JP2820257B2 - Rice transplanter planting depth control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention detects a topsoil surface position by the action of a float that slides on the topsoil of a paddy field, and sets the depth of a seedling planted by a rice transplanting machine to a set depth. The present invention relates to a planting depth control device for a rice transplanter provided with a planting depth control device for controlling the planting depth.

[Conventional technology]

Conventionally, a rod-shaped sensor is provided so that a rod-shaped sensor body enters into the topsoil and rotates according to the change in hardness of the topsoil, and the sensitivity of the planting depth control is corrected by the rotation angle of the hard-soft sensor. There was a rice transplanter provided with a planting depth control device.

[Problems to be solved by the invention]

In the above-mentioned conventional technology, there is a case where a foreign matter such as straw waste or weed is caught on a hard / soft sensor that enters the topsoil, and erroneous control is performed. Also, it was necessary to separately provide a dedicated sensor for detecting the change in hardness of the topsoil.

[Means to solve the problem]

The present invention, in order to solve the above-mentioned problems of the prior art, to detect the position of the topsoil surface by the operation of the floats 15 and 16 that slide on the topsoil of the paddy field, and to reduce the depth of the seedlings planted by the rice transplanting machine 10. In a rice transplanter provided with a planting depth control device that controls to reach a set depth, the planting depth control device operates the floats 15 and 16 in a topsoil surface position detection operation outside of a topsoil surface position detection target. A planting depth control device for a rice transplanter, wherein components are detected to determine the hardness of the topsoil and to correct the sensitivity of the planting depth control.

[Functions and Effects of the Invention]

The planting depth control device for a rice transplanter according to the present invention is a planting depth control surface soil surface position detecting body, based on the surface soil surface position detecting operation of the floats 15 and 16 that slide on the paddy surface soil. Since it is intended to determine the hardness of the soil and correct the sensitivity of the planting depth control, foreign matter such as straw chips and weeds are less likely to be caught, and a hard and soft sensor etc. should be provided separately from the topsoil surface position detector There is no erroneous detection, and the detection unit has a simple configuration. Further, in the topsoil surface position detection operation of the floats 15 and 16, the operation component outside the topsoil surface position detection target is detected, the hardness of the topsoil is determined, and the sensitivity of the planting depth control is corrected. In order to judge the hardness of the surface, the operation other than the surface soil surface position detecting operation is not additionally provided on the float, so that a simple and stable operation detecting unit configuration is provided. Therefore, in the present invention, the topsoil surface position detection and the detection for the determination of the hardness of the topsoil are configured in a simple and stable operation detection unit with a small number of erroneous detections, and both of the above detections are performed favorably. Highly accurate planting depth control can be performed.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Reference numeral 1 denotes a riding-type traveling body that travels on a tillage basis. Reference numeral 2 denotes a rear wheel of the traveling vehicle body 1. Reference numeral 3 denotes a rear projection frame. Reference numeral 4 denotes an elevating link device, in which the bases of an upper link 5 and a lower link 6 are pivotally connected to the projecting frame 3, and the distal ends of both links are pivotally connected by a vertical link 7. Then, the upper link 5 and the vehicle body 1 are connected by a first hydraulic cylinder device 8, and the link is connected so as to move up and down. The first hydraulic cylinder device 8 is configured to be controlled by an electromagnetic valve 9 that is switched by solenoids 9a and 9b.

Numeral 10 is a rice transplanting machine, which is provided with a reciprocating and laterally moving seedling mounting table 12 at the top of a planting transmission case 11 and a transplanting tool 13 at the rear end of the case 11 to plant seedlings for each plant on the paddy field surface. It is configured to attach. In the illustrated example, six seedling mounting tables 12 are connected to the left and right sides, and correspondingly, six transplanting tools 13 constitute a six-row rice planting apparatus.

14, 15, 16 are leveling floats, all of which are
It is attached to the case 11 at the lower part of the transmission case 11 which forms the body of the vehicle by means of parallel-operated expansion / contraction links 17, 17, 17 having a cross shape in a side view. Reference numeral 18 denotes a long hole for attaching the expansion / contraction link, and 19 denotes a spring that repels the float. The leveling floats 15 and 16 correspond to the topsoil surface position detector of the embodiment of the present invention, and the vertical movement of the floats 15 and 16 detects the distance between the tillage surface (a) and the paddy rice topsoil surface (b). And are connected to the detection signal generators 15a and 16a.
Therefore, in this embodiment, the topsoil surface detection operation of the floats 15 and 16 is the vertical movement of the floats 15 and 16 and the floats 15 and 16
The operation component of the topsoil surface detection target in the topsoil surface detection operation is the vertical movement amount of the floats 15 and 16.

