JP6805890B2 - Seedling transplanter - Google Patents

Description

The present invention relates to a seedling transplanter.

Conventionally, some work vehicles such as rice transplanters used when planting seedlings are provided with an automatic steering device that supports straight running. For example, the steering wheel of the steering device is controlled. It is known that the vehicle automatically travels straight by holding it in a straight position (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-24541

However, for example, the conventional work vehicle disclosed in Patent Document 1 makes it possible to automatically correct the traveling direction when the machine body tilts during automatic straight running, but at that time. Field conditions are not taken into account.

Therefore, in the conventional work vehicle, the accuracy of automatic straight-ahead travel is lowered depending on the field conditions, and the planting is disturbed, which may greatly affect the growth of seedlings.

The present invention has been made in view of the above, and an object of the present invention is to provide a seedling transplanter capable of further improving the accuracy of automatic straight running.

In order to solve the above-mentioned problems and achieve the object, the seedling transplanting machine (1) according to claim 1 is a traveling vehicle body (2) provided with a steering wheel (4) steered by a steering device (110). A seedling planting portion (50) that is vertically connected to the rear portion of the traveling vehicle body (2), a position information acquisition device (120) that acquires position information of the traveling vehicle body (2), and the traveling vehicle body. The traveling vehicle body (2) controls the steering device (110) based on the position information acquired by the inclination detection unit (180) for detecting the inclination in the front-rear direction of (2) and the position information acquisition device (120). The seedling planting unit (50) is provided with a control unit (150) for straight-ahead support to support the automatic straight-ahead traveling, and the seedling planting unit (50) is provided with an electric motor (165) so as to be able to move up and down. The control unit (150) executes the straight-ahead support on condition that the ground leveling device (67) is in contact with the ground, and while the straight-ahead support is being executed , the control unit (150) is in front of the traveling vehicle body (2). When the inclination detecting unit (180) detects that the rising posture is equal to or more than a predetermined angle, at least the leveling device (67) of the seedling planting unit (50 ) is lowered to lower the leveling device (67). It is characterized in that the inclination of the traveling vehicle body (2) is suppressed by setting the traveling vehicle body (2) in a state of being stretched to the field scene behind the center of gravity of the aircraft .

Seedling transplantation machine according to claim 2 (1), Oite to claim 1, wherein the vehicle body (2) has control seat (28), to detect the presence of workers in the control seat (28) A seating sensor (190) is provided, and the control unit (150) starts the straight-ahead support on condition that the seating sensor (190) detects the seating on the control seat (28). It is characterized by doing.

Seedling transplantation machine according to claim 3 (1), Oite to claim 1, wherein the vehicle body (2) has control seat (28), to detect the presence of workers in the control seat (28) The seating sensor (190) includes a seating sensor (190), and when the control unit (150) restarts the straight-ahead support once interrupted, the seating sensor (190) seats the control seat (28). It is characterized in that it is performed on condition that it is detected.

The seedling transplanter (1) according to claim 4 has a float (47) that moves up and down following the unevenness of the field (F) and the float (47) in any one of claims 1 to 3. The control unit (150) is provided with a hydraulic sensitivity mechanism (154) that senses the vertical movement of the seedling planting unit (50) and raises and lowers the seedling planting unit (50) according to the unevenness of the field (F). When the 180) detects that the posture of the traveling vehicle body (2) is raised forward by a predetermined angle or more, the sensitivity of the float (47) to the vertical movement by the hydraulic sensitivity mechanism (154) is reduced. It is a feature.

The seedling transplanter (1) according to claim 5 includes a vehicle speed regulation unit (100) that regulates the vehicle speed of the traveling vehicle body (2) in claim 4 , and the control unit (150) has the hydraulic sensitivity. It is characterized in that the vehicle speed regulation unit (100) is controlled to regulate the vehicle speed according to the operation frequency of the mechanism (154).

The seedling transplanting machine (1) according to claim 6 includes the steering angle detecting unit (130) for detecting the steering angle (θ) of the steering wheel (4) in claim 5 , and the control unit (150). Allows the steering angle (θ) of the steering wheel (4) detected by the steering angle detecting unit (130) to allow the traveling vehicle body (2) to travel straight when the once interrupted straight-ahead support is restarted. It is characterized in that it is performed on condition that it is within the range.

Seedling transplantation machine as set forth in claim 7 (1), according to claim 6, wherein the control unit (150), during execution of said rectilinear support, the steering angle detected by the steering angle detection section (130) (theta ) Is at least a predetermined angle, or when the frequency of automatically steering the steering device (110) is higher than the predetermined frequency, the vehicle speed regulating unit (100) is controlled to regulate the vehicle speed.

