JP5689739B2 - Rice transplanter - Google Patents

Description

  The present invention mainly relates to control for automatically raising and lowering a planting part when turning a vehicle body of a rice transplanter.

  The rice transplanter includes a planting unit (rice transplanter) for planting seedlings. If the vehicle body is turned with the planting part approaching or in contact with the ground, the planting part may come into contact with the ground or the heel and break. Therefore, a rice transplanter having a configuration in which the planting portion is automatically raised when the vehicle body is turned is known. This type of rice transplanter is described in Patent Document 1, for example.

JP 2007-74991 A

  Patent Document 1 discloses a configuration in which the planting portion is lowered when the vehicle body turns 90 degrees, and the PTO clutch is automatically engaged when the machine body reaches the planting start position. By the way, since the descending operation of the planting part takes a certain amount of time, a situation in which the planting part cannot be lowered in time when the traveling speed of the vehicle body is high may occur. That is, there is a possibility that the PTO clutch is engaged in a state where the planting part is not lowered, and aerial planting occurs.

  In this regard, Patent Document 1 discloses a configuration in which the PTO clutch is automatically inserted when the planting portion is lowered until the center float reaches a predetermined angle in order to prevent aerial planting. According to this, since the PTO clutch can be put in after the planting part is reliably lowered to a predetermined position, aerial planting can be prevented.

  However, as described above, when the traveling speed of the vehicle body is high, the descending of the planting part tends to be delayed. In the configuration of Patent Document 1, when the descending of the planting part is delayed, the timing at which the PTO clutch is engaged tends to be delayed, and as a result, there is a problem that the position at which planting is started is shifted.

  In addition, the automatic lifting control during turning as described above is based on the premise that the body of the rice transplanter is traveling along a predetermined turning pattern. If the turning pattern deviates from this, planting resumes after turning. There is a problem that it is not possible to correctly determine the timing to perform.

  The present invention has been made in view of the above circumstances, and its main object is to provide a rice transplanter that can prevent empty planting at high speed, and another object is that the vehicle body deviates from the turning pattern. It is to provide a rice planting machine that can respond appropriately.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

According to the viewpoint of this invention, the rice transplanter of the following structures is provided. That is, the rice transplanter includes a vehicle body, a planting part that can be moved up and down, a planting clutch that controls connection and disconnection of the driving force to the planting part, the raising and lowering of the planting part and the planting when the vehicle body turns. A control unit that performs automatic raising / lowering control during turning to control the attached clutch, and an engine that is a driving source of the vehicle body and the planting unit. In the turning automatic raising / lowering control, the control part automatically lowers the planting part at a predetermined timing during turning or after the turning is finished. Moreover, the said control part connects the said planting clutch and restarts planting, when the vehicle body reaches | attains the planting restart position corresponding to the planting interruption position before the cornering start after completion | finish of turning. The control unit lowers the planting unit at a timing when the vehicle body reaches a planting lowering start position which is a position before the planting restart position. And the said control part changes the distance from the said planting descent start position to the said planting resumption position according to the rotational speed of the transmission shaft which transmits the drive from the said engine at the timing which descends the said planting part. As described above, the planting descent start position is changed.

  Thus, by looking at the rotational speed of the transmission shaft, the timing for lowering the planting portion can be changed according to the traveling speed of the vehicle body. For example, when the traveling speed of the vehicle body is high, it is possible to prevent the planting clutch from entering before the planting unit has been lowered by increasing the timing for lowering the planting unit.

In the rice transplanter, the control unit determines whether or not the vehicle body has reached the planting restart position based on whether or not a distance traveled after the vehicle body started turning has reached a predetermined planting restart distance . The planting resumption distance preferably includes a turning distance that is a distance necessary for turning the vehicle body based on the spacing between the planting .

  That is, the distance that the vehicle body travels when turning is different if the interval is different. Therefore, even if the vehicle travels the same distance, whether or not the planting resume position is reached differs depending on the interval. Therefore, by determining whether or not the planting restart position has been reached in consideration of the striations, the position where the planting clutch is connected can be made constant regardless of the striations. That is, the planting start position can be aligned regardless of the interval.

  In the rice transplanter, the control unit may interrupt the automatic raising / lowering control during turning when detecting that an operation deviating from a predetermined turning pattern is performed during the automatic raising / lowering control during turning. preferable.

  That is, when an operation that does not match the predetermined turning pattern is performed, it is considered that the operator does not intend to continue the automatic lifting control during turning. In such a case, the dangerous operation and typographical errors can be avoided by interrupting the control.

  In the rice transplanter described above, when an operation for moving the vehicle body backward is performed during turning or after completion of turning, the control unit preferably raises the planting unit and continues the automatic lifting control during turning.

  In other words, in order to correct the trajectory of the vehicle body, the vehicle body may be moved backward during or after the turn. In such a case, it is possible to achieve control in line with the intention of the operator by continuing the automatic lifting control during turning without interruption. Moreover, when making it reverse, raising a planting part can prevent the said planting part colliding with a rod etc. and being damaged.

  The rice transplanter is preferably configured as follows. In other words, the rice transplanter uses the right marker arranged on the right side of the vehicle body and the left marker arranged on the left side to form a line on the field surface, and the right marker and the left marker. A marker operating tool for forming or designating by a pilot. In the turning automatic lifting control, the control unit automatically selects one of the right marker and the left marker, and forms the line by the selected marker. When the operator selects a marker for forming a line with the marker operation tool, the control unit does not automatically select a marker, but automatically raises and lowers during turning while forming the line with the marker selected by the operator. Continue control.

  Thereby, it is possible to cancel only the automatic selection of the marker while continuing the automatic lifting control during turning. As a result, a line can be formed with the marker on the side intended by the operator, and a line is not formed with the unintended side marker.

  In the above rice transplanter, when the planting clutch is disconnected in the planting part descending state during the automatic lifting control during turning, the control unit determines the position where the planting clutch is disconnected as the planting interruption position. It is preferable that

  That is, the ground can be smoothed by running the vehicle body with the planting portion lowered. Even in such a case, according to the above configuration, the automatic lifting control during turning can be continued without interruption.

  In the rice transplanter, when the planting clutch is disengaged in a state where the planting unit is lowered, the control unit serves as a trigger for starting automatic lifting control during turning until planting is resumed. Even if the operation is performed, it is preferable to continue the turning automatic lifting control without changing the planting interruption position.

