JP5867020B2

JP5867020B2 - Seedling transplanter

Info

Publication number: JP5867020B2
Application number: JP2011257622A
Authority: JP
Inventors: 英希山下; 奥村　仁; 仁奥村
Original assignee: Iseki and Co Ltd
Current assignee: Iseki and Co Ltd
Priority date: 2011-11-25
Filing date: 2011-11-25
Publication date: 2016-02-24
Anticipated expiration: 2031-11-25
Also published as: JP2013110977A

Description

この発明は、走行装置を有する機体の後部に苗植付装置を備えた苗移植機に関する。 The present invention relates to a seedling transplanting machine provided with a seedling planting device at the rear part of a machine body having a traveling device.

苗植付装置を機体後部に備えた苗移植機において、苗移植機が圃場を前進走行する際に移植機の直進走行の指標となるラインを引くために苗植付装置に線引きマーカを設けた構成が知られている（特許文献１）。 In the seedling transplanter equipped with a seedling planting device at the rear of the machine body, when the seedling transplanter travels forward in the field, a line drawing marker is provided on the seedling planting device to draw a line that serves as an indicator for the straight traveling of the transplanter The configuration is known (Patent Document 1).

また、苗移植機が圃場の畦際などで旋回終了して新たな植付条に沿って苗の植付作業を行うに当たり、苗移植機が旋回開始から設定された走行距離を走行し、又は苗移植機が旋回開始から所定の経過弛緩時間が経過するまでに苗植付装置が正しく作動できるように圃場に下降し、かつ苗植付装置を作動させるクラッチが入になっていなければ苗の植付動作を開始させないようにした構成が知られている（特許文献２）。 In addition, when the seedling transplanter finishes turning at the edge of the field and performs seedling planting work along a new planting line, the seedling transplanting machine travels the set traveling distance from the start of turning, or If the seedling transplanter is lowered to the field so that the seedling planting device can operate correctly by the time the specified relaxation time has elapsed from the start of turning, and the clutch for operating the seedling planting device is not engaged, A configuration in which the planting operation is not started is known (Patent Document 2).

特開２０１０−２４６４０９号公報JP 2010-246409 A 特開２０１０−２４６５０６号公報JP 2010-246506 A

特許文献１、２記載の構成からなる苗移植機では、苗を積載し、苗を圃場に植え付ける苗植付装置は機体後部に配置されているため、作業者は積載した苗の状態を確認する際、操縦席から立ち上がらなければならず、その度に機体の進行を停止させる必要があり、作業能率が低下する問題がある。 In the seedling transplanting machine having the configuration described in Patent Documents 1 and 2, the seedling planting device for loading seedlings and planting seedlings in the field is arranged at the rear of the machine body, so the operator checks the state of the loaded seedlings At this time, it is necessary to stand up from the cockpit, and it is necessary to stop the advancement of the aircraft each time.

苗を植え付けるときは、一般的に苗移植機が直進走行することが望ましく、この直進の基準となる線を圃場面に形成する線引きマーカを備えており、この線引きマーカは苗移植機が旋回走行操作を行う際に、次の作業位置に線を引く方向のみ作動状態となる構成としている。 When planting seedlings, it is generally desirable for the seedling transplanter to travel straight, and it is equipped with a drawing marker that forms a straight line in the field scene, and this seedling transplanter is turned by the seedling transplanter. When the operation is performed, only the direction of drawing a line at the next work position is activated.

しかしながら、圃場の土質によっては線引きマーカが接触しても、形成された溝が泥土によって埋め戻され、植付作業を行うときには線が消えてしまい進行方向が直線にならず、苗の植付精度が低下する問題がある。 However, depending on the soil quality of the field, even if the line-drawing marker comes in contact, the formed groove is backfilled with mud, and when planting work, the line disappears and the direction of travel does not become straight, so the planting accuracy of the seedling There is a problem that decreases.

また、苗移植機により直進方向に植付が行えないと、苗の左右間隔が広がり過ぎ、苗が植え付けられないままの部分が生じる問題がある。たとえば、疎植栽培からすると間隔が広いとその分一株の成長が通常よりもよくなり、収量はあまり落ちないが、苗の植付位置が蛇行しているとコンバインで収穫する際に条合わせが困難になり、収穫作業の能率が低下する問題が生じる。
さらに、苗の左右間隔が狭まると、風通しが悪くなり、病害虫が発生しやすく、収穫量が減少してしまう問題がある。 In addition, if the seedling transplanter cannot plant in the straight direction, there is a problem that the distance between the left and right seedlings is too wide, and a portion where the seedling is not planted is generated. For example, if sparse planting is used, if the interval is wide, the growth of one strain will be better than usual, and the yield will not drop much, but if the planting position of the seedling is meandering, it will be adjusted when harvesting with a combine Is difficult, and the efficiency of harvesting work is reduced.
Furthermore, when the space between the left and right seedlings is narrowed, there is a problem that ventilation becomes worse, pests are likely to be generated, and the yield is reduced.

また、苗移植機が畦際で苗の植付作業をする際、畦際に雑草が繁茂して圃場と畦際の境界線が判断しづらくなると、機体を畦に寄せ過ぎてしまい、苗タンクや植付装置が畦に接触して破損する問題がある。前記接触を恐れて畦際を避けようとしながら苗移植機が苗の植付作業を行うと、苗の植付位置が畦際に隣接する苗の植付位置に近付いてしまい、風害や病害虫が発生しやすくなり、収穫量が減少してしまう問題がある。 Also, when the seedling transplanter is planting seedlings at the shore, if weeds grow on the shore and it becomes difficult to judge the boundary line between the field and the shore, the aircraft will be brought too close to the heel and the seedling tank There is a problem that the planting device and the planting device are damaged by contact with the cocoon. If the seedling transplanter performs seedling planting work while avoiding dredging due to fear of the contact, the planting position of the seedling approaches the planting position of the seedling adjacent to the dredging, and wind damage and pests There is a problem that it tends to occur and the yield is reduced.

そこで、本発明の課題は、作業者が目視できない機体後方の苗植付装置とその近傍の情報を操縦席に着席したまま確認できるようにして正しい圃場位置に苗を植え付けることができる構成を備えた苗移植機を提供することである。 Therefore, an object of the present invention is to provide a configuration in which seedlings can be planted at a correct field position so that the seedling planting device behind the aircraft that cannot be seen by the operator and information in the vicinity thereof can be confirmed while seated in the cockpit. Is to provide a seedling transplanter.

上記課題は、下記構成によって達成される。
すなわち、請求項１に係る発明は、圃場を走行する走行車体（２）と走行車体の操縦を行う操縦部（３３）と苗を積載する複数条の苗タンク（５１）と各苗タンク（５１）から苗を取って圃場に植え付ける複数条分の植付装置（５２）（この植付装置（５２）同士の左右間隔を制御装置に入力しておく。）を設けた苗移植機において、苗タンク（５１）に、苗タンク（５１）及び走行車体（２）後方の情報を検出する後部検出装置（ＣＣＤカメラ）（４８）と後部検出装置（４８）が検出した情報を表示する表示装置（ディスプレイ）（１６）を操縦部（３３）に配置し、複数の植付装置（５２）の内、特定の植付装置（５２）への駆動力を入切する複数の畦際操作部材と、複数の畦際操作部材の操作を各々検知する操作検知部材と、後部検出装置（４８）が検出した情報から苗の植付条列や畦際を判断する制御装置（１００）を設け、該制御装置（１００）には、表示装置（１６）に次の植付作業位置を示す第１植付仮想線（Ｐ１）及び圃場と畦際の境界線を示す第１畦際仮想線（Ｌ１）を出力する制御構成と畦際操作部材が特定の植付装置（５２）への駆動力を切操作したことを操作検知部材が検知すると、切操作されていない植付装置（５２）のうち最も畦際に近い植付装置（５２）の次工程の植付作業位置を第２植付仮想線（Ｐ２）として表示する制御構成を設けたことを特徴とする苗移植機である。 The said subject is achieved by the following structure.
That is, the invention according to claim 1 includes a traveling vehicle body (2) traveling in a field, a control unit (33) for maneuvering the traveling vehicle body, a plurality of seedling tanks (51) for loading seedlings, and each seedling tank (51 ) planting device plural rows worth instill in the field taking seedlings from (52) (the planting device (52) in advance by entering the right distance between the control unit.) is provided with seedling transplanter, seedlings On the tank (51), a rear detection device (CCD camera) (48) that detects information behind the seedling tank (51) and the traveling vehicle body (2), and a display device that displays information detected by the rear detection device (48) ( A display (16) is arranged in the control unit (33), and a plurality of heel operating members for turning on and off a driving force to a specific planting device (52) among the plurality of planting devices (52), an operation detecting member for each detecting an operation of a plurality of ridges when the operating member, the rear test Device (48) provided with a control device (100) for determining when planting ridges or ridge seedlings from the information detected, the said control device (100), a display device (16) to the planting work position of the next The first planting imaginary line (P1) indicating the first and the first imaginary virtual line (L1) indicating the borderline between the field and the ridge and the ridge operation member to the specific planting device (52) When the operation detecting member detects that the driving force has been cut off, the planting work position of the next step of the planting device (52) closest to the ridge among the planting devices (52) that have not been turned off is It is a seedling transplanting machine provided with the control structure displayed as 2 planting virtual lines (P2) .

請求項２に係る発明は、苗タンク（５１）の下部で且つ左右両側に防護体（６４）を回動自在に装着し、制御装置（１００）には、左右外側端部の植付装置（５２）から機体外側方向に回動させた防護体（６４）までの距離（事前に制御装置１００に入力）に基づき、第２畦際仮想線（Ｌ２）を表示装置（１６）に表示させる制御構成を設けたことを特徴とする請求項１記載の苗移植機である。 According to the second aspect of the present invention, a protective body (64) is rotatably attached to the lower part of the seedling tank (51) and on both the left and right sides. 52) control the display device (16) to display the second border virtual line (L2) based on the distance (input to the control device 100 in advance) from the protective body (64) rotated to the outer side of the body. The seedling transplanter according to claim 1 , further comprising a configuration.

