (14) in (1)
Seedling remaining amount sensor to detect seedling replenishment time in device
(11) and the planting work position for reciprocating between headlands in the field
Planting distance sensor (12) to be detected, and each of the sensors
(11) Replenishment of seedlings calculated based on the detection result of (12)
Send to send point (50) (51) and seedling supply command
A transmission (13) is provided on the transplanter (1),
Receiving supply points (50) and (51) and seedling supply instruction
A receiver (26) and a seedling assistant based on the input from the receiver (26).
Traveling driving means for moving ahead to the supply points (50) and (51)
(49) is provided in the seedling carrier (14),
(11) and planting distance sensor (12)
Move the seedling carrier (14) to the seedling supply point (50),
Also, the second and subsequent times based on the detection of the planting distance sensor (12)
A seedling replenishing apparatus characterized in that the seedling carrier (14) is moved to a seedling replenishing point (51) .