  Thus, when traveling with the planting portion lowered, the planting resumption position can be prevented from shifting by not changing the planting interruption position even if various operations are performed. In addition, even if the raising operation or the like of the planting part is performed, the automatic raising / lowering control during turning is not interrupted, so that the raising operation or the like of the planting part can be appropriately performed as necessary.

  The rice transplanter is preferably configured as follows. That is, the rice transplanter includes a main transmission operating tool that is operated to a seedling joining position during seedling joining work, and a notifying unit that notifies that the automatic lifting control during turning is performed by a notification sound. . When the main transmission operating tool is at the seedling joint position, the control unit stops the notification sound or reduces the volume.

  Thereby, it is possible to prevent the notification sound from being generated unnecessarily.

  In the rice transplanter, in the automatic lifting control during turning, it is preferable that a speed at which the control unit lowers the planting unit is different from a descending speed of the planting unit by an operation of a pilot.

  That is, by setting a lowering speed suitable for automatic lifting control and a lowering speed suitable for manual operation, the controllability in automatic lifting control is improved and the safety and operability in manual operation are maintained. be able to.

The side view of the rice planting machine which concerns on one Embodiment of this invention. The top view of a rice planting machine. The skeleton figure which shows the power transmission mechanism of a rice planting machine. The top view which shows the mode of the rice transplanter immediately after planting interruption. The top view which shows the mode of the rice transplanter immediately after turning start. The top view which shows the mode of the rice transplanter immediately after completion | finish of turning. The top view which shows the mode of the rice transplanter just before replanting.

  Next, embodiments of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, a rice transplanter 1 according to an embodiment of the present invention includes a vehicle body 2 and a planting part 3 disposed behind the vehicle body 2.

  The vehicle body 2 includes a pair of left and right front wheels (traveling device) 4 and a pair of left and right rear wheels (traveling device) 5. Further, the vehicle body 2 includes a driver seat 6 between the front wheel 4 and the rear wheel 5 in the front-rear direction. In the vicinity of the driver seat 6, a steering handle (steering operation tool) 7 for performing a steering operation of the vehicle body 2, a speed change pedal 8 for adjusting the traveling speed of the vehicle body 2, and a forward / backward movement of the vehicle body 2 are switched. Various operating tools such as an unillustrated main transmission lever (main transmission operating tool) and an unillustrated planting lifting lever (planting lifting operation tool) for raising and lowering the planting portion 3 are arranged. In addition, a fertilizer application device 23 is disposed behind the driver seat 6 in the vehicle body 2.

  In the vehicle body 2, an engine 10 is disposed below the driver seat 6, and a mission case 11 is disposed in front of the engine 10. On the other hand, on the rear side of the vehicle body 2, a lifting link mechanism 12 for attaching the planting unit 3, a PTO shaft 13 for outputting the driving force of the engine 10 to the planting unit 3, and driving the planting unit 3 up and down. The elevating cylinder 14 is arranged.

  The vehicle body 2 includes a control unit (not shown). A control part consists of microcontrollers, for example, and is constituted so that each composition of rice transplanter 1 may be controlled based on signals, such as a sensor with which each part of rice transplanter 1 was equipped.

  The planting unit 3 includes a planting case 15, a plurality of floats 16, a seedling stage 17, and a drawing marker 18.

  As shown in FIG. 2, the float (floating) 16 is provided symmetrically at the lower part of the planting part 3. By bringing the float 16 into contact with the ground, the planting unit 3 can be kept horizontal with respect to the ground, and the planting posture can be stabilized to perform accurate planting.

  One or more planting units 20 are attached to the planting case 15. The planting unit 20 is configured as a rotary planting device that includes two planting claws 22 in a rotating case 21. The planting case 15 receives a driving force of the engine 10 through the PTO shaft 13, and the rotating case 21 is rotationally driven by the driving force. Since the configuration of the rotary planting device is well known, detailed description is omitted, but by rotating the rotating case 21, the tip of the planting claw 22 is driven up and down while drawing a predetermined locus. It is configured. When the tip of the planting claw 22 moves from the top to the bottom, one seedling is scraped from the lower end of a seedling mat placed on a seedling mount 17 described later, and the root of the seedling is held. It is configured to move downward and to be implanted in the ground.

  The seedling stage 17 is disposed above the planting case 15. The seedling stage 17 is supported on a guide rail (not shown) so as to be slidable in the left-right direction of the vehicle body. And the planting part 3 is provided with the horizontal feed mechanism of the omission of illustration which reciprocates the seedling mounting stand 17 right and left within the range of the left-right width of a seedling mat. Thereby, the seedling mat placed on the seedling placing stand 17 can be moved relative to the planting unit 20 from side to side. In addition, the seedling mount 17 includes a seedling feeding belt (vertical feeding mechanism) that intermittently feeds the seedling mat downward (that is, toward the planting unit 20 side). With the above configuration, by appropriately interlocking the horizontal feed mechanism and the vertical feed mechanism, seedlings can be sequentially supplied to each planting unit 20 and planted continuously.

  The elevating link mechanism 12 is connected to the planting case 15. The elevating link mechanism 12 has a parallel link structure, and is configured to drive the planting case 15 up and down by driving an elevating cylinder 14 connected to the elevating link mechanism 12 (this) Thus, the entire planting part 3 can be moved up and down).

  The elevating cylinder 14 is configured such that the operator can operate it by tilting the planting elevating lever back and forth. Thereby, the operator can move the planting part 3 up and down. That is, when planting a seedling, the planting part 3 is lowered and the float 16 is brought into contact with the ground. Thereby, the attitude | position of the planting part 3 can be maintained and a seedling can be planted appropriately on the ground. When seedlings are not to be planted, such as when the vehicle body is driven on the road or when the vehicle body is turned, the planting unit 3 is raised and separated from the ground. Thereby, since a planting part does not contact the ground etc., damage to the planting part 3 can be prevented. The operation of the elevating cylinder 14 is configured to be controllable by the control unit. Thereby, raising / lowering control of the planting part 3 can be performed automatically by the control part. In addition, the automatic raising / lowering control of the planting part 3 is mentioned later.

  Further, at least one of the plurality of floats 16 is attached so as to be able to swing around a fulcrum, and the swing angle is detected by a float sensor (not shown). The control unit can perform appropriate planting while maintaining the planting unit 3 at an appropriate height by controlling the planting unit 3 to move up and down so that the swing angle of the float 16 is maintained at a predetermined angle. it can.