The right and left central portions of the transmission case 11 of the rice transplanting machine 10 are rotatably connected to the lower side of the vertical link 7 by a longitudinal shaft 20. Two hydraulic cylinder devices 21 are interposed to enable rolling control. The switching valve 22 of the cylinder device is also configured to be switched by the solenoids 22a and 22b.

23 is a height detector for detecting the link angle, and the upper link 5
This is to detect the rotation angle of.

Explaining an electric circuit for control, reference numeral 24 denotes a controller of a microcomputer, and an operation signal of the planting clutch lever 29, a signal from a detector 23 for detecting the height of the rice transplanting machine 10, a float 15, Detection signal generator 1 from 16
Signal from 5a, 16a, signal from manual dial 25 for manually inputting planting depth reference signal, signal from left and right hardness correction dials 26, 27, and left and right horizontal detection equipped on the body of rice transplanting machine 10 The signal from the device 28 is input. On the other hand, from this controller 24, the solenoid 9
a, 9b excitation, non-excitation output command, solenoid 22a, 22b excitation, non-excitation peripheral force command is sent, and the up and down operation and rolling operation of the planting device 10 are performed. The controller 24 is provided with a reference oscillator, and measures the number of vertical vibrations of the floats 15 and 16 during a certain period of time and sends a predetermined control signal. For example, measurement is performed once, twice, three times,... Every three seconds.
At the time, a reference program that can be determined as a soft field is stored.
The switching control time to the hydraulic cylinder device 8 and the second hydraulic cylinder device 21 is shortened so that the insensitive control is performed, and in the case of a soft field signal, the switching control time is lengthened to perform the sensitive control. ing. In other words, the excitation time of the solenoids 9a, 9b, 22a, 22b is shortened in a hard field signal, and the output signal is increased in the soft field signal, on the contrary.

It should be noted that, apart from the above-described method in which the hardness is determined based on the number of vibrations of the floats 15 and 16 within a predetermined time, the determination may be made based on the operation speed of the information. For example, when the ascending speed is steep, a hard field,
When moving upward at a slow speed, it may be determined that the field is a soft field, and the planting apparatus 10 may be vertically and / or rotationally controlled to be sensitive and insensitive.

Therefore, in this embodiment, the detection target for determining the hardness of the topsoil is an operation component other than the topsoil surface position detection target in the topsoil surface position detection operation (vertical movement) of the floats 15 and 16, and specifically, The number of vertical movements or the vertical movement speed is used.

Explaining the operation of the above example, the riding type rice transplanter gets into the paddy field, and the rice transplanting machine 10 is lowered by the planting operation lever / planting device elevating operation lever 29. Then, the leveling floats 14, 15, 16 contact the topsoil surface of the paddy field and move upward against the spring 19. Then, paddy field depth signals from the detection signal generators 15a and 16a linked to the left and right floats 15 and 16 are transmitted to the controller 24, and the switching valve is transmitted from the controller 24.
When the control signal is sent to the solenoids 9a, 9b, 22a, 22b of 9, 22, each hydraulic cylinder device 8, 21 is operated and the rice transplanting machine 10 is at an appropriate height, and the left and right sides are along the topsoil surface. Control is stopped. That is, this state is a standard planting depth set state.

Note that the reference planting depth can be appropriately adjusted with the manual dial 25 for changing the planting depth. Further, the planting depths on the left and right sides are corrected by the left and right hardness correction dials 26 and 27, and are adjusted in advance so that the left and right sides have the same depth.

In this state, the planting operation is started. That is, each part of the rice transplanting machine 10 is driven while the traveling vehicle body 1 is propelled.

Then, each of the leveling floats 14, 15, and 16 slides on the surface of the paddy field to level the ground, and the seedlings mounted on the seedling mounting table 12 are divided by the transplanting tool 13 by one plant and transplanted to the leveling ground. Then, when the paddy field becomes deep or shallow due to the cultivation change, each leveling float 14, 15, 16 is pushed up or down. Then, signals are sent from the controller 24 signal generators 15a and 16a by the up and down movement of the left and right floats 15 and 16, and the control signal is sent from the controller 24 to each solenoid valve 9a, 9b, 22a and 22b as described above. Each control valve 9,22 is switched and the hydraulic cylinder device 8,21 is used for rice transplanting
10 is moved up and down and rotated automatically to an appropriate height.
The control signal from the controller 24 is used by the arithmetic circuit in the controller 24 to determine whether the field is a hard field or a soft field based on the number of vibrations of the floats 15 and 16 within a certain period of time. Correct the signal to make it insensitive or sensitive. That is, when the number of vibrations is frequent, it is determined that the surface is hard and the valve 9 and the valve 9
Decrease the switching time of 22 to make the control time shorter than the standard control and make the vertical movement width and rotation width smaller, and conversely, if the number of vibrations is small, it is recognized as a soft topsoil surface and the switching time is increased The vertical movement width and the rotation width are made large.