請求項３に係る発明は、走行車体（２）の両側に設けた圃場面に次の植付作業時に直進の目安となる線を形成する線引きマーカ（７５）と、走行車体（２）が旋回する毎に線引きマーカ（７５）の作動方向を切り替えるマーカ切替装置（６７）と、制御装置（１００）には、マーカ切替装置（６７）が線引きマーカ（７５）を線引き作動させた側の走行車体（２）の後部側方を後部検出装置（４８）が検出する制御構成を設けたことを特徴とする請求項１記載の苗移植機である。 According to a third aspect of the present invention, a line drawing marker (75) for forming a line that serves as a guide for straight advancement in the field scene provided on both sides of the traveling vehicle body (2) and a traveling vehicle body (2) turn. The marker switching device (67) for switching the operating direction of the drawing marker (75) each time the control is performed, and the control vehicle (100) includes a traveling vehicle body on the side where the marker switching device (67) performs the drawing operation of the drawing marker (75). (2) The seedling transplanter according to claim 1, wherein a control configuration is provided in which the rear detection device (48) detects the rear side.

請求項４に係る発明は、制御装置（１００）には、線引きマーカ（７５）が作動した側の圃場面を後部検出装置（４８）で検出し、植付装置（５２）同士の左右距離に基づいて次の植付作業位置を示す第３植付仮想線（Ｐ３）（図７〜図９）を表示装置（１６）に表示させる制御構成を設けたことを特徴とする請求項１記載の苗移植機である。 In the invention according to claim 4 , the control device (100) detects the farm scene on the side where the drawing marker (75) is operated by the rear detection device (48), and determines the left-right distance between the planting devices (52). based on the third planting imaginary line indicating the next planting work position (P3) according to claim 1, characterized in that a control arrangement to be displayed (Figure 7-9) display device (16) It is a seedling transplanter.

請求項５に係る発明は、制御装置（１００）には、線引きマーカ（７５）を作動させた側の圃場を後部検出装置（４８）が検出し、この検出結果から表示装置（１６）に第１畦際仮想線（Ｐ１）が表示されるとき、所定数（畔際操作部材＋１）の植付装置（５２）同士の左右距離に基づく第３畦際仮想線（Ｐ３）を次の植付作業位置に表示する制御構成を設けたことを特徴とする請求項１記載の苗移植機である。 The invention according to claim 5, the control device (100), first the field on the side actuates the drawing markers (75) the rear detector (48) detects, on the display device from the detection result (16) When the first imaginary line (P1) is displayed, the third imaginary line (P3) based on the left-right distance between the predetermined number (the shore operation member +1) of the planting devices (52) is planted next. The seedling transplanting machine according to claim 1, wherein a control configuration for displaying the work position is provided.

請求項６に係る発明は、走行車体（２）の進行方向及び走行速度を変更する走行操作レバー（ＨＳＴレバー）（６８）を設け、制御装置（１００）には、走行操作レバー（６８）を「前進」位置に操作すると後部検出装置（４８）が苗タンク（５１）の後方及び線引きマーカ（７５）の作動側を検出し、走行操作レバー（６８）を「後進」にすると後部検出装置（４８）が苗タンク（５１）の下部及び植付装置（５２）を検出し、苗タンク（５１）の下部及び植付装置（５２）の位置から、苗タンク（５１）を下降させたときに植付装置（５２）が苗を植える第４植付仮想線（Ｐ４）を表示装置（１６）に表示する制御構成を設けたことを特徴とする請求項１記載の苗移植機である。 The invention according to claim 6 is provided with a traveling operation lever (HST lever) (68) for changing the traveling direction and traveling speed of the traveling vehicle body (2), and the controller (100) is provided with the traveling operation lever (68). When operated to the “forward” position, the rear detection device (48) detects the rear side of the seedling tank (51) and the operating side of the drawing marker (75), and when the traveling operation lever (68) is set to “reverse”, the rear detection device ( 48) When the lower part of the seedling tank (51) and the planting device (52) are detected and the seedling tank (51) is lowered from the lower part of the seedling tank (51) and the position of the planting device (52) The seedling transplanting machine according to claim 1, further comprising a control configuration for displaying on the display device (16) a fourth planting virtual line (P4) for planting the seedling by the planting device (52).

請求項１記載の発明によれば、苗タンク（５１）及び走行車体（２）の後部の情報を後部検出装置（４８）で検出し、検出した情報を表示装置（１６）に表示することにより、走行車体（２）の後方の苗の植付状態や苗タンク（５１）に積載した苗の状態を操縦部（３３）から移動することなく確認することができるので、苗の植付姿勢や植付深さの変更を速やかに行えるため、苗の植付姿勢が安定する。
また、苗切れのまま作業を継続し、苗が植え付けられない区間が生じることを防止できるので、作業者が手作業で苗を植える作業が不要となり、作業者の労力が軽減される。 According to the first aspect of the invention, by detecting the rear information of the seedling tank (51) and the traveling vehicle body (2) by the rear detection device (48) and displaying the detected information on the display device (16). Since the planting state of the seedling behind the traveling vehicle body (2) and the state of the seedling loaded in the seedling tank (51) can be confirmed without moving from the control unit (33), Since the planting depth can be changed quickly, the planting posture of the seedling is stabilized.
In addition, since the operation can be continued while the seedling is out and a section where the seedling cannot be planted can be prevented, the operator does not need to manually plant the seedling, and the labor of the operator is reduced.

さらに、検出した情報に基づいて制御装置（１００）が次の植付位置を示す第１植付仮想線（Ｐ１）を表示装置（１６）に出力することにより、この仮想線（Ｐ１）に苗タンク（５１）の端部を合わせて走行すれば前の作業位置と並ぶ位置に苗を植え付けることができるので、圃場全体の苗の植付精度が向上し、苗の生育が良好になると共に、収穫作業が容易になる。
また、圃場と畦際の境界を第１畦際仮想線（Ｌ１）で示すことにより、苗タンク（５１）を畦際に当てることなく作業を行うことができるので、苗タンク（５１）の破損が防止されると共に、走行車体（２）が畦際に寄り過ぎることが防止され、苗の植付精度が向上する。
さらに、操作検知部材（４８）が「入」になると、植付装置（５２）の通常の全植付位置の外側端部の仮想線よりも操作検知部材が「切」位置にある最畦際寄りに第２植付仮想線（Ｐ２）を表示することにより、次に苗の植え付けを行う畦際の作業幅を表示することができるので、畦際での植付作業能率が向上すると共に、走行車体（２）を畦に接触させて走行車体（２）が損傷することや隣接条の苗を踏み潰して苗を無駄にすることが防止される。 Further, based on the detected information, the control device (100) outputs a first planting virtual line (P1) indicating the next planting position to the display device (16), so that the virtual line (P1) has a seedling. If you run along the end of the tank (51), seedlings can be planted in a position aligned with the previous work position, so that the planting accuracy of the seedling of the entire field is improved, and the growth of the seedling is improved, Harvesting is easier.
Moreover, since the work can be performed without hitting the seedling tank (51) by indicating the boundary between the field and the border with the first bordering virtual line (L1), the seedling tank (51) is damaged. Is prevented, and the traveling vehicle body (2) is prevented from being too close to the heel, thereby improving seedling planting accuracy.
Further, when the operation detection member (48) is “ON”, the operation detection member is at the “OFF” position from the imaginary line at the outer end of the normal planting position of the planting device (52). By displaying the second planting imaginary line (P2) on the side, it is possible to display the work width at the time of planting to plant seedlings, so that the planting work efficiency at the beach is improved, It is possible to prevent the traveling vehicle body (2) from coming into contact with the heel and damaging the traveling vehicle body (2) or crushing the seedlings on the adjacent strips to waste the seedlings.

請求項２記載の発明によれば、請求項１記載の発明の効果に加えて、左右外側端部の植付装置（５２）から防護体（６４）までの距離を基準に第２畦際仮想線（Ｌ２）を表示することにより、作業者は第１畦際仮想線（Ｌ１）と第２畦際仮想線（Ｌ２）のうち可能な限り畦際に接近可能な方を選んで作業をすることができるので、苗タンク（５１）の破損が防止されると共に、畦際でも正常に直進することができ、苗の植付精度が向上する。 According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, the second imaginary virtual position is based on the distance from the planting device (52) to the protective body (64) at the left and right outer ends. By displaying the line (L2), the operator works by selecting one of the first imaginary imaginary line (L1) and the second imaginary imaginary line (L2) that is as accessible as possible. Therefore, the seedling tank (51) can be prevented from being damaged, and can be moved straight even at the heel, thereby improving seedling planting accuracy.

請求項３記載の発明によれば、請求項１記載の発明の効果に加えて、線引きマーカ（７５）が圃場面に線を形成できているかどうかを作業者が操縦部（３３）から振り返らずに確認することができるので、確認のために減速したり停車したりする必要が無く、作業能率が向上する。また、マーカ切替装置（６７）に連動して検出する範囲を自動的に変更することにより、作業者が後部検出装置（４８）の切替操作を行う必要がなくなるので、操作性が向上する。 According to the invention described in claim 3 , in addition to the effect of the invention described in claim 1, the operator does not look back from the control section (33) as to whether or not the line drawing marker (75) can form a line on the farm scene. Therefore, there is no need to decelerate or stop for confirmation, and work efficiency is improved. In addition, by automatically changing the detection range in conjunction with the marker switching device (67), the operator does not have to perform the switching operation of the rear detection device (48), so that the operability is improved.

請求項４記載の発明によれば、請求項１記載の発明の効果に加えて、次の作業位置を示す第３植付仮想線（Ｐ３）を表示装置（１６）に表示することができるので、現在の第１植付仮想線（Ｐ１）と第３植付仮想線（Ｐ３）を参考にして植付作業を行うことができ、苗の植付精度が向上し、苗の生育が良好になる。また、第３植付仮想線（Ｐ３）を基準として、旋回後の位置合わせを行うことができるので、圃場に植え付けた苗同士の左右間隔が開き過ぎることを防止でき、圃場面積に対して適量の苗が植え付けられ、作物の収穫量が減ることが防止される。さらに、圃場に植え付けた苗同士の左右間隔が狭まり過ぎることを防止できるので、風害や病害虫による被害を抑えられ、作物の収穫量が減ることが防止される。 According to the invention of claim 4 , in addition to the effect of the invention of claim 1, the third planting virtual line (P3) indicating the next work position can be displayed on the display device (16). Planting work can be performed with reference to the current first planting imaginary line (P1) and third planting imaginary line (P3), the seedling planting accuracy is improved, and the seedling growth is good Become. Moreover, since the position alignment after turning can be performed on the basis of the third planting imaginary line (P3), it is possible to prevent the left and right intervals between the seedlings planted in the field from being excessively opened, and an appropriate amount for the field area. Seedlings are planted and crop yields are prevented from decreasing. Furthermore, since the distance between the left and right seedlings planted in the field can be prevented from becoming too narrow, damage caused by wind damage and pests can be suppressed, and the crop yield can be prevented from decreasing.