  The drawing marker 18 is disposed on each of the left and right sides of the planting unit 3. The left and right drawing markers 18 are rotatably attached to the tip of the marker support arm 9. The marker support arm 9 is configured to be tiltable. Specifically, the left marker support arm 9L is configured so that the tip thereof can be tilted leftward, thereby bringing the left draw marker 18L into contact with the ground on the left side of the vehicle body. Be able to. Further, the right marker support arm 9R is configured so that its tip can be tilted to the right, so that the right draw marker 18R can be brought into contact with the ground on the right side of the vehicle body. It has become. Further, the left and right marker support arms 9 are configured to be able to stand upright with their tips directed upward, whereby the drawing marker 18 can be separated from the ground.

  By running the vehicle body with the drawing marker 18 in contact with the ground, the drawing marker 18 rotates while rolling on the ground. Thereby, a reference line can be formed on the ground by the drawing marker 18 (see FIG. 4). This reference line is drawn in parallel to the seedling line planted by the planting claws 22. The pilot can plant in parallel with the seedlings planted so far by running the vehicle body while referring to the reference line.

  The left and right marker support arms 9 are tilted by a marker drive mechanism (not shown). The marker driving mechanism is configured such that the operator can operate it by operating the planting lift lever. Therefore, it can also be said that the planting lift lever is a marker operating tool. Specifically, the planting elevating lever is configured to be capable of tilting left and right. When the operator performs an operation so that the planting lift lever is tilted to the left, the left marker support arm 9L is tilted, and a reference line can be formed by the left drawing marker 18L. On the other hand, when the operator performs an operation so as to tilt the planting lift lever to the right, the right marker support arm 9R is tilted, and a reference line can be formed by the right drawing marker 18R. The operation of the marker driving mechanism is configured to be controllable by the control unit. Thereby, the formation of the reference line by the left and right drawing markers 18 can be automatically performed by the control unit. The automatic control of the drawing marker 18 will be described later.

  Moreover, the rice transplanter 1 of this embodiment is provided with the alerting | reporting part of illustration. Specifically, the notification unit is configured as a buzzer and configured to be able to sound a notification sound. In addition, the operation of the notification unit is controlled by the control unit.

  Then, the drive transmission path | route in the rice transplanter 1 of this embodiment is demonstrated with reference to FIG.

  The driving force of the engine 10 is input to the mission case 11 disposed in front of the engine 10 via the drive transmission belt 34. A hydraulic continuously variable transmission 26 is provided in the transmission case 11, and the driving force of the engine 10 is shifted by the hydraulic continuously variable transmission 26. As this hydraulic continuously variable transmission 26, for example, a well-known HST (hydrostatic continuously variable transmission) can be adopted. The gear ratio of the hydraulic continuously variable transmission 26 can be changed by the operator operating the shift pedal.

  Part of the output from the hydraulic continuously variable transmission 26 is input to the gear-type main transmission 36 via the main clutch 35 and is shifted. The main transmission 36 is configured to be switchable by the operator operating the main transmission lever. Specifically, the main transmission lever is configured to be able to select at least the positions of “forward”, “reverse”, and “seed”. When the main transmission lever is operated to the “advance” position, axles 38 and 42, which will be described later, are rotationally driven in the direction of advancing the vehicle body. On the other hand, when the main shift lever is operated to the “reverse” position, the axles 38 and 42 are driven to rotate in the direction in which the vehicle body moves backward. Further, when the main transmission lever is operated to the “seed joint” position, the drive transmission to the axles 38 and 42 and the PTO shaft 13 is cut off.

  A part of the rotational driving force shifted by the main transmission 36 is transmitted to a front axle case 37 formed integrally with the transmission case 11 to rotationally drive the axle 38 of the front wheel 4. A part of the rotational driving force changed by the main transmission 36 is input to the rear axle case 40 via the propeller shaft 39 protruding rearward from the transmission case 11 to drive the axles 42L and 42R of the rear wheel 5. To do. With the above configuration, the front wheel 4 and the rear wheel 5 are driven to run the vehicle body. The operator can arbitrarily change the traveling speed by operating the shift pedal.

  A left side clutch 41L is disposed between the drive transmission path from the propeller shaft 39 to the left rear axle 42L. Similarly, a right side clutch 41R is disposed between the drive transmission path from the propeller shaft 39 to the right rear axle 42R. The left and right side clutches 41L and 41R can independently switch between connection and disconnection. That is, the rice transplanter 1 according to the present embodiment is configured to be able to individually switch the presence or absence of transmission of driving force to the left and right rear wheels 5 and 5. As a result, when the vehicle body 2 makes a sudden turn, the transmission of the driving force to the inner rear wheel can be cut off, so that a smooth sudden turn can be realized.

  A part of the output of the hydraulic continuously variable transmission 26 is taken out from the rear end of the transmission case 11 and input to the planting transmission 43 through the planting drive transmission shaft 52. A speed change device including a plurality of gears is provided in the planting speed change unit 43, and is configured to appropriately change the input driving force and output it from the PTO shaft 13. The planting part 3 is driven by the driving force transmitted by the PTO shaft 13. With the above configuration, the speed at which the rotary case 21 is rotationally driven can be changed, so that the interval for planting seedlings can be changed.

  In the planting transmission 43, the driving force is transmitted to the PTO shaft 13 via the planting clutch 50. By cutting the planting clutch 50, the driving of the planting unit 3 can be stopped. The planting clutch 50 is configured so that connection / disconnection can be switched by the control unit. The planting clutch 50 is also configured to be able to switch between connection / disconnection by operating an unillustrated planting clutch operation lever by the operator.

  A rotation sensor 44 that detects the rotation of the planting drive transmission shaft 52 is attached in the mission case 11. The rotation sensor 44 can be constituted by a rotary encoder, for example. The detection result of the rotation sensor 44 is input to the control unit.

  Next, with reference to FIG. 4 etc., the automatic raising / lowering control at the time of turning in the rice transplanter of this embodiment is demonstrated.

  Seedlings are usually planted while the vehicle body is moving straight as shown in FIG. At this time, a reference line is formed on the ground of the field by either one of the left and right drawing markers 18. In the example of FIG. 4, the reference line is formed by the drawing marker 18R on the right side of the vehicle body. As a result, a reference line parallel to the planted seedling line is formed on the right side of the vehicle body.