Therefore, the planting depth control device of this rice transplanter is a topsoil surface position detecting body for planting depth control, based on the topsoil surface position detecting operation of the floats 15 and 16 that slide on the paddy topsoil surface. Since the sensitivity of the planting depth control is corrected by judging the hardness of the topsoil, foreign matter such as straw chips and weeds is less likely to be caught, and a hard and soft sensor is provided separately from the topsoil surface position detector. There is no erroneous detection, and the detection unit has a simple configuration. Further, in the topsoil surface position detection operation (vertical movement) of the floats 15 and 16, an operation component (number of vertical movements, vertical movement speed, etc.) that is not detected by the topsoil surface position detection is detected, the hardness of the topsoil is determined, and the planting depth is determined. Since the correction of the sensitivity of the control is performed, the operation of the simple and stable operation detection unit configuration is provided without further providing an operation other than the topsoil surface position detection operation on the float to determine the hardness of the topsoil. Become. Therefore, in the present invention, the topsoil surface position detection and the detection for the determination of the hardness of the topsoil are configured in a simple and stable operation detection unit with a small number of erroneous detections, and both of the above detections are performed favorably. Highly accurate planting depth control can be performed.

In this way, the work is performed while the automatic planting depth control is being performed, but after the completion of one row of planting, the planting is stopped by the operation lever 29, and the rice transplanting machine 10 is raised, the link angle is increased. When the height detector 23 detects this, when the leveling floats 15 and 16 reach the height at which the leveling floats 15 and 16 rise from the topsoil surface, the switching signal of the switching valve 22 is controlled by a signal transmitted from the left and right horizontal detector 28. The rice transplanter 10 is switched to a horizontal state and lifted. Then, when the rice transplanting machine 10 is lowered to start the work again after the turning, the leveling floats 15, 16 contact the topsoil surface. Then, the control signal from the float side has priority and the planting depth control is performed again.

The operation area (C) of the operation panel 30 of the planting and hydraulic operation lever 29 is matched with the height detector 23 for detecting the link angle, and the rice planting is set at a height corresponding to the operation set position of the operation lever 29. It is convenient to configure the work machine 10 to be controlled, and to set up a control function so that when the leveling floats 15 and 16 touch the ground, automatic control takes precedence.
When the work is stopped, the operation lever 29
And the height of the rice transplanting machine 10 may not match. At this time, if the engine is started and the control circuit is turned ON without noticing this, the rice transplanter 10 will suddenly move upward, which is dangerous. To prevent this, the operation lever 29
It is safe to perform the lifting / lowering control using the lever 29 until the output value (signal voltage) from the controller and the output value (signal voltage) from the height detector 23 for detecting the link angle match.

Further, the control is required to be parallel to the traveling vehicle body 1 when the rice transplanting machine 10 is in the up-output state, that is, when the rice transplanting machine 10 is being raised or operated by operating the lever 29. In that case, it must be returned in parallel. At this time, it is necessary to control the rolling so that the heights of the left and right leveling floats 15, 16 are the same.
It is desirable to perform the control disclosed in the flowchart of FIG.

[Brief description of the drawings]

1 shows an embodiment of the present invention. FIG. 1 is a side view of a main part, FIG. 2 is a simplified plan view of the main part, FIG. 3 is a simplified side view of a main part, and FIG. FIG. 5 is a circuit diagram, FIG. 5 is a control block diagram, FIG. 6 is a flowchart, and FIGS. 7 and 8 are flowcharts of another example. In the drawing, reference numeral 10 denotes a rice transplanting machine, and reference numerals 15 and 16 denote floats as surface soil surface position detectors.

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-86810 (JP, A) JP-A-62-265911 (JP, A) JP-A-63-245609 (JP, A) 30321 (JP, U)

Claims (1)

(57) [Claims] (1) Floats 15, 16 that slide on the topsoil of paddy fields
In the rice transplanter provided with a planting depth control device that detects the topsoil surface position by the operation of and controls the depth of the seedlings planted by the rice transplanting machine 10 to be the set depth, the planting depth control device It is characterized in that the floats 15 and 16 are provided so as to detect an operation component that is not detected in the topsoil surface position in the topsoil surface position detection operation, determine the hardness of the topsoil, and correct the sensitivity of the planting depth control. The planting depth control device of a rice transplanter.