なお、苗同士の間隔を狭くし過ぎると、風通しが悪く、害虫が棲み付きやすくなると共に、病気が発生すると連鎖的に広がりやすくなり、収穫量が悪化する。また、台風等による強風で倒れると連鎖的に他の稲を倒すため、コンバイン等を用いた収穫作業の手間が増大する。 In addition, when the space | interval of seedlings is narrowed too much, ventilation will be bad and it will become easy to bite a pest, and when a disease arises, it will become easy to spread and a yield will deteriorate. In addition, when a strong wind such as a typhoon falls, other rice is knocked down in a chain, increasing the labor of harvesting using a combine or the like.

請求項５記載の発明によれば、請求項１記載の発明の効果に加えて、畦際周辺で植付作業をする際、どの畦際操作部材（畦際クラッチ＋畦際クラッチレバー１７）を使えばよいかを操縦部（３３）から移動することなく判断することができるので、畦際操作部材（畦際クラッチ＋畦際クラッチレバー１７）を操作するタイミングが早く、苗の植え付けが行われない区間が生じることが防止され、作業者が手作業で苗を植える作業が不要となり、作業者の労力が軽減される。また、畦際操作部材（畦際クラッチ＋畦際クラッチレバー１７）を操作するタイミングが遅く、苗を植える必要がない区間に苗を植えることを防止できるので、同じ箇所に重複して苗を植えることがなく、無駄な苗の発生が防止される。 According to the invention described in claim 5 , in addition to the effect of the invention described in claim 1, when planting work around the shore, which ridge operation member (the heel clutch + the heel clutch lever 17) Since it can be determined whether it should be used without moving from the control section (33), the timing of operating the heel operation member (cooking clutch + cooking clutch lever 17) is early, so that seedlings are planted. It is prevented that there is no section, and the operator does not need to manually plant seedlings, thereby reducing the labor of the operator. Further, since the timing of operating the heel operating member (the heel clutch + the heel clutch lever 17) is late and it is possible to prevent planting the seedling in a section where it is not necessary to plant the seedling, the seedling is planted in duplicate at the same location. The generation of useless seedlings is prevented.

請求項６記載の発明によれば、請求項１記載の発明の効果に加えて、走行車体（２）の進行方向に合わせて後部検出装置（４８）の検出範囲を変更することにより、進行方向に合わせた情報を検出することができるので、苗の植付方向を正確に把握できると共に、植付装置（５２）で苗を押し倒すことが防止でき、苗の植付精度が向上する。また、後進時に第４植付仮想線（Ｐ４）を表示することにより、苗タンク（５１）を下降させる際に下方に苗があるかどうかを作業者が操縦部（３３）から振り返らずに把握することができるので、作業能率が向上すると共に、同じ位置に苗を重複して植え付けたり、苗を押し潰したりすることが防止されるため、無駄になる苗が減少する。
According to the invention described in claim 6 , in addition to the effect of the invention described in claim 1, by changing the detection range of the rear detection device (48) in accordance with the traveling direction of the traveling vehicle body (2), the traveling direction Therefore, the planting direction of the seedling can be accurately grasped, and the seedling can be prevented from being pushed down by the planting device (52), so that the seedling planting accuracy is improved. In addition, by displaying the fourth planting imaginary line (P4) at the time of reverse travel, when the seedling tank (51) is lowered, the operator grasps whether there is a seedling below without looking back from the control section (33). Therefore, the working efficiency is improved, and it is possible to prevent the seedlings from being repeatedly planted or crushed at the same position, so that the number of seedlings that are wasted is reduced.

本発明の一実施形態の乗用型田植機の側面図である。It is a side view of the riding type rice transplanter of one embodiment of the present invention. 図１の乗用型田植機の平面図である。It is a top view of the riding type rice transplanter of FIG. 図１の乗用型田植機の予備苗載せ台の作動制御ブロック図である。It is an operation control block diagram of the reserve seedling stand of the riding type rice transplanter of FIG. 図１の乗用型田植機の畦際での旋回前と旋回後の苗植付仮想線を表示装置に表示する説明用の平面図である。It is a top view for description which displays the seedling planting virtual line before and after turning at the edge of the riding type rice transplanter of FIG. 1 on a display device. 図１の乗用型田植機の畦際での旋回前の苗植付装置の作動停止用植付クラッチと旋回後の枕地一工程分の苗植付仮想線を表示装置に表示する説明用の平面図である。The planting clutch for stopping the seedling planting device before turning at the edge of the riding type rice transplanter in FIG. 1 and the seedling planting virtual line for one step of the headland after turning are displayed on the display device. It is a top view. 図１の乗用型田植機の変速レバーの先端部分の側面図（図６（ａ））と背面図（図６（ｂ））である。It is the side view (FIG. 6 (a)) and rear view (FIG. 6 (b)) of the front-end | tip part of the transmission lever of the riding type rice transplanter of FIG. 図１の乗用型田植機の第３植付仮想線Ｐ３−２を示す平面図である。It is a top view which shows the 3rd planting virtual line P3-2 of the riding type rice transplanter of FIG. 図１の乗用型田植機の第３植付仮想線Ｐ３−３を示す平面図である。It is a top view which shows the 3rd planting virtual line P3-3 of the riding type rice transplanter of FIG. 図１の乗用型田植機の第３植付仮想線Ｐ３−４を示す平面図である。It is a top view which shows the 3rd planting virtual line P3-4 of the riding type rice transplanter of FIG. 図１の乗用型田植機の第４植付仮想線Ｐ４を示す平面図である。It is a top view which shows the 4th planting virtual line P4 of the riding type rice transplanter of FIG.

以下、図面に基づき、本発明の好ましい実施の形態について説明する。
図１及び図２は本発明の苗移植機の典型例である粉粒体繰出し装置として施肥装置を装着した乗用型田植機の側面図と平面図である。この施肥装置付き乗用型田植機１は、走行車体２の後側に昇降リンク装置３を介して苗植付部４が昇降可能に装着され、走行車体２の後部上側に施肥装置５の本体部分が設けられている。搭乗オペレータが乗用型田植機の前進方向に向かって左右方向をそれぞれ左、右といい、前進方向と後進方向をそれぞれ前、後という。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 and FIG. 2 are a side view and a plan view of a riding type rice transplanter equipped with a fertilizer application device as a granular material feeding device which is a typical example of the seedling transplanter of the present invention. In this riding type rice transplanter 1 with a fertilizer application, a seedling planting portion 4 is mounted on the rear side of the traveling vehicle body 2 via an elevating link device 3 so that the seedling planting portion 4 can be moved up and down. Is provided. The boarding operator refers to the left and right directions in the forward direction of the riding type rice transplanter as left and right, respectively, and the forward direction and the reverse direction are referred to as forward and backward, respectively.

走行車体２は、駆動輪である左右一対の前輪１０，１０及び左右一対の後輪１１，１１（走行装置）を備えた四輪駆動車両であって、機体の前部にミッションケース１２が配置され、そのミッションケース１２の左右側方に前輪ファイナルケース１３，１３が設けられ、該左右前輪ファイナルケース１３，１３の操向方向を変更可能な各々の前輪支持部から外向きに突出する左右前輪車軸に左右前輪１０，１０が各々取り付けられている。また、ミッションケース１２の背面部にメインフレーム１５の前端部が固着されており、そのメインフレーム１５の後端左右中央部に前後水平に設けた後輪ローリング軸を支点にして後輪ギヤケース１８，１８がローリング自在に支持され、その後輪ギヤケース１８，１８から外向きに突出する後輪車軸に後輪１１，１１が取り付けられている。 The traveling vehicle body 2 is a four-wheel drive vehicle including a pair of left and right front wheels 10 and 10 and a pair of left and right rear wheels 11 and 11 (traveling devices) as drive wheels, and a transmission case 12 is disposed at the front of the airframe. Front wheel final cases 13, 13 are provided on the left and right sides of the transmission case 12, and the left and right front wheels project outward from the respective front wheel support portions capable of changing the steering direction of the left and right front wheel final cases 13, 13. Left and right front wheels 10, 10 are respectively attached to the axles. Further, the front end portion of the main frame 15 is fixed to the rear portion of the transmission case 12, and a rear wheel gear case 18, with a rear wheel rolling shaft provided horizontally in the front and rear sides at the rear left and right center of the main frame 15 as a fulcrum. The rear wheels 11 and 11 are attached to a rear wheel axle that is supported in a freely rolling manner and projects outwardly from the rear wheel gear cases 18 and 18.

エンジン２０はメインフレーム１５の上に搭載されており、該エンジン２０の回転動力が、ベルト伝動装置２１及び油圧無段変速装置（ＨＳＴ）２３を介してミッションケース１２に伝達される。ミッションケース１２に伝達された回転動力は、該ケース１２内のトランスミッションにより変速された後、走行動力と外部取出動力に分離して取り出される。そして、走行動力は、一部が前輪ファイナルケース１３，１３に伝達されて前輪１０，１０を駆動すると共に、残りが後輪ギヤケース１８，１８に伝達されて後輪１１，１１を駆動する。また、外部取出動力は、走行車体２の後部に設けた植付クラッチケース２５に伝達され、それから植付伝動軸２６によって苗植付部４へ伝動されると共に、施肥伝動機構２８によって施肥装置５へ伝動される。 The engine 20 is mounted on the main frame 15, and the rotational power of the engine 20 is transmitted to the transmission case 12 via a belt transmission device 21 and a hydraulic continuously variable transmission (HST) 23. The rotational power transmitted to the mission case 12 is shifted by a transmission in the case 12 and then separated into traveling power and external power to be extracted. A part of the traveling power is transmitted to the front wheel final cases 13 and 13 to drive the front wheels 10 and 10, and the rest is transmitted to the rear wheel gear cases 18 and 18 to drive the rear wheels 11 and 11. Further, the external take-out power is transmitted to a planting clutch case 25 provided at the rear portion of the traveling vehicle body 2, and then transmitted to the seedling planting unit 4 by the planting transmission shaft 26, and also the fertilizer application device 5 by the fertilization transmission mechanism 28. Is transmitted to.