  When the vehicle body travels to the end of the field, it is necessary to turn the vehicle body and change direction. When turning the vehicle body, the operator first operates the planting lift lever to raise the planting unit 3. When it is detected that the operator has raised the planting unit 3, the control unit starts automatic lifting control during turning.

  First, the control unit automatically disconnects the planting clutch 50 and interrupts seedling planting. A position where planting is interrupted is referred to as a planting interrupt position. Moreover, a control part starts the alerting | reporting operation | movement by an alerting | reporting part before and after cutting | disconnecting the planting clutch 50. FIG. Specifically, the notification sound is generated intermittently and continuously by the notification unit. Thereby, it can alert | report to the periphery that the automatic raising / lowering control at the time of turning is performed. However, the notification sound may be continuously generated.

  Further, the control unit starts measuring the distance traveled by the vehicle body from the planting interruption position. A configuration for measuring the travel distance will be described later.

  Further, before and after the raising of the planting unit 3, the control unit erects the marker support arm 9 and puts the drawing marker 18 in the retracted state.

  Next, the operator operates the steering handle 7 to start turning the vehicle body (state shown in FIG. 5). As shown in FIG. 5, the distance from the planting interruption position to the turning start position is referred to as “travel distance before turning”. Note that the vehicle body can be moved backward between the time when the seedling planting is interrupted and the time when the vehicle body is turned. The distance that the body was moved forward after the seedling planting was interrupted is called “forward advance distance”, and the distance that the body was moved backward after the seedling planting was interrupted is called “forward minus distance”. Therefore, the “travel distance before turning” can be obtained by “forward plus distance−forward minus distance”. Note that the travel distance before turning may be a negative value (that is, turning may be started after the vehicle body is moved backward from the planting interruption position).

  The rice transplanter 1 according to the present embodiment is configured such that the side clutch 41 inside the turning is disengaged when the steering handle 7 is operated by a certain amount or more. Thereby, since the rear wheel 5 on the inside of the turn is in a free state, the vehicle body can be turned smoothly. The period from the start of turning of the vehicle body until the clutch inside the turning is disengaged is referred to as “acute angle turn mode”.

  The operator runs the vehicle body with the steering wheel turned off, thereby making the vehicle body U-turn. Here, when the vehicle body turns to some extent, the operator returns the operation amount of the steering handle 7 to the neutral position. When the steering handle 7 is returned, the side clutch 41 inside the turning that has been disconnected is connected again. The period from when the side clutch 41 inside the turn is disconnected until it is connected again is referred to as “vertical turn mode”.

  After the side clutch 41 on the inner side of the turn is connected, the operator operates the steering wheel to finely adjust the vehicle body posture and return to the straight traveling state. Thus, the turning operation of the vehicle body is completed (state shown in FIG. 6). The period from when the side clutch 41 on the inner side of the turn is connected until the vehicle body completely returns to the straight traveling state is referred to as “U-turn mode”.

  The control unit lowers the planting unit 3 around the end of the turning. In addition, the timing which descends the planting part 3 is mentioned later.

  After lowering the planting unit 3, the control unit connects the planting clutch 50 and resumes planting.

  The timing which connects the planting clutch 50 is demonstrated. The control unit is configured to monitor a distance traveled since the vehicle body started turning (travel distance from the turning start position). Then, when the travel distance from the turning start position reaches a predetermined planting restart distance, the planting clutch 50 is connected to resume planting.

  Here, the planting restart distance is specifically a distance obtained by adding the turning distance, the claw position offset distance, and the traveling distance before turning. The turning distance is a distance traveled by the vehicle body when turning the rice transplanter 1, and is determined by the turning performance of the vehicle body. The turning distance is preset in the control unit. The claw position offset distance is an offset distance for adjusting the position where the planting clutch 50 is put, and this is also determined by the turning performance of the vehicle body. The nail position offset distance is preset in the control unit.

  When the control unit detects that the travel distance from the turning start position has reached the planting restart distance, the control unit sets the planting clutch 50 to the connected state and resumes planting of the seedling. The position where planting is resumed is referred to as “planting resume position” (see FIG. 7). In this way, it is determined whether or not the vehicle body has reached the planting resumption position in consideration of the travel distance before turning (the distance from when planting is suspended to when turning is started). Planting can be resumed from the position corresponding to the interrupted position. Thereby, planting can be resumed in line with the planting interruption position of the adjacent strip. When the planting is resumed, the control unit stops the notification sound by the notification unit. This completes the automatic lifting control during turning.

  In addition, before and after the resumption of planting, the control unit tilts the marker support arm 9 and resumes the formation of the reference line by the drawing marker 18. At this time, the control unit automatically selects the drawing marker on the side opposite to the drawing marker 18 that formed the reference line before turning (in the case of FIG. 7, the drawing marker 18L on the left side) and automatically selects the opposite side. A reference line is formed by a drawing marker. Thus, since the drawing marker 18 is automatically selected by the control unit, it is not necessary for the operator to operate the left and right drawing markers 18 every time the vehicle turns.

  The operator causes the vehicle body to travel while referring to the reference line formed by the drawing marker 18 at the time of planting before turning. Thereby, a seedling can be planted in parallel with the seedling planted before turning.

  Next, a characteristic configuration of the present embodiment will be described.

  First, the configuration for the control unit to acquire the travel distance of the vehicle body in the automatic lifting control during turning of the present embodiment will be described.

  For example, the configuration disclosed in Patent Document 1 detects the rotational speed of the rear wheel transmission shaft inside the turn and calculates the travel distance of the vehicle body. However, this configuration requires a sensor for detecting the rotational speed for each of the transmission shafts of the left and right rear wheels, and there is a problem that the cost is increased. Therefore, the rice transplanter 1 of the present embodiment is configured to detect the travel distance of the vehicle body based on the rotational speed of the planting drive transmission shaft 52 detected by the rotation sensor 44. That is, since the rotation speed of the planting drive transmission shaft 52 is proportional to the travel distance of the vehicle body, the travel distance of the vehicle body can be easily detected based on the rotation speed of the planting drive transmission shaft 52. Moreover, in the case of this configuration, only one rotation sensor 44 needs to be provided on the planting drive transmission shaft 52, so that the cost can be reduced.

  In the rice transplanter 1 of the present embodiment, the rotation sensor 44 is provided on the upstream side of the planting clutch 50. Therefore, the rotation speed of the planting drive transmission shaft 52 can be detected by the rotation sensor 44 regardless of whether the planting clutch 50 is connected or disconnected.