According to the seedling transplanter according to claim 1, when the traveling vehicle body is in a forward rising posture by a predetermined angle or more, at least a part of the seedling planting portion is lowered and pressed against the field, so that the entire seedling transplanter is used. It is possible to correct the posture so that the posture is horizontal, secure the driving torque of the front wheels that serve as the steering wheels, and improve the straightness. Further, by lowering at least a part of the seedling planting portion and pressing it against the field, the blurring can be reduced and the straightness can be improved. In addition, since at least a part of the seedling planting part pressed against the field is a ground leveling device that is driven up and down by an electric motor, precise and efficient control can be performed, and the straightness of the seedling transplanter can be improved more effectively. ..

According to the seedling transplanter according to claim 2 , since the straight-ahead support is provided on the condition that the worker is in a seated state, the safety is improved in addition to the effect of the invention according to claim 1 .

According to the seedling transplanter according to claim 3 , since the straight-ahead support is restarted on condition that the worker is in a seated state, in addition to the effect of the invention according to claim 1 , safety is improved. ..

According to the seedling transplanting machine according to claim 4 , when the tilt detecting unit detects that the front of the seedling transplanting machine is in an oblique posture in a forward rising state, the sensitivity to the vertical movement of the float is reduced, so that the seedlings are planted. Since the vibration when the attachment portion moves in the vertical direction is reduced and the seedling planting portion does not rise more than necessary, the effect of the invention according to claim 1 or 2 can be further enhanced. Further, in addition to the effect of the invention according to any one of claims 1 to 3 , it is possible to prevent a decrease in straightness.

According to the fifth aspect of the invention, the vehicle speed is regulated according to the operating frequency of the hydraulic sensitivity mechanism. Therefore, in addition to the effect of the invention according to the fourth aspect , the straightness of the seedling transplanter is improved. By improving it, it is possible to prevent adverse effects on the growth of seedlings due to disordered planting.

According to the seedling transplanter according to claim 6 , in addition to the effect of the invention according to claim 5 , the straight-ahead support cannot be restarted unless the steering wheel and the steering wheel are in a straight-ahead state. When the straight-ahead support of the seedling transplanter is restarted from the stopped state for some reason, the seedling transplanter advances diagonally, and as a result, the adverse effect on the growth of the seedlings due to the disordered planting of the seedlings is prevented. be able to.

According to the seedling transplanter according to claim 7 , even when straight-ahead support is being executed, the vehicle speed is regulated when the steering angle is equal to or greater than a predetermined angle or when the frequency of automatic steering is higher than the predetermined frequency. The effect of the invention according to claim 6 can be further enhanced.

FIG. 1 is an explanatory diagram showing an outline of straight-ahead support in the seedling transplanter according to the embodiment. FIG. 2 is a side view of the seedling transplanter according to the embodiment. FIG. 3 is an explanatory view of the control unit. FIG. 4A is an overall side view of the center mascot. FIG. 4B is a partial front view of the center mascot. FIG. 5A is a front view explanatory view of an antenna frame included in the seedling transplanter according to the embodiment. FIG. 5B is an explanatory view of the same antenna frame as viewed from the side. FIG. 6 is a perspective view of the same antenna frame. FIG. 7 is a functional block diagram centered on the controller. FIG. 8 is an explanatory diagram showing a type of material remaining amount sensor. FIG. 9 is a flowchart showing an example of straight-ahead support. FIG. 10 is a flowchart showing an example of vehicle speed control processing. FIG. 11 is an explanatory diagram showing a procedure for registering a reference traveling line in straight-ahead support.

The seedling transplanter according to the embodiment of the present invention will be described in detail below as a riding type seedling transplanter with reference to the drawings. The components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same, that is, those having a so-called equal range. Furthermore, the present invention is not limited to the above-described embodiment, and can be variously modified and implemented without departing from the gist of the present invention. In the following, the entire seedling transplanter may be referred to as an airframe.

FIG. 1 is an explanatory diagram showing an outline of straight-ahead support of the rice transplanter 1 according to the embodiment. The seedling transplanter 1 according to the present embodiment includes a seedling planting portion 50 connected to the rear portion and a traveling vehicle body 2 having a pair of left and right front wheels 4 and rear wheels 5, respectively.

In the present embodiment, the straight-ahead support means that the control unit controls the operation of the steering wheel based on the steering angle (turning angle) of the steering wheel of the rice transplanter 1 and the position information of the rice transplanter 1. , Refers to the function of supporting the automatic straight running of the seedling transplanter 1 in the field F. Here, the steering angle is the turning angle of the front wheels 4, but for example, the steering angle of the steering wheel 32 (see FIG. 2) may be detected as the steering angle. Further, the position information of the seedling transplanter 1 is acquired by the GNSS unit 120 (see FIG. 7) as a position information acquisition device provided on the traveling vehicle body 2. In the following description, the front-rear, left-right direction reference of the seedling transplanter 1 is based on the running direction of the traveling vehicle body 2 as viewed from the control seat 28 (see FIG. 2) in which the operator can sit.