エンジン２０の上部はエンジンカバー３０で覆われており、その上に座席３１が設置されている。座席３１の前方には各種操作機構を内蔵するフロントカバー３２があり、その上方に前輪１０，１０を操向操作するハンドル３４が設けられており、この領域を操縦部３３とする。エンジンカバー３０及びフロントカバー３２の下端左右両側は水平状のフロアステップ３５になっている。フロアステップ３５は一部格子状になっており（図２参照）、該ステップ３５を歩く作業者の靴についた泥が圃場に落下するようになっている。フロアステップ３５上の後部は、後輪フェンダを兼ねるリヤステップ３６となっている。 The upper part of the engine 20 is covered with an engine cover 30, and a seat 31 is installed thereon. A front cover 32 incorporating various operation mechanisms is provided in front of the seat 31, and a handle 34 for steering the front wheels 10 and 10 is provided above the front cover 32. The engine cover 30 and the front cover 32 have horizontal floor steps 35 on the left and right sides of the lower end. The floor step 35 is partly grid-shaped (see FIG. 2), and mud on the shoe of the worker walking through the step 35 falls on the field. The rear part on the floor step 35 is a rear step 36 that also serves as a rear wheel fender.

昇降リンク装置３は平行リンク機構であって、１本の上リンク４０と左右一対の下リンク４１，４１を備えている。これらリンク４０，４１，４１は、その基部側がメインフレーム１５の後端部に立設した背面視門形のリンクベースフレーム４２に回動自在に取り付けられ、その先端側に縦リンク４３が連結されている。そして、縦リンク４３の下端部に苗植付部４に回転自在に支承された連結軸４４が挿入連結され、連結軸４４を中心として苗植付部４がローリング自在に連結されている。 The elevating link device 3 is a parallel link mechanism, and includes a single upper link 40 and a pair of left and right lower links 41, 41. These links 40, 41, 41 are pivotally attached to a rear-view portal-shaped link base frame 42 erected on the rear end of the main frame 15, and a vertical link 43 is connected to the tip side thereof. ing. And the connecting shaft 44 rotatably supported by the seedling planting part 4 is inserted and connected to the lower end part of the vertical link 43, and the seedling planting part 4 is connected so as to be able to roll around the connecting shaft 44.

メインフレーム１５に固着した支持部材（図示せず）と上リンク４０に一体形成したスイングアーム（図示せず）の先端部との間に昇降油圧式シリンダ４６が設けられており、該シリンダ４６を油圧で伸縮させることにより、上リンク４０が上下に回動し、苗植付部４がほぼ一定姿勢のまま昇降する。 An elevating hydraulic cylinder 46 is provided between a support member (not shown) fixed to the main frame 15 and the tip of a swing arm (not shown) formed integrally with the upper link 40. By expanding and contracting with hydraulic pressure, the upper link 40 is rotated up and down, and the seedling planting portion 4 is lifted and lowered with a substantially constant posture.

苗植付部４は６条植の構成で、フレームを兼ねる伝動ケース５０、マット苗を載せて左右往復動し、苗を一株分ずつ各条の苗取出口５１ａ，…に供給すると共に横一列分の苗を全て苗取出口５１ａ，…に供給すると苗送りベルト５１ｂ，…により苗を下方に移送する苗載せ台５１、苗取出口５１ａ，…に供給された苗を圃場に植付ける苗植付装置５２，…、次行程における機体進路を表土面に線引きする左右一対の線引きマーカ７５（図１）等を備えている。 The seedling planting section 4 has a six-row planting structure, a transmission case 50 that also serves as a frame, and a mat seedling is placed to reciprocate left and right to feed seedlings one by one to the seedling outlets 51a,. When all the seedlings for one row are supplied to the seedling outlet 51a, ..., seedlings for transferring the seedlings downward by the seedling feeding belt 51b, ..., seedlings for planting the seedlings supplied to the seedling outlet 51a, ... in the field A planting device 52,..., And a pair of left and right drawing markers 75 (FIG. 1) for drawing the aircraft course in the next stroke to the topsoil surface are provided.

苗植付部４の下部には中央にセンターフロート５５、その左右両側にサイドフロート５６，５６がそれぞれ設けられている。これらフロート５５，５６，５６を圃場の泥面に接地させた状態で機体を進行させると、フロート５５，５６，５６が泥面を整地しつつ滑走し、その整地跡に苗植付装置５２，…により苗が植え付けられる。各フロート５５，５６，５６は圃場表土面の凹凸に応じて前端側が上下動するように回動自在に取り付けられており、植付作業時にはセンターフロート５５の前部の上下動が迎角制御センサ（図示せず）により検出され、その検出結果に応じ、前記昇降油圧式シリンダ４６を制御する油圧バルブ（図示せず）を切り替えて苗植付部４を昇降させることにより、苗の植付深さを常に一定に維持する。 In the lower part of the seedling planting part 4, a center float 55 is provided in the center, and side floats 56, 56 are provided on the left and right sides thereof. When the aircraft is advanced with these floats 55, 56, 56 in contact with the mud surface of the field, the floats 55, 56, 56 slide while leveling the mud surface, and the seedling planting device 52, ... to plant seedlings. Each of the floats 55, 56, and 56 is rotatably mounted so that the front end side moves up and down in accordance with the unevenness of the field topsoil surface, and the vertical movement of the front part of the center float 55 is an angle-of-attack control sensor during planting work. The planting depth of the seedling is detected by switching the hydraulic valve (not shown) that controls the lifting hydraulic cylinder 46 and raising and lowering the seedling planting unit 4 according to the detection result. Always keep the height constant.

施肥装置５は、肥料ホッパ６０に貯留されている粒状の肥料を繰出部６１，…によって一定量ずつ繰り出し、その肥料を施肥ホース６２，…でフロート５５，５６，５６の左右両側に取り付けた施肥ガイド（図示せず），…まで導き、施肥ガイド，…の前側に設けた作溝体７６（図１），…によって苗植付条の側部近傍に形成される施肥溝内に落とし込むようになっている。ブロア用電動モータ５３で駆動するブロア５８で発生させたエアが、左右方向に長いエアチャンバ５９を経由して施肥ホース６２，…に吹き込まれ、施肥ホース６２，…内の肥料を風圧で強制的に搬送するようになっている。 The fertilizer applicator 5 feeds the granular fertilizer stored in the fertilizer hopper 60 by a certain amount by the feeding portions 61,... And applies the fertilizer to the left and right sides of the floats 55, 56, 56 with the fertilizer hoses 62,. Guide to a guide (not shown), ..., and drop into a fertilization groove formed in the vicinity of the side of the seedling planting line by a grooved body 76 (Fig. 1) provided on the front side of the fertilization guide, ... It has become. The air generated by the blower 58 driven by the blower electric motor 53 is blown into the fertilizer hoses 62,... Via the air chamber 59 that is long in the left-right direction, and the fertilizer in the fertilizer hoses 62,. It is designed to be transported.

苗植付部４には整地装置の一例であるロータ２７（第１ロータ２７ａと第２ロータ２７ｂの組み合わせを単にロータ２７ということがある）が取り付けられている。また、苗載せ台５１は苗植付部４の全体を支持する左右方向と上下方向に幅一杯の矩形の支持枠体６５の支持ローラ６５ａをレールとして両側辺部材６５ｂを左右方向にスライドする構成である。
また、走行車体２の前部左右両側には、補給用の苗を載せておく一対の予備苗載せ台３８，３８が機体の前後に張り出す位置と上下に並んだ位置とに回動可能に設けられている。 The seedling planting unit 4 is provided with a rotor 27 (an example of a combination of the first rotor 27a and the second rotor 27b may be simply referred to as the rotor 27) as an example of a leveling device. The seedling stand 51 is configured to slide the side members 65b in the left-right direction using the support rollers 65a of the rectangular support frame 65 that is full in the left-right direction and the up-down direction for supporting the entire seedling planting portion 4 as rails. It is.
In addition, on the left and right sides of the front part of the traveling vehicle body 2, a pair of spare seedling platforms 38, 38 on which replenishment seedlings are placed can be pivoted to a position where they protrude from the front and back of the machine body and a position where they are aligned vertically. Is provided.

一方の機体側面にある第１予備苗載せ台３８ａ，第２予備苗載せ台３８ｂ，第３予備苗載せ台３８ｃを上下三段に配置した場合の側面図を図１に示す。
予備苗載せ台３８は走行車体２のフロアステップ３５の下部に基部側を配置した支持機枠４９に支持され、移動リンク部材３９ａ，３９ｂ，３９ｃを介してそれぞれ上下三段に構成され、第１予備苗載せ台３８ａ、第２予備苗載せ台３８ｂ及び第３予備苗載せ台３８ｃからなっている。 FIG. 1 shows a side view when the first preliminary seedling stage 38a, the second preliminary seedling stage 38b, and the third preliminary seedling stage 38c on one side of the machine body are arranged in three stages.
The preliminary seedling table 38 is supported by a support machine frame 49 having a base side disposed below the floor step 35 of the traveling vehicle body 2, and is configured in three upper and lower stages via moving link members 39a, 39b, and 39c, respectively. It comprises a preliminary seedling stage 38a, a second preliminary seedling stage 38b, and a third preliminary seedling stage 38c.