  Next, a method for setting the turning distance will be described. That is, the turning distance varies depending on the turning performance of the vehicle body and the specifications of the vehicle body, and therefore it is necessary to set an appropriate value in advance.

  In the rice transplanter of the present embodiment, the turning distance is determined between the lengths of seedlings (interval between seedlings in a direction orthogonal to the traveling direction of the vehicle body) and the number of strips (number of planting units 20. Incidentally, as shown in FIG. In addition, the number of strips of the rice transplanter 1 of this embodiment is 4). That is, the number of streaks and the number of streaks of seedlings differ depending on the specifications of the rice transplanter (for example, there are rice transplanters having a 30 cm streak and 33 cm specifications). When the distance between the stripes and the number of stripes are different, the center position when turning the vehicle body is different, so that the distance (turning distance) necessary for turning the vehicle body is also different. Therefore, even if the spacing and the number of strips are different, if the automatic lifting control during turning is performed under the same conditions, a difference will occur in the planting position.

  Therefore, the rice transplanter 1 of the present embodiment is configured such that the interval and the number of strips of the rice transplanter 1 can be set to the control unit at the time of initial setting. The control unit calculates and stores the turning distance according to the set interval and the number of items. According to this configuration, the planting clutch 50 can be connected at an appropriate timing according to the number of streak and the number of streak, so that the planting position can be unified regardless of the difference between the streak and the number of streak.

  Next, control for preventing aerial planting will be described.

  As described above, the automatic raising / lowering control during turning performed in the rice transplanter lowers the planting unit 3 before and after the end of the turning, and then turns the planting clutch 50 when the vehicle body reaches the planting resume position. Connect and resume planting. However, as described above, when the traveling speed of the vehicle body is high, it is conceivable that the vehicle body reaches the planting resumption position before the planting unit 3 has been lowered. In this case, since the planting clutch 50 is connected with the planting part 3 floating in the air, aerial planting occurs.

  In order to prevent such a situation, it may be possible to lower the planting part 3 early. However, if the timing for lowering the planting part 3 is set uniformly early, the timing for lowering is too early when the traveling speed of the vehicle body is slow. If the descending timing of the planting part 3 is too early, the planting part 3 is in contact with the ground during the turning of the vehicle body. is there.

  Therefore, the rice transplanter 1 of the present embodiment is configured to change the timing of lowering the planting unit 3 according to the speed at the start of turning. Specifically, it is as follows.

  In the rice transplanter 1 of the present embodiment, the control unit monitors the traveling speed of the vehicle body. In the rice transplanter 1 of the present embodiment, the traveling speed of the vehicle body can be acquired based on the rotation speed of the planting drive transmission shaft 52 acquired by the rotation sensor 44. This eliminates the need for an additional sensor for detecting the traveling speed.

  The control unit is configured to start lowering the planting unit 3 at a position a predetermined distance before the planting restart position. The position where the planting unit 3 starts to descend is referred to as a “planting descending start position”. The distance from the planting descent start position to the planting resumption position (position where the planting clutch 50 is connected) is referred to as a “descent start offset distance”.

  The control unit is configured to set the descent start offset distance according to the traveling speed immediately before the turning operation is performed. More specifically, the descent start offset distance is increased as the traveling speed immediately before the turning operation is increased. In other words, the control unit is configured to advance the timing at which the planting unit 3 starts to descend as the traveling speed increases. According to this, even when the traveling speed of the vehicle body is high, it is possible to prevent the aerial planting from occurring without the planting unit 3 being lowered in time.

  If the offset start offset distance is too large, the planting unit 3 may start to descend while the vehicle body is turning. In this case, the planting part 3 may be damaged by contact with the ground or the heel. Therefore, in the rice transplanter 1 of this embodiment, the descending start offset distance is set to 1300 mm at the maximum. By setting the upper limit of the descent start offset distance in this way, it is possible to prevent the timing at which the descent of the planting unit 3 is started from becoming too early, so that the planting unit 3 can be prevented from being damaged.

  Next, the speed | rate at the time of lowering the planting part 3 is demonstrated.

  In the conventional rice transplanter, the speed at which the planting part descends when the operator operates the planting lift lever is the same as the speed at which the planting part is lowered by automatic control. However, in the case where the operator manually operates the vertical position of the planting part, there is a problem that if the ascending / descending speed is too fast, it cannot be adjusted to the intended position. Therefore, the descending speed of the planting part by the planting lift lever has been set to a somewhat slow speed so as to facilitate manual operation. However, since the descent speed by the automatic raising / lowering control was adjusted to this, it was also a cause for the descent of the planting part by the automatic control to be delayed.

  Therefore, in the rice transplanter of the present embodiment, the descent speed is different between manual operation and automatic elevation. Specifically, the descending speed of the planting unit 3 by the automatic control of the control unit is set faster than the descending speed of the planting unit 3 due to the operation of the planting lift lever. Thereby, it can descend | fall at the optimal speed in both. That is, in the case of manual operation, the planting unit 3 can be lowered relatively slowly so that the vertical position of the planting unit 3 can be easily adjusted. In the automatic raising / lowering control, the lowering speed can be increased to prevent the lowering from being delayed.

  Next, automatic cancellation of the automatic lifting control during turning will be described.

  That is, the above-described automatic lifting control during turning is based on the premise that the vehicle body is operated in a predetermined turning pattern (a pattern in which after the raising operation of the planting unit 3, the vehicle moves forward and then turns straight again). Yes. Therefore, there is a problem that when an operation that deviates from this turning pattern is performed, the timing for resuming planting cannot be properly determined. In addition, the operator may intentionally deviate from the turning pattern, such as when leaving the field.

  Therefore, the rice transplanter 1 of the present embodiment, contrary to the intention of the driver, automatically cancels the automatic lifting control during turning when an operation deviating from a predetermined turning pattern is performed by the driver. It is comprised so that the planting part 3 may be raised / lowered.

  In this embodiment, operations that deviate from the turning pattern are specifically listed as “forward plus abnormality”, “forward minus abnormality”, “back running abnormality”, “turning abnormality”, “straight forward from turning”, “planting” For example, manual lowering of the attachment part.