移動リンク部材３９ｂが機体に設けられた切替駆動装置（電動モータ）７０の作動により回動することで、移動リンク部材３９ｂに連結した予備苗載せ台３８ａ，３８ｂ，３８ｃが回動して、予備苗載せ台３８ａ，３８ｂ，３８ｃを図１に示す上下三段の積層状態と予備苗載せ台３８ａ，３８ｂ，３８ｃをほぼ同一平面上に展開させる展開状態に切り替え可能となる。該予備苗載せ台３８ａ，３８ｂ，３８ｃが回動して展開状態と積層状態とに切替操作手段として切替スイッチ７３（ボタン、レバーでもよい）（図１，図２）を座席３１近傍に設ける。 When the moving link member 39b is rotated by the operation of the switching drive device (electric motor) 70 provided on the machine body, the preliminary seedling platforms 38a, 38b, 38c connected to the moving link member 39b are rotated, and The seedling mounting bases 38a, 38b, and 38c can be switched between a three-stage stacked state shown in FIG. 1 and a deployed state in which the preliminary seedling mounting bases 38a, 38b, and 38c are expanded on substantially the same plane. The reserve seedling platforms 38a, 38b, and 38c are rotated to provide a selector switch 73 (which may be a button or a lever) (FIGS. 1 and 2) in the vicinity of the seat 31 as a switching operation means between a deployed state and a stacked state.

また、本実施例の６条植の植付クラッチ全体として、ＨＳＴ（走行）レバー６８にボタンを設けている。苗植付装置５２は、図６（ａ）の左側側面図と図６（ｂ）の背面図に示すように、ＨＳＴ（走行）レバー６８のグリップ部に設けた植付操作ボタン６９を操作すると植付クラッチ（図示省略）が「入」となり、６条全ての植付装置５２が作動する構成としている。なお、もう一度植付操作ボタン６９を操作すると植付クラッチが「切」となり、６条全ての植付装置５２が停止する。なお、ＨＳＴ（走行）レバー６８には植付部昇降レバー７１と、押すごとに植付部が所定量下降するボタン７２を設けている。 Further, a button is provided on the HST (running) lever 68 as the entire six-plant planting clutch of this embodiment. As shown in the left side view of FIG. 6A and the rear view of FIG. 6B, the seedling planting device 52 operates a planting operation button 69 provided on the grip portion of the HST (running) lever 68. The planting clutch (not shown) is “ON”, and all the 6 planting devices 52 operate. If the planting operation button 69 is operated again, the planting clutch is “disengaged”, and all six planting devices 52 are stopped. The HST (running) lever 68 is provided with a planting part raising / lowering lever 71 and a button 72 for lowering the planting part by a predetermined amount each time it is pressed.

また畦際クラッチレバー１７を操作すると、植付クラッチ機構のうち所定条の植付装置５２への駆動力を入切する畦際クラッチ（図示省略）が「切」作動してそれぞれ対応する条の植付装置５２の入切が行われる。 In addition, when the saddle clutch lever 17 is operated, the saddle clutch (not shown) that turns on and off the driving force to the predetermined planting device 52 in the planting clutch mechanism is “turned off”, and each of the corresponding strips is operated. The planting device 52 is turned on and off.

さらに、畦際クラッチレバー１７を切操作すると、畦際スイッチ６６が連動して「入」になり、植付装置５２の通常の全植付位置の外側端部の仮想線Ｐ１（図４）よりも畦際クラッチレバー７の「切」位置にある最畦際寄りの第２植付仮想線Ｐ２（図５）を表示する制御のための構成を制御装置１００に設けているので、機体（走行車体）２が畦に接触しないように表示装置（ディスプレイ）１６を監視しながら作業が行える。 Further, when the saddle clutch lever 17 is turned off, the saddle switch 66 is interlocked to “ON”, and from the virtual line P1 (FIG. 4) at the outer end of the normal all planting position of the planting device 52. In addition, since the control device 100 is provided with a control structure for displaying the second planting virtual line P2 (FIG. 5) at the most close position at the “cut” position of the saddle clutch lever 7, the fuselage (running) Work can be performed while monitoring the display device 16 so that the vehicle body 2 does not come into contact with the bag.

また、図３に示す本実施例で使用する制御装置１００のブロック図を示す。
制御装置１００には図４の左右隣接する植付装置５２，５２同士の第３の間隔Ｓ３（一つの植付装置５２の一対の植付爪５２ａ，５２ａ同士の間隔と同じ）が設定されている。なお、本件の画像処理用のデータ算出のための間隔Ｓ３は、出荷時に制御装置１００に入力されている。 Moreover, the block diagram of the control apparatus 100 used by the present Example shown in FIG. 3 is shown.
The control device 100 is set with a third interval S3 between the left and right adjacent planting devices 52, 52 in FIG. 4 (the same as the interval between the pair of planting claws 52a, 52a of one planting device 52). Yes. The interval S3 for calculating the image processing data in this case is input to the control device 100 at the time of shipment.

なお、左右端部の植付爪５２ａから苗タンク５１の端部までの第１間隔Ｓ１と左右端部の植付爪５２ａから展開状態とした前板ガード６４迄の第２間隔Ｓ２も制御装置１００に予め入力されている。第１畦際仮想線Ｌ１は、前板ガード６４を使わない場合に用いる線であり、左右どちらか一側端部の植付爪５２ａと苗タンク５１の端部との第１間隔Ｓ１から第１畦際仮想線Ｌ１を算出し、前板ガード６４を機体側方に回動させて使用状態としたときは、植付爪５２ａと前板ガード６４との第２間隔Ｓ２から第２畦際仮想線Ｌ２を算出する。 In addition, the first interval S1 from the planting claw 52a at the left and right end portions to the end portion of the seedling tank 51 and the second interval S2 from the planting claw 52a at the left and right end portions to the front plate guard 64 in the unfolded state are also controlled. 100 is input in advance. The first cutting imaginary line L1 is a line used when the front plate guard 64 is not used, and is determined from the first interval S1 between the planting claw 52a on one of the left and right ends and the end of the seedling tank 51. When the first imaginary imaginary line L1 is calculated and the front plate guard 64 is rotated to the side of the machine body and put into use, the second ridge is determined from the second interval S2 between the planting claw 52a and the front plate guard 64. A virtual line L2 is calculated.

また、苗載せ台（苗タンク）５１の要部と機体後方の画像情報を検出する後部検出用のＣＣＤカメラ４８を苗タンク５１に取り付け、該ＣＣＤカメラ４８が検出した情報は制御装置に入力され、操縦部３３に配置されたディスプレイ１６（図３にのみ図示）に表示される。 Further, a main part of the seedling stand (seedling tank) 51 and a rear detection CCD camera 48 for detecting image information behind the machine body are attached to the seedling tank 51, and the information detected by the CCD camera 48 is input to the control device. And displayed on the display 16 (shown only in FIG. 3) arranged in the control unit 33.

図４に６条植用の苗タンク５１の要部平面図を示す。ＣＣＤカメラ４８は苗タンク５１の両側に機体後方を撮影することができる。
制御装置１００は前記ＣＣＤカメラ４８が検出した情報から苗の植付条列や畦際を判断することができる。
図４と図５は圃場の畦際で苗植付作業中の苗移植機１の苗タンク５１の後端部と圃場を示す平面図である。 The principal part top view of the seedling tank 51 for 6 row planting is shown in FIG. The CCD camera 48 can photograph the rear of the machine body on both sides of the seedling tank 51.
The control device 100 can determine the seedling planting row and the bud from the information detected by the CCD camera 48.
4 and 5 are plan views showing the rear end portion of the seedling tank 51 of the seedling transplanting machine 1 during the seedling planting operation at the edge of the field and the field.

なお、前記苗タンク５１の左右両側で且つ後側下部に設ける回動支点を中心に、正面又は背面視でＬ字型の前板ガード６４を回動自在に設ける。そして、該前板ガード６４の基部には前板ガード６４が機体外側に回動された使用状態であるか、機体内側（苗タンク５１寄り）に回動された収納状態であるかを判別するガード検知センサ６４ａを設け、前記前板ガード６４を収納状態としたときは、左側又は右側の最端部に配置する苗植付装置５２と苗タンク５１との第１間隔Ｓ１を用いて予測される旋回後の畦際位置を制御装置１００に算出させ、その結果を第１畦際仮想線Ｌ１としてディスプレイ１６の該当位置に表示する。 Note that an L-shaped front plate guard 64 is pivotably provided in a front or rear view around a pivotal fulcrum provided on both the left and right sides of the seedling tank 51 and on the lower rear side. Then, at the base of the front plate guard 64, it is determined whether the front plate guard 64 is in a use state in which the front plate guard 64 is rotated outward or in a storage state in which the front plate guard 64 is rotated inward of the body (near the seedling tank 51). When the guard detection sensor 64a is provided and the front plate guard 64 is in the retracted state, it is predicted using the first interval S1 between the seedling planting device 52 and the seedling tank 51 arranged at the left or rightmost end. Then, the controller 100 calculates the position of the turning after turning, and displays the result at the corresponding position on the display 16 as the first turning virtual line L1.

そして、前記前板ガード６４を使用状態としたときは、左側又は右側の最端部に配置する苗植付装置５２と前板ガード６４との第２間隔Ｓ２を用いて予測される旋回後の畦際位置を制御装置１００に算出させ、その結果を第２畦際仮想線Ｌ２としてディスプレイ１６の該当位置に表示する。 And when the said front board guard 64 is made into a use state, the after-turning estimated using the 2nd space | interval S2 of the seedling planting apparatus 52 and the front board guard 64 which are arrange | positioned in the leftmost or rightmost end part is carried out. The controller 100 calculates the closest position, and displays the result as the second approximate virtual line L2 at the corresponding position on the display 16.

また、図５に示す畦際での枕地一工程分Ｄの植え付け時に機体旋回後に苗載せ台（苗タンク）５１の畦際に最も遠い側の苗植付装置５２の苗植付爪が圃場に差し込む植付苗の植付ラインを第１植付仮想線Ｐ１と呼び、図５に示す一部の畦クラッチを切りとして苗植付作業を行い、６条植の枕地一工程分のスペースＤを残して、機体旋回後に苗載せ台（苗タンク）５１の畦際に最も遠い側の苗植付装置５２の苗植付爪が圃場に差し込む植付苗の植付ラインを第２植付仮想線Ｐ２と呼ぶことにする。 Further, the seedling planting claws of the seedling planting device 52 on the farthest side of the seedling placing stand (seedling tank) 51 after the turning of the body at the time of planting one step of the headland D at the beach shown in FIG. The planting line of planted seedlings to be inserted into the first is called the first planting imaginary line P1, and the seedling planting work is carried out with some hook clutches shown in FIG. 2nd planting line for planting seedlings, where D is placed and the seedling planting claws of the seedling planting device 52 on the farthest side of the seedling platform (seedling tank) 51 are turned into the field after turning the aircraft. It will be called a virtual line P2.

そして、前記制御装置１００は、操縦部３３の表示装置（ディスプレイ）１６に前記第１植付仮想線Ｐ１等及び圃場と畦際の境界線を示す第１畦際仮想線Ｌ１等を出力する制御構成を備えている。このとき左右端部の苗植付爪５２ａから苗タンク５１の端部までの第１の間隔Ｓ１、左右端部の苗植付爪５２ａから展開状態の前板ガード６４の端部までの第２の間隔Ｓ２及び苗植付爪５２ａ同士の左右間隔である第３の間隔Ｓ３が入力されていれば、制御装置１００により表示装置１６（ディスプレイ）に前記第１植付仮想線Ｐ１等及び圃場と畦際の境界線を示す第１畦際仮想線Ｌ１等と共に間隔Ｓ１，Ｓ２及びＳ３に関係した部材、装置の位置関係を表示できる制御構成を備えている。 Then, the control device 100 controls the display device (display) 16 of the control unit 33 to output the first planting virtual line P1 and the like, the first imaginary virtual line L1 and the like indicating the boundary line between the field and the vineyard. It has a configuration. At this time, the first interval S1 from the seedling planting claw 52a at the left and right end portions to the end portion of the seedling tank 51, and the second interval from the seedling planting claw 52a at the left and right end portions to the end portion of the front plate guard 64 in the unfolded state. And the third spacing S3, which is the left-right spacing between the seedling planting claws 52a, are input to the display device 16 (display) by the control device 100 on the first planting virtual line P1, etc. A control configuration capable of displaying the positional relationship between the members and the devices related to the intervals S1, S2 and S3, as well as the first imaginary virtual line L1 indicating the boundary line at the heel.

苗タンク５１及び走行車体２の後部の情報を後部検出用のＣＣＤカメラ４８で検出し、検出した情報を表示装置１６に表示することにより、操縦者は走行車体２の後方の苗の植付状態や苗タンク５１に積載した苗の状態を操縦部３３から移動することなく確認することができるので、苗の植付姿勢や植付深さの変更を速やかに行えるため、苗の植付姿勢が安定する。 Information on the rear portion of the seedling tank 51 and the traveling vehicle body 2 is detected by the CCD camera 48 for detecting the rear portion, and the detected information is displayed on the display device 16 so that the operator can plant the seedlings behind the traveling vehicle body 2. Since the state of the seedling loaded in the seedling tank 51 can be confirmed without moving from the control unit 33, the seedling planting posture can be quickly changed because the seedling planting posture and the planting depth can be changed quickly. Stabilize.

また、苗切れのまま作業を継続し、苗が植え付けられない区間が生じることを防止できるので、作業者が手作業で苗を植える作業が不要となり、作業者の労力が軽減される。
さらに、検出した情報に基づいて制御装置１００が次の植付位置を示す第１植付仮想線Ｐ１を表示装置１６に出力することにより、この仮想線Ｐ１に苗タンク５１の端部を合わせて走行すれば前の作業位置と並ぶ位置に苗を植え付けることができるので、圃場全体の苗の植付精度が向上し、苗の生育が良好になると共に、収穫作業が容易になる。 In addition, since the operation can be continued while the seedling is out and a section where the seedling cannot be planted can be prevented, the operator does not need to manually plant the seedling, and the labor of the operator is reduced.
Furthermore, the control device 100 outputs the first planting virtual line P1 indicating the next planting position to the display device 16 based on the detected information, so that the end of the seedling tank 51 is aligned with the virtual line P1. By traveling, seedlings can be planted at a position aligned with the previous work position, so that the seedling planting accuracy of the entire field is improved, the seedling growth is improved, and the harvesting operation is facilitated.

また、圃場と畦際の境界を第１畦際仮想線Ｌ１で示すことにより、苗タンク５１を畦際に当てることなく作業を行うことができるので、苗タンク５１の破損が防止されると共に、走行車体２が畦際に寄り過ぎることが防止され、苗の植付精度が向上する。 In addition, since the boundary between the farm field and the border is indicated by a first border virtual line L1, the work can be performed without hitting the seedling tank 51, so that the seedling tank 51 is prevented from being damaged, The traveling vehicle body 2 is prevented from being too close to the heel and seedling planting accuracy is improved.

また、苗タンク５１の下部で且つ左右両側に前板ガード（防護体）６４を回動自在に装着し、制御装置１００には、左右外側端部の植付装置５２から機体外側方向に回動させた前板ガード６４までの距離（事前に制御装置１００に入力）に基づき、第２畦際仮想線Ｌ２を表示装置１６に表示させる制御構成を設けている。 In addition, a front plate guard (protector) 64 is rotatably attached to the lower part of the seedling tank 51 and on both the left and right sides, and the control device 100 is rotated outward from the planting device 52 at the left and right outer ends. On the basis of the distance to the front plate guard 64 (inputted to the control device 100 in advance), a control configuration for displaying the second imaginary virtual line L2 on the display device 16 is provided.

従って、左右外側端部の植付装置５２から前板ガード６４までの第２の間隔Ｓ２を基準に第２畦際仮想線Ｌ２を表示することにより、作業者は第１畦際仮想線Ｌ１と第２畦際仮想線Ｌ２のうち可能な限り、畦際に接近可能な方を選んで作業をすることができるので、苗タンク５１の破損が防止されると共に、畦際でも正常に直進することができ、苗の植付精度が向上する。 Accordingly, by displaying the second imaginary virtual line L2 on the basis of the second distance S2 from the planting device 52 at the left and right outer ends to the front plate guard 64, the operator can identify the first imaginary virtual line L1. Since it is possible to select and work on the second imaginary line L2 that is accessible to the heel as much as possible, the seedling tank 51 can be prevented from being damaged, and can proceed straight even at the heel. Can improve seedling planting accuracy.

さらに１つの畦際クラッチレバー１７を操作することにより、決められた２つの苗植付装置５２，５２の入切を操作する畦際操作部材である畦際クラッチ（図示せず）と畦際クラッチレバー１７の操作を検知する畦際スイッチ６６（畦際クラッチレバー１７を切方向に操作すると「入」になる。）を設けている。 Further, by operating one hook clutch lever 17, a hook clutch (not shown) which is a hook operation member for operating on / off of the determined two seedling planting devices 52, 52 and the hook clutch There is provided a closing switch 66 for detecting the operation of the lever 17 (when the closing clutch lever 17 is operated in the turning direction, it is “ON”).

制御装置１００には、前記畦際スイッチ６６が「入」になると、植付装置５２の通常の全植付位置の外側端部の仮想線Ｐ１（図４）よりも畦際スイッチ６６が「切」位置にある図５に示す最畦際寄りに第２植付仮想線（Ｐ２）（畦際クラッチを切って作業する際に一番畦に近い２条分の植付位置を示す）を表示する制御構成を設けている。 When the heel switch 66 is turned “ON”, the heel switch 66 is turned off from the imaginary line P1 (FIG. 4) at the outer end of the normal planting position of the planting device 52. ”Is displayed at the position closest to the edge shown in FIG. 5 in the second planting imaginary line (P2) (indicating the planting position for the two strips closest to the collar when working with the edge clutch disengaged). A control configuration is provided.

従って、畦際スイッチ６６が「入」になると、植付装置５２の通常の全植付位置の外側端部の仮想線Ｐ１よりも畦際スイッチ６６が「切」位置にある最畦際寄りに第２植付仮想線Ｐ２を表示することにより、次に苗の植え付けを行う畦際の作業幅Ｄ（図５の枕地一工程分）を表示することができるので、畦際での植付作業能率が向上すると共に、走行車体（機体）２を畦に接触させて走行車体２が損傷することや隣接条の苗を踏み潰して苗を無駄にすることが防止される。 Therefore, when the heel switch 66 is “ON”, the heel switch 66 is closer to the most close position where the heel switch 66 is at the “OFF” position than the virtual line P1 at the outer end of the normal all planting position of the planting device 52. By displaying the second planting imaginary line P2, it is possible to display the work width D (one step of the headland in FIG. 5) when the seedling is planted next, so planting at the coast The work efficiency is improved, and the traveling vehicle body (airframe) 2 is prevented from coming into contact with the heel to damage the traveling vehicle body 2 and to prevent the seedlings from being wasted by crushing adjacent seedlings.

また、走行車体（機体）２の両側に設けた圃場面に次の植付作業時に直進の目安となる線を形成する線引きマーカ７５と走行車体２が旋回する毎に線引きマーカ７５の作動方向を切り替えるマーカ切替装置６７を設けており、制御装置１００には、マーカ切替装置６７が線引きマーカ７５を線引き作動させた側の走行車体２の後部側方をＣＣＤカメラ４８が検出する制御構成を設けている。 In addition, a drawing marker 75 that forms a line that serves as a guide for straight advancement in the field scene provided on both sides of the traveling vehicle body (airframe) 2 and the operation direction of the drawing marker 75 each time the traveling vehicle body 2 turns. A marker switching device 67 for switching is provided, and the control device 100 is provided with a control configuration in which the CCD camera 48 detects the rear side of the traveling vehicle body 2 on the side where the marker switching device 67 has actuated the drawing marker 75. Yes.

そのため線引きマーカ７５が圃場面に線を形成できているかどうかを操縦部３３から振り返ることなく確認することができるので、確認のために減速したり停車したりする必要が無く、作業能率が向上する。また、線引きマーカ７５を線引き作動させた側の走行車体２の後部側方をＣＣＤカメラ４８が自動的に作動するので、作業者がＣＣＤカメラ４８の切替操作を行う必要がなくなるので、操作性が向上する。 Therefore, it is possible to confirm whether or not the line drawing marker 75 forms a line in the farm scene without looking back from the control unit 33, so there is no need to decelerate or stop for confirmation, and work efficiency is improved. . Further, since the CCD camera 48 automatically operates on the rear side of the traveling vehicle body 2 on the side where the drawing marker 75 is drawn, the operator does not need to perform the switching operation of the CCD camera 48, so that the operability is improved. improves.