  In this embodiment, “forward plus abnormality” means that the vehicle body has been operated so as to travel forward (straight) more than a predetermined distance (for example, 5 m or more) continuously from the planting interruption position. In this case, the control unit considers that the operator has no intention of turning the vehicle body, and cancels the automatic lifting control during turning. Similarly, “forward minus abnormality” means that the vehicle body has been operated so as to move backward from the planting interruption position continuously by a predetermined distance or more (for example, 5 m or more). Also in this case, the control unit considers that the operator does not intend to turn the vehicle body, and cancels the automatic lifting control during turning. The “back travel abnormality” means that the absolute value of the travel distance before turning (| forward plus distance−forward minus distance |) is equal to or greater than a predetermined distance (for example, 5 m or more). In this case as well, since the planting is moving forward or backward more than necessary after the planting is interrupted, the control unit considers that the operator does not intend to turn the vehicle body and cancels the automatic lifting control during turning. is there.

  In the present embodiment, “turning abnormality” means that turning does not end even though turning operation continues for a predetermined distance or more (for example, 10 m or more). In this case, the control unit can determine that the driver is not turning with the intention of making a U-turn, and therefore cancels the automatic lifting control during turning. Further, “straight forward from the middle of turning” indicates that the vehicle body is operated to return to the straight running state before the turning is completed. Also in this case, the control unit can determine that the driver does not intend the U-turn, and thus cancels the automatic lifting control during turning.

  Further, in the present embodiment, “manual lowering of the planting part” means that the operator manually lowered the planting part 3 by operating the planting lifting lever during the automatic lifting control during turning. . In this case, since the operator intends to lower the planting unit 3 manually without using the automatic lifting control, the control unit cancels the automatic lifting control during turning.

  As described above, when an operation deviating from the turning pattern is performed by the operator, it can be considered that the operator does not intend to continue the automatic lifting control during turning. Therefore, in such a case, it is possible to prevent the planting unit 3 from being lifted or lowered against the intention of the operator by canceling the automatic lifting control during turning. Also, for example, even if the driver has unintentionally started the automatic lifting control during turning due to an erroneous operation, it will be automatically canceled if it deviates from the turning pattern. Can be prevented.

  On the other hand, however, it may be inconvenient if the automatic lifting control during turning is unconditionally canceled when the turning pattern deviates from the turning pattern. This point will be described with a specific example.

  For example, when an operation of moving the vehicle body backward after turning the vehicle body is performed, it can be considered that this is an operation deviating from the turning pattern. Accordingly, there may be a configuration in which the automatic lifting control during turning is canceled when a reverse operation is performed after the turning is finished.

  However, after turning the vehicle body and before resuming planting, there is a case where it is desired to reverse the vehicle body once to correct the trajectory. In such a case, if the automatic raising / lowering control at the time of turning is canceled, the control is contrary to the intention of the operator.

  Therefore, in the rice transplanter 1 of the present embodiment, even if the operation of moving the vehicle body backward is performed after the vertical turn (after the clutch on the inside of the turn is connected) and before resuming planting, the control unit Is configured not to interrupt the automatic lifting control during turning. Thus, the trajectory can be corrected by moving the vehicle body backward without interrupting the automatic lifting control during turning.

  In addition, if it is after a vertical turn, the planting part 3 may have already fall | descended. If the vehicle body is moved backward in a state where the planting part 3 is in contact with the ground, the planting part 3 may collide with a bag or the like to be damaged. Therefore, the control unit is configured to automatically raise the planting unit 3 when an operation of moving the vehicle body backward is performed after the vertical turn. Thereby, damage to the planting part 3 can be prevented. In this case, when the operator advances the vehicle body again and reaches the planting descent start position again, the control unit automatically descends the planting unit 3 again.

  Further, for example, the operator may manually operate the drawing marker 18 by operating the planting lift lever (marker operating tool) during the automatic lift control during turning. In this case, since an operation different from the marker selection automatically performed by the control unit is performed, there may be a configuration in which the automatic elevation control during turning is canceled and the manual operation of the operator is left.

  However, when the operator manually operates the drawing marker 18, it is considered that there is no intention to cancel the automatic lifting control during turning of the planting unit 3. Therefore, if the automatic lift control during turning is canceled simply by operating the planting lift lever, the control is contrary to the intention of the driver.

  Therefore, when the planting lift lever is operated by the operator, the control unit is configured to cancel only the automatic selection function of the drawing marker and to continue the automatic lifting control during turning of the planting unit 3. . In this case, the control unit performs control so that planting is performed while forming a reference line by the drawing marker 18 selected by the operator. According to the above configuration, the operator can perform planting while forming a reference line with an arbitrary (one of left and right) drawing markers 18. In addition, since the automatic selection of the drawing marker by the control unit is canceled, the reference line is not formed by the drawing marker 18 that is not intended by the operator.

  Further, for example, the vehicle body may be temporarily stopped for a seedling operation or the like while the vehicle body is turning. In this case, the operator operates the main speed change lever to the “seed joint” position.

  When the vehicle body is temporarily stopped for the seedling in this way, it is assumed that the planting operation is resumed later. Therefore, in the rice transplanter 1 of the present embodiment, the control unit is configured not to cancel the automatic lifting control during turning even if an operation for stopping the vehicle body is performed during turning. Thereby, after the seedling joining is completed, the vehicle body traveling is resumed as it is, so that the automatic lifting control during turning can be continued.

  In addition, when the automatic raising / lowering control at the time of turning is effective, it is comprised so that the alerting sound by an alerting | reporting part will sound as mentioned above. However, there is a problem that it is very harsh if the alarm sound continues during the seedling work with the vehicle body stopped. Therefore, the control unit of the present embodiment is configured to interrupt the notification by the notification unit when the main transmission lever is set to the “seed joint” position. Thereby, a seedling joining operation | work can be performed comfortably. However, the notification sound is not limited to being completely stopped, and control may be performed to reduce the volume of the notification sound.

  Next, seedling replenishment work will be described.

  If the seedlings on the rice transplanter run out, the seedlings must be replenished. In this case, the body is driven across the headland to the ridgeline and additional seedlings are replenished. At this time, there is a case where it is not desired to leave a wheel mark on the headland. In such a case, it is convenient if the wheel marks can be erased by lowering the planting part 3 and leveling the ground with the float 16. However, as described above, “Manual lowering of the planting part” is a condition for releasing the automatic lifting control during turning. Therefore, if the planting part 3 is manually lowered to level the ground, the automatic lifting control during turning is performed. Will be canceled. However, there are cases where the operator does not want to cancel the automatic lifting control during turning.