図７と図８に示すように、制御装置１００には、線引きマーカ７５が作動した側の圃場面をＣＣＤカメラ４８で検出し、隣接する２つの植付装置５２の左右間隔Ｓ３に基づいて次の植付作業位置を示す第３植付仮想線Ｐ３（Ｐ３−１，Ｐ３−２，Ｐ３−３及びＰ３−４、以下単にＰ３と示すことがある）（全植付装置５２の植付爪５２ａで苗の植付を行うとき、並びに畦際クラッチレバー１７を１つまたは複数操作して、特定の植付装置５２の植付爪５２ａが苗の植え付けを行う位置を示す仮想線のことを言う。）を表示装置１６に表示させる制御構成を設けている。 As shown in FIG. 7 and FIG. 8, the control device 100 detects the field scene on the side where the drawing marker 75 is operated with the CCD camera 48 and then performs the next operation based on the left-right interval S3 between the two adjacent planting devices 52. The third planting virtual line P3 (P3-1, P3-2, P3-3 and P3-4, hereinafter simply referred to as P3) indicating the planting work position of the planting planting plant 52 A virtual line indicating a position where a planting claw 52a of a specific planting device 52 performs planting of a seedling when planting a seedling with 52a and by operating one or a plurality of hook clutch levers 17 Is provided on the display device 16.

従って、次の作業位置を示す第３植付仮想線Ｐ３を表示装置１６に表示することができ、現在の第１植付仮想線Ｐ１と第３植付仮想線Ｐ３を参考にして植付作業を行うことができるので、苗の植付精度が向上し、苗の生育が良好になる。 Accordingly, the third planting virtual line P3 indicating the next work position can be displayed on the display device 16, and the planting work is performed with reference to the current first planting virtual line P1 and the third planting virtual line P3. Therefore, the planting accuracy of the seedling is improved and the growth of the seedling is improved.

また、第３植付仮想線Ｐ３を基準として、機体旋回後の位置合わせを行うことができるので、圃場に植え付けた苗同士の左右間隔が開き過ぎることを防止でき、圃場面積に対して適量の苗が植え付けられ、作物の収穫量が減ることが防止される。
また、圃場に植え付けた苗同士の左右間隔が狭まり過ぎることを防止できるので、風害や病害虫による被害を抑えられ、作物の収穫量が減ることが防止される。
このように苗同士の左右間隔が狭まり過ぎると、風通しが悪く、害虫が棲み付きやすくなると共に、病気が発生すると連鎖的に広がりやすくなり収穫量が悪化し、また、台風等による強風で倒れると連鎖的に他の稲を倒すため、コンバイン等を用いた収穫作業の手間が増大する。 In addition, since the positioning after turning the aircraft can be performed with reference to the third planting virtual line P3, it is possible to prevent the right and left intervals between the seedlings planted in the farm field from being opened too much, and an appropriate amount for the farm field area. Seedlings are planted and crop yields are prevented from decreasing.
In addition, since the distance between the left and right seedlings planted in the field can be prevented from becoming too narrow, damage due to wind damage and pests can be suppressed, and the crop yield can be prevented from decreasing.
If the distance between the left and right seedlings is too narrow in this way, ventilation will be poor and pests will tend to bite, and if a disease occurs, it will spread in a chain and the yield will deteriorate. Since other rice plants are defeated in a chain, the labor of harvesting using a combine or the like increases.

制御装置１００には、線引きマーカ７２を作動させた側の圃場をＣＣＤカメラ４８が検出し、この検出結果から表示装置１６に第１畦際仮想線Ｐ１が表示されるとき、隣接する２つの植付装置５２の左右間隔である第３の間隔Ｓ３（図４参照）に基づく第３畦際仮想線Ｐ３を所定数の畦際クラッチレバー１７を次の植付作業位置に表示する制御構成を設けることができる。 In the control device 100, when the CCD camera 48 detects the field on the side where the line drawing marker 72 is operated, and the first border virtual line P1 is displayed on the display device 16 from the detection result, two adjacent planting plants are displayed. A control configuration is provided for displaying a predetermined number of hook clutch levers 17 at the next planting work position on the third hook virtual line P3 based on the third gap S3 (see FIG. 4) which is the horizontal gap of the attaching device 52. be able to.

前記制御構成により、図７〜図９に示す複数の第３畦際仮想線Ｐ３−１，Ｐ３−２，Ｐ３−３及びＰ３−４のうち、どの線が第１畦際仮想線Ｌ１と同じ位置に表示されるかで、畦際クラッチをどこまで操作するかを次のように判断できる。
なお、Ｐ３−１は下記のとおり、第１植付仮想線Ｐ１と同一位置なので図示を省略する。 According to the control configuration, which of the plurality of third border virtual lines P3-1, P3-2, P3-3, and P3-4 shown in FIGS. 7 to 9 is the same as the first border virtual line L1. Depending on the displayed position, it can be determined as follows how far the closing clutch is operated.
In addition, since P3-1 is the same position as the 1st planting virtual line P1 as follows, illustration is abbreviate | omitted.

（１）畦際に最も近い第３植付仮想線Ｐ３−１：全条分の植付装置を用いるため、旋回前は畦際クラッチをどれも操作しない。
なお、第３植付仮想線Ｐ３−１は、第１植付仮想線Ｐ１と同じ位置に出る。
（２）畦際から数えて２番目の第３植付仮想線Ｐ３−２：畦際クラッチを１つ操作する。なお、３条や４条植の作業機においては、畦際クラッチレバー１７は２つ設けられるが、両方の畦際クラッチレバー１７を操作すると植付クラッチを切った状態と同じ状態となるため、第３植付仮想線Ｐ３−３で示す制御は行われない。
また、第３植付仮想線Ｐ３−２は、第２植付仮想線Ｐ２と同じ位置に出る。 (1) The third planting imaginary line P3-1 that is closest to the heel is used, so that no heel clutch is operated before turning because the planting device for all the strips is used.
The third planting virtual line P3-1 comes out at the same position as the first planting virtual line P1.
(2) Second third planting imaginary line P3-2 counted from the heel: One heel clutch is operated. In the three- and four-row planting machines, two hook clutch levers 17 are provided, but when both hook clutch levers 17 are operated, the planting clutch is disengaged. The control indicated by the third planting virtual line P3-3 is not performed.
Moreover, the 3rd planting virtual line P3-2 comes out in the same position as the 2nd planting virtual line P2.

（３）畦際から数えて３番目の第３植付仮想線Ｐ３−３：畦際クラッチを１つ操作する。なお、７条や８条植においては、畦際クラッチレバー１７は４つ以上設けられ、１０条植においては５本設けられる。このため、７，８条では畦際から数えて４番目の第３植付仮想線Ｐ３−３−１、１０条では畦際から数えて５番目の第３植付仮想線Ｐ３−３−２となる。
（４）畦際から最も離れた第３植付仮想線Ｐ３−４：既に畦の傍にいるため、畦際クラッチをどれも操作しない。 (3) The third planting imaginary line P3-3, counted from the edge, operates one edge clutch. In addition, in the 7th and 8th planting, four or more closing clutch levers 17 are provided, and in the 10th planting, 5 are provided. For this reason, the fourth third planted imaginary line P3-3-1 counted from the shoreline at 7 and 8 and the fifth third imaginary line P3-3-2 counted from the shoreline at 10th and 10th. It becomes.
(4) Third planting virtual line P3-4 furthest away from the heel: Since it is already near the heel, none of the heel clutches are operated.

畦際周辺で植付作業をする際、どの畦際クラッチレバー１７を操作すればよいかを操縦部３３から移動することなく判断することができるので、畦際クラッチレバー１７を操作するタイミングが早く、苗の植え付けが行われない区間が生じることが防止され、作業者が手作業で苗を植える作業が不要となり、作業者の労力が軽減される。
また、畦際クラッチレバー１７を操作するタイミングが遅く、苗を植える必要がない区間に苗を植えることを防止できるので、同じ箇所に重複して苗を植えることがなく、無駄な苗の発生が防止される。 When planting work around the shoreline, it is possible to determine which heel clutch lever 17 should be operated without moving from the control section 33, so that the timing to operate the heel clutch lever 17 is quicker. The section where no seedling is planted is prevented, and the operator does not need to manually plant the seedling, thereby reducing the labor of the worker.
In addition, since the timing of operating the saddle clutch lever 17 is late and it is possible to prevent seedlings from being planted in a section where it is not necessary to plant seedlings, there is no need to duplicate seedlings at the same location, and wasteful seedlings are generated. Is prevented.

また機体（走行車体）２の進行方向及び走行速度を変更するＨＳＴ（走行）レバー６８を設けている場合、制御装置１００には、ＨＳＴ（走行）レバー６８を「前進」位置に操作するとＣＣＤカメラ４８が苗タンク５１の後方及び線引きマーカ７５の作動側を検出し、ＨＳＴ（走行）レバー６８を「後進」にするとＣＣＤカメラ４８が苗タンク５１の下部及び植付装置５２を検出し、苗タンク５１の下部及び植付装置５２の位置から、苗タンク５１を下降させたときに植付装置５２が苗を植える第４植付仮想線（Ｐ４）（図１０）を表示装置１６に表示する制御構成を設けている。 When the HST (traveling) lever 68 for changing the traveling direction and traveling speed of the airframe (traveling vehicle body) 2 is provided, the CCD camera is operated when the HST (traveling) lever 68 is operated to the “forward” position. 48 detects the rear side of the seedling tank 51 and the operating side of the drawing marker 75, and when the HST (travel) lever 68 is set to "reverse", the CCD camera 48 detects the lower part of the seedling tank 51 and the planting device 52, and the seedling tank Control for displaying a fourth planting imaginary line (P4) (FIG. 10) on which the planting device 52 plants seedlings when the seedling tank 51 is lowered from the position of the lower portion of 51 and the planting device 52. A configuration is provided.

該第４植付仮想線Ｐ４は、制御装置１００に予め記録されている、上リンク４０及び下リンク４１，４１の前後長さに基づく苗植付部４を下降させたときに後端部が位置する場所であり、ＨＳＴ（走行）レバー６８を「後進」に操作すると苗植付部４の後端下部付近と共に表示装置１６に表示する仮想線である。この第４植付仮想線Ｐ４は、機体の後進に合わせて表示位置が逐次変更されるものとし、この線を表示装置１６に投影されている圃場の畦際（この畦際は仮想線ではなく、表示装置１６に写る映像を見て、作業者が判断する。）に合わせて下降させると、苗植付部４の後端下部が畦際に接触せず、且つ畦際との間隔が殆ど生じない位置に接地する。 The fourth planting virtual line P4 has a rear end portion when the seedling planting unit 4 based on the longitudinal lengths of the upper link 40 and the lower links 41, 41 recorded in the control device 100 is lowered. This is a virtual line that is displayed on the display device 16 together with the vicinity of the lower end of the rear end of the seedling planting unit 4 when the HST (travel) lever 68 is operated to “reverse”. It is assumed that the display position of the fourth planting virtual line P4 is sequentially changed in accordance with the backward movement of the aircraft, and this line is projected on the field of the field projected on the display device 16 (this is not a virtual line). , The operator judges by looking at the video image displayed on the display device 16), the lower part of the rear end of the seedling planting unit 4 does not come into contact with the heel, and the distance from the heel is almost the same. Ground to a position where it does not occur.

上記構成により機体（走行車体）２の進行方向に合わせてＣＣＤカメラ４８の検出範囲を変更することにより、進行方向に合わせた情報を検出することができるので、苗の植付方向を正確に把握できると共に、植付装置５２で苗を押し倒すことが防止でき、苗の植付精度が向上する。 By changing the detection range of the CCD camera 48 according to the traveling direction of the airframe (traveling vehicle body) 2 according to the above configuration, information matching the traveling direction can be detected, so the planting direction of the seedling can be accurately grasped. In addition, the planting device 52 can prevent the seedling from being pushed down, and the seedling planting accuracy is improved.

後進時に第４植付仮想線Ｐ４を表示することにより、苗タンク５１を下降させる際に下方に苗があるかどうかを操縦部３３から振り返ることなく把握することができるので、作業能率が向上すると共に、同じ位置に苗を重複して植え付けたり、苗を押し潰したりすることが防止されるため、無駄になる苗が減少する。
また、畦際に苗植付部４を間隔を殆ど空けることなく接近させることができるので、畦際近くまで苗を植え付けることができ、作業者が圃場の空いた部分に手作業で苗を植え付ける作業が不要となり、作業者の労力が軽減される。 By displaying the fourth planting imaginary line P4 when moving backward, it is possible to grasp whether or not there is a seedling below when lowering the seedling tank 51 without looking back from the control unit 33, so that the work efficiency is improved. At the same time, it is possible to prevent the seedlings from being repeatedly planted or crushed at the same position, so that the number of seedlings that are wasted is reduced.
In addition, since the seedling planting part 4 can be approached with almost no gap at the time of dredging, the seedling can be planted close to the fringe, and the operator manually plantes the seedling in the vacant part of the field. Work becomes unnecessary, and labor of an operator is reduced.

本発明の苗移植機は、田植機に限らず、野菜苗などのその他の苗を植え付ける苗移植機として利用可能性がある。 The seedling transplanter of the present invention is not limited to a rice transplanter, and may be used as a seedling transplanter for planting other seedlings such as vegetable seedlings.

１施肥装置付き乗用型田植機２走行車体
３昇降リンク装置４苗植付部
５粉粒体繰出し装置（施肥装置）１０前輪
１１後輪１２ミッションケース
１３前輪ファイナルケース１５メインフレーム
１６表示装置（ディスプレイ）１７畦際操作レバー
１８後輪ギヤケース２０エンジン
２１ベルト伝動装置２３油圧無段変速装置（ＨＳＴ）
２５植付クラッチケース２６植付伝動軸
２７（２７ａ，２７ｂ）ロータ２８施肥伝動機構
３０エンジンカバー３１座席
３２フロントカバー３３操縦部
３４ハンドル３５フロアステップ
３６リヤステップ
３８ａ，３８ｂ，３８ｃ第１〜第３予備苗載せ台
３９ａ，３９ｂ，３９ｃ第１〜第３移動リンク部材
４０上リンク４１下リンク
４２リンクベースフレーム４３縦リンク
４４連結軸４６昇降油圧式シリンダ
４８後部検出部材（ＣＣＤカメラ）４９支持機枠
５０伝動ケース５１苗載せ台
５１ａ苗取出口５１ｂ苗送りベルト
５２苗植付装置５２ａ植付爪
５３ブロア用電動モータ５５センターフロート
５６サイドフロート５８ブロア
５９エアチャンバ６０肥料ホッパ
６１繰出部６２施肥ホース
６４前板ガード（防護体）６４ａガード検知センサ
６５支持枠体６５ａ支持ローラ
６５ｂ両側辺部材６６畦際スイッチ
６７マーカ切替装置６８ＨＳＴ（走行）レバー
６９植付操作ボタン７０予備苗載せ台切替駆動装置
７１植付部昇降レバー７２定量下降ボタン
７３切替スイッチ７５線引きマーカ
７６作溝体１００制御装置 DESCRIPTION OF SYMBOLS 1 Riding type rice transplanter with fertilizer 2 Traveling vehicle body 3 Elevating link device 4 Seedling planting part 5 Granule feeding device (fertilizer) 10 Front wheel 11 Rear wheel 12 Mission case 13 Front wheel final case 15 Main frame 16 Display device (display) 17 Edge control lever 18 Rear wheel gear case 20 Engine 21 Belt drive 23 Hydraulic continuously variable transmission (HST)
25 Planting clutch case 26 Planting transmission shaft 27 (27a, 27b) Rotor 28 Fertilizer transmission mechanism 30 Engine cover 31 Seat 32 Front cover 33 Control section 34 Handle 35 Floor step 36 Rear steps 38a, 38b, 38c First to third Preliminary seedling platforms 39a, 39b, 39c First to third moving link members 40 Upper link 41 Lower link 42 Link base frame 43 Vertical link 44 Connecting shaft 46 Lifting hydraulic cylinder 48 Rear detection member (CCD camera) 49 Supporting machine frame DESCRIPTION OF SYMBOLS 50 Transmission case 51 Seedling stand 51a Seedling outlet 51b Seedling feeding belt 52 Seedling planting device 52a Planting claw 53 Blower electric motor 55 Center float 56 Side float 58 Blower 59 Air chamber 60 Fertilizer hopper 61 Feeding part 62 Fertilization hose 64 Front plate guard 64a Guard detection sensor 65 Support frame body 65a Support roller 65b Both side members 66 Edge switch 67 Marker switching device 68 HST (running) lever 69 Planting operation button 70 Preliminary seedling table switching drive device 71 Planting unit lifting / lowering Lever 72 Fixed drop button 73 Changeover switch 75 Drawing marker 76 Groove body 100 Control device

Claims

A traveling vehicle body (2) traveling in the field, a control unit (33) for maneuvering the traveling vehicle body, a plurality of seedling tanks (51) for loading seedlings, and a plurality of seedlings to be planted in the field from each seedling tank (51) in seedling transplanter having a strip portion of the planting device (52),
A rear detection device (48) for detecting information behind the seedling tank (51) and the traveling vehicle body (2) and a display device (16) for displaying information detected by the rear detection device (48) are displayed on the seedling tank (51). Placed in the control section (33),
Among a plurality of planting devices (52), a plurality of cutting operation members for turning on and off a driving force to a specific planting device (52),
An operation detection member that detects the operations of the plurality of border operation members,
Control device (100) for judging planting line and seedling of seedling from information detected by rear detection device (48)
Provided,
The said control device (100), a display device (16) to the first planting imaginary line indicating the next planting working position (P1) and the first ridge when a virtual line showing the boundary of the field and Azesai (L1 ) and an output controlling configure
When the operation detecting member detects that the cutting operation member has cut off the driving force to the specific planting device (52), the planting closest to the hook among the planting devices (52) that are not cut A seedling transplanter provided with a control configuration for displaying the planting work position of the next process of the device (52) as a second planting virtual line (P2) .

At the lower part of the seedling tank (51) and on the left and right sides, the protective body (64) is rotatably mounted,
The control device (100) displays a second imaginary virtual line (L2) based on the distance from the planting device (52) at the left and right outer ends to the protective body (64) rotated in the outer direction of the machine body. The seedling transplanting machine according to claim 1 , characterized in that a control configuration for displaying on the device (16) is provided.

A drawing marker (75) for forming a line that is a guide for straight advancement in the next planting operation on the farm scene provided on both sides of the traveling vehicle body (2);
A marker switching device (67) for switching the operating direction of the drawing marker (75) each time the traveling vehicle body (2) turns;
The control device (100) is provided with a control configuration in which the rear detection device (48) detects the rear side of the traveling vehicle body (2) on the side where the marker switching device (67) has actuated the drawing marker (75). The seedling transplanter according to claim 1, wherein

The control device (100) detects the field scene on the side where the line drawing marker (75) is operated by the rear detection device (48), and the next planting work position based on the left-right distance between the planting devices (52). The seedling transplanting machine according to claim 1, further comprising a control configuration for displaying the third planting imaginary line (P3) on the display device (16) .

In the control device (100), the rear detection device (48) detects the field on the side where the line drawing marker (75) is operated, and the first bordering virtual line (P1) is displayed on the display device (16) from the detection result. Is provided, a control configuration is provided that displays a third phantom virtual line (P3) based on the left-right distance between a predetermined number of planting devices (52) at the next planting work position. The seedling transplanter according to claim 1 .

A traveling operation lever (68) for changing the traveling direction and traveling speed of the traveling vehicle body (2) is provided. When the traveling operation lever (68) is operated to the “forward” position, the rear detection device (48) is operated. ) Detects the rear side of the seedling tank (51) and the operating side of the drawing marker (75), and when the traveling operation lever (68) is set to "reverse", the rear detection device (48) The planting device (52) plants the seedling when the planting device (52) is detected and the seedling tank (51) is lowered from the lower part of the seedling tank (51) and the position of the planting device (52). The seedling transplanter according to claim 1, further comprising a control configuration for displaying the planting virtual line (P4) on the display device (16) .