  Therefore, the rice transplanter 1 of the present embodiment is configured such that only the planting clutch 50 can be disconnected while the planting unit 3 is lowered by operating the planting clutch operating lever. Thereby, since it can drive | work in the state which interrupted planting and the float 16 contacted the ground, the ground can be leveled with the said float 16 and a wheel trace can be erased. Moreover, since this operation is not a condition for canceling the turning automatic lifting control, the turning automatic lifting control can be continued.

  Specifically, when the control unit detects that an operation of cutting the planting clutch 50 is performed by the operator in a state where the planting unit 3 is lowered, the control unit shifts to the “seedling supply mode”. The state before shifting to the “seedling supply mode” is referred to as “normal mode”. Further, the control unit starts automatic lifting control during turning with the position where the planting clutch 50 is disconnected as the “planting interruption position”.

  When the planting clutch 50 is disconnected and the seedling supply mode is entered, the operator moves the vehicle straight across the headland and across the headland to replenish seedlings. At this time, the headland can be leveled by the float 16 as described above. When the replenishment of seedlings at the shore is completed, the operator turns the vehicle body and returns to seedling planting. When the control unit detects an operation of turning the vehicle body in this way, the control unit automatically raises the planting unit 3. Thus, also in the seedling replenishment mode, the planting part 3 is prevented from colliding with the ground or the heel and being damaged by automatically raising the planting part 3 when turning the vehicle body.

  When the control unit detects that the vehicle body has traveled to a position corresponding to the planting interruption position, the control unit connects the planting clutch 50 and resumes planting. Note that this control is equivalent to the control in which the planting clutch 50 is automatically connected after the end of turning in the normal mode, and thus detailed description thereof is omitted. When the planting of the seedling is resumed, the control unit returns to the normal mode.

  Note that, as described above, in the normal mode, when it is detected that the planting unit 3 has been lifted by the operator, control is performed so as to start the automatic lifting control during turning. Therefore, it can be said that the operation of raising the planting unit 3 is an operation (trigger operation) serving as a trigger for starting the automatic lifting control during turning. Each time the trigger operation is performed, the turning automatic lifting control is started, so that the planting interruption position is changed each time.

  During normal turning, the planting unit 3 is not manually raised during turning, so that the planting interruption position is not changed during the turning automatic lifting control. However, in the seedling replenishment mode, an operation different from that during normal turning may be performed, for example, the planting part is raised as necessary. If the planting interruption position is changed when such an operation is performed, the position at which planting is resumed is shifted.

  Therefore, in the seedling replenishment mode of the rice transplanter 1 of the present embodiment, even if an operation that becomes a trigger for starting the lifting control during turning, such as a manual lifting operation of the planting unit 3, is performed, the control unit interrupts planting. The automatic elevating control during turning is continued without changing the position. As a result, in the seedling replenishment mode, the planting interruption position is not changed by a trigger operation such as the ascending operation of the planting unit 3, so that the position at which planting is resumed is not shifted, and the Planting can be resumed.

  As described above, the rice transplanter 1 of the present embodiment includes a vehicle body 2, a planting unit 3 that can be moved up and down, and a planting clutch 50 that controls connection / disconnection of the driving force to the planting unit 3. The control part which performs the raising / lowering of the planting part 3 at the time of vehicle body turning and the automatic raising / lowering control at the time of turning which controls the planting clutch 50, and the engine 10 which is a drive source of a wheel and the planting part 3 are provided. In the turning automatic lifting control, the control unit automatically lowers the planting unit 3 at a predetermined timing during turning or after turning. In addition, the control unit resumes planting by connecting the planting clutch 50 when the vehicle body reaches the planting resume position corresponding to the planting interruption position before the start of the pivoting after the completion of the turn. And the said control part changes the timing which descends the planting part 3 according to the rotational speed of the planting drive transmission shaft 52. FIG.

  Thus, by observing the rotational speed of the planting drive transmission shaft 52, the timing for lowering the planting unit 3 can be changed according to the traveling speed of the vehicle body. And, for example, when the traveling speed of the vehicle body is fast as in this embodiment, the planting clutch 50 enters before the planting unit 3 is fully lowered by increasing the timing of lowering the planting unit 3. Can be prevented.

  Further, in the rice transplanter 1 of the present embodiment, the control unit determines whether or not the vehicle body has reached the planting resume position in consideration of the spacing between planting.

  That is, the distance that the vehicle body travels when turning is different if the interval is different. Therefore, even if the vehicle travels the same distance, whether or not the planting resume position is reached differs depending on the interval. Therefore, the turning distance used for determining whether or not the planting resumption position has been reached is set in consideration of the interval. Thereby, the position where the planting clutch 50 is connected can be made constant regardless of the interval. That is, the planting start position can be aligned regardless of the interval.

  Further, in the rice transplanter 1 of the present embodiment, the control unit interrupts the turning automatic lifting control when detecting that an operation deviating from a predetermined turning pattern is performed during the turning automatic lifting control.

  That is, when an operation that does not match the predetermined turning pattern is performed, it is considered that the operator does not intend to continue the automatic lifting control during turning. In such a case, the dangerous operation and typographical errors can be avoided by interrupting the control.

  Moreover, in the rice transplanter 1 of this embodiment, when operation which reverses a vehicle body is performed during turning or after completion | finish of turning, a control part raises the planting part 3, and continues automatic raising / lowering control at the time of turning.

  In other words, in order to correct the trajectory of the vehicle body, the vehicle body may be moved backward during or after the turn. In such a case, it is possible to achieve control in line with the intention of the operator by continuing the automatic lifting control during turning without interruption. Moreover, when making it reverse, raising the planting part 3 can prevent the said planting part 3 colliding with a heel | brown etc. and being damaged.

  Further, the rice transplanter 1 of the present embodiment includes a right drawing marker 18R arranged on the right side of the vehicle body and a left drawing marker 18L arranged on the left side to form a reference line on the field surface, and a drawing marker. A planting elevating lever for the operator to specify which of 18R and 18L forms the reference line. In the automatic raising / lowering control during turning, the control unit automatically selects one of the drawing markers 18R and 18L, and forms a reference line by the selected drawing marker. When the operator selects a drawing marker that forms the reference line by the planting lift lever, the control unit does not automatically select the drawing marker 18, but forms the reference line by the drawing marker 18 selected by the operator. Continue automatic lift control when turning.

  Thereby, it is possible to cancel only the automatic selection of the drawing marker 18 while continuing the automatic lifting control during turning. Thus, a line can be formed by the drawing marker 18 on the side intended by the operator, and a line is not formed by the drawing marker 18 on the unintended side.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, when the planting clutch 50 is disconnected while the planting unit 3 is in the lowered state during the turning automatic lifting control, the control unit sets the position where the planting clutch 50 is disconnected as the planting interruption position.

  That is, the ground can be smoothed by running the vehicle body with the planting part 3 lowered. Even in such a case, according to the above configuration, the automatic lifting control during turning can be continued without interruption.

  Moreover, in the rice transplanter 1 of this embodiment, when the planting clutch 50 is disconnected with the planting unit 3 lowered, the control unit performs the planting unit ascending operation until the planting is resumed. Even if it does, the said automatic raising / lowering control at the time of turning will be continued, without changing a planting interruption position.

  Thus, when traveling with the planting part 3 lowered, even if a trigger operation is performed, the planting resumption position can be prevented from shifting by not changing the planting interruption position. Moreover, even if the raising operation or the like of the planting unit 3 is performed, the automatic raising / lowering control during turning is not interrupted, so that the raising operation or the like of the planting unit 3 can be appropriately performed as necessary.

  Moreover, the rice transplanter 1 of this embodiment is comprised as follows. That is, the rice transplanter 1 includes a main transmission lever that is operated to a “seedling” position during the seedling work, a notification unit that notifies that the turning automatic lifting control is being performed, and a notification sound; Is provided. When the main shift lever is in the “seed joint” position, the control unit does not sound the notification sound.

  Thereby, it is possible to prevent the notification sound from being generated unnecessarily.

  Moreover, the rice transplanter of this embodiment is comprised as follows. It is preferable. That is, in the rice transplanter 1, the speed at which the control unit lowers the planting unit 3 and the descending speed of the planting unit 3 by the operator's operation are different in the automatic lifting control during turning.

  That is, by setting a lowering speed suitable for automatic lifting control and a lowering speed suitable for manual operation, the controllability in automatic lifting control is improved and the safety and operability in manual operation are maintained. be able to.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  Although the planting unit 3 is a rotary type, the configuration of the present invention can be applied even to a crank type rice transplanter.

  The “operation deviating from the predetermined turning pattern” is not limited to the example illustrated.

  In the said embodiment, although the planting raising / lowering lever served as the marker operation tool, the planting raising / lowering operation tool and the marker operation tool may be provided separately.

  The transmission shaft for detecting the rotation speed and the rotation speed by the rotation sensor 44 is not limited to the planting drive transmission shaft 52. For example, a rotation sensor 44 may be provided at a position 44 a indicated by a dotted line in FIG. 3, and the rotation speed of the propeller shaft 39 may be detected by the rotation sensor 44.

  The operation that triggers the automatic lifting control during turning is not limited to the ascending operation of the planting unit. For example, a configuration is also conceivable in which the automatic lifting control during turning is started when the steering handle 7 is operated by a predetermined amount or more. A configuration is also conceivable in which automatic raising / lowering control at the time of turning is started using an operation of moving the vehicle body backward as a trigger. Thus, by corresponding to various trigger operations, it is possible to perform automatic lifting control during turning corresponding to various turning patterns.

1 Rice transplanter 3 Planting part 13 PTO axis 18 Line drawing marker (marker)
50 Planting clutch

Claims (9)

The car body,
A planting part that can be moved up and down;
A planting clutch for controlling connection / disconnection of the driving force to the planting unit;
A control unit that performs automatic raising / lowering control during turning to control the raising and lowering of the planting unit and the planting clutch when turning the vehicle body;
An engine that is a drive source of the vehicle body traveling device and the planting unit;
With
In the automatic lifting control during turning, the control unit is
The planting part is automatically lowered at a predetermined timing during or after the turn,
After turning, when the vehicle body reaches the planting resume position corresponding to the planting interruption position before the start of turning, it is configured to connect the planting clutch and resume planting.
The control unit lowers the planting unit at a timing when the vehicle body reaches a planting lowering start position which is a position before the planting restart position,
The control unit sets the planting descent start position so that the distance from the planting descent start position to the planting resumption position changes according to the rotational speed of the transmission shaft that transmits the drive from the engine. Rice transplanter characterized by changing. The rice transplanter according to claim 1,
The control unit determines whether or not the vehicle body has reached the planting restart position based on whether or not the distance traveled since the vehicle body started turning has reached a predetermined planting restart distance ,
The planting restart distance includes a turning distance which is a distance required to turn the vehicle body based on the planting line. The rice transplanter according to claim 1 or 2,
The said control part interrupts the said automatic raising / lowering control at the time of turning, when it detects that operation which remove | deviated from a predetermined turning pattern was performed during the automatic raising / lowering control at the time of said turning. A rice transplanter according to any one of claims 1 to 3,
The rice transplanter characterized in that when an operation of moving the vehicle body backward is performed during or after the turn, the control unit raises the planting unit and continues the automatic lifting control during the turn. A rice transplanter according to any one of claims 1 to 4,
A right marker placed on the right side of the vehicle body to form a line on the field surface, and a left marker placed on the left side;
A marker operating tool for the operator to specify which of the right marker and the left marker forms the line;
With
In the turning automatic lifting control, the control unit is configured to automatically select one of the right marker and the left marker, and to form the line by the selected marker,
When the operator selects a marker that forms the line with the marker operation tool, the control unit does not automatically select a marker, but automatically performs the turning while forming the line with the marker selected by the operator. Rice transplanter characterized by continuing lifting control. A rice transplanter according to any one of claims 1 to 5,
When the planting clutch is disengaged in the planting unit descending state during the automatic lifting control during turning, the control unit sets the position where the planting clutch is disengaged as the planting interruption position. Rice transplanter. The rice transplanter according to claim 6,
When the planting clutch is disengaged in a state where the planting part is lowered, the control unit is assumed to perform an operation that serves as a trigger for starting automatic lifting control during turning until the planting is resumed. In the rice transplanter, the automatic lifting control during turning is continued without changing the planting interruption position. A rice transplanter according to any one of claims 1 to 7,
A main transmission operating tool that is operated at the seedling joining position during the seeding work;
A notifying unit for notifying by a notification sound that the automatic raising and lowering control during turning is performed;
With
When the main transmission operating tool is at the seedling joint position, the control unit stops the notification sound or reduces the volume. A rice transplanter according to any one of claims 1 to 8,
In the automatic lifting control during turning, the rice transplanter is characterized in that a speed at which the control unit lowers the planting unit is different from a speed at which the planting unit descends due to an operator's operation.

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