As shown in the figure, the seedling transplanter 1 reciprocates in a predetermined work area G in the field F and plants seedlings in a predetermined work width D. At this time, if the straight-ahead support is executed, the manual operation of the operator using the handle 32 may be only the turning operation performed in the vicinity of the headland, and for the straight-ahead running, the rice transplanter 1 follows the automatic straight-ahead line L1. Automatically runs. In FIG. 1, reference numeral L3 indicates a turning line by manual operation of the seedling transplanter 1 in the headland. Further, reference numeral E indicates the entrance / exit of the seedling transplanter 1 to the field F.

The automatic straight line L1 of the seedling transplanter 1 by straight support is parallel to the reference running line L2 which is a reference for performing straight support, and this reference running line L2 is aligned with the planting direction of the seedlings in the field F. It is preset in. That is, the start position and the end position of the straight-ahead support are set as the reference start point P1 and the reference end point P2, respectively, and the line segment connecting the acquired reference start point P1 and the reference end point P2 is acquired by the traveling standard registration unit 152 provided in the seedling transplanter 1. , It is registered as a reference traveling line L2.

In executing such straight-ahead support, the seedling transplanter 1 according to the present embodiment is the seedling planting unit 50 or its seedling planting unit 50 when the forward rising posture of the traveling vehicle body 2 is equal to or greater than a predetermined angle during the straight-ahead support. At least a part of the vehicle is lowered to suppress the inclination of the traveling vehicle body 2. That is, by pressing the member located behind the center of gravity of the machine body against the field scene and stretching it, the portion of the traveling vehicle body 2 on the front side of the center of gravity of the machine body can be corrected in the downward direction. Therefore, by making the posture of the entire seedling transplanter horizontal, the driving torque of the front wheels 4 serving as the steering wheels can be secured, and the straightness can be improved. Further, by lowering at least a part of the seedling planting portion 50 and pressing it against the field scene, the blurring can be reduced and the straightness of the machine body can be improved.

Here, when the traveling vehicle body 2 is in a forward rising posture by a predetermined angle or more, at least a part of the seedling planting portion 50 pressed against the field F is moved up and down by a rotor motor 165 (see FIG. 7). (See FIG. 2). Since the rotor 67 is driven up and down by the rotor motor 165, more precise and efficient control can be performed, and the straightness of the rice transplanter 1 can be effectively improved.

Hereinafter, the specific configuration of the seedling transplanter 1 will be described with reference to FIGS. 2 and 3. FIG. 2 is a side view of the seedling transplanter 1 according to the embodiment, and FIG. 3 is an explanatory view of a control unit.

As shown in FIGS. 2 and 3, the seedling planting portion 50 is attached to the traveling vehicle body 2 of the seedling transplanter 1 so as to be able to move up and down via the seedling planting portion elevating mechanism 40 which is an elevating device. Further, the traveling vehicle body 2 is a four-wheel drive vehicle in which a pair of left and right front wheels 4 and a pair of left and right rear wheels 5 are both driven, and the front wheels 4 serving as steering wheels are steered by rotating the steering wheel 32. , It is possible to drive on a road between fields F and fields F.

Further, the traveling vehicle body 2 uses a main frame 7 arranged substantially in the center of the vehicle body, an engine 10 which is a prime mover mounted on the main frame 7, and the power of the engine 10 to the front and rear wheels 4 and 5 and seedling planting. A power transmission device 15 for transmitting to the attachment portion 50 is provided. In this seedling transplanter 1, an internal combustion engine such as a diesel engine or a gasoline engine is used for the engine 10 which is a power source, and the generated power is not only used to move the traveling vehicle body 2 forward or backward, but also seedlings. It is also used to drive the planting unit 50.

Further, the power transmission device 15 is a so-called HST (Hydro Static Transmission) hydraulic continuously variable transmission 16 that shifts and outputs the driving force transmitted from the engine 10, and the hydraulic continuously variable transmission 16 It has a power transmission unit 17 that transmits power from the engine 10.

Further, the power transmission device 15 has a mission case 18. That is, the driving force from the engine 10 is transmitted to the hydraulic continuously variable transmission 16 via the power transmission unit 17, and the power shifted by the hydraulic continuously variable transmission 16 is transmitted to the mission case 18. The transmission case 18 has an auxiliary transmission mechanism (not shown) for switching between a high-speed mode and a low-speed mode, which will be described later, and is attached to the front portion of the main frame 7.

Part of the power transmitted from the mission case 18 to the front wheels 4 and the rear wheels 5 can be transmitted to the front wheels 4 via the left and right front wheel final cases 13, and the rest can be transmitted to the front wheels 4 via the left and right rear wheel gear cases 22. It is possible to transmit to 5. The left and right front wheel final cases 13 are arranged on the left and right sides of the mission case 18. The left and right front wheels 4 are connected to the left and right front wheel final cases 13 via axles 131, and the front wheel final cases 13 can be driven in response to the steering operation of the steering wheel 32 to steer the front wheels 4. ..

Similarly, the rear wheels 5 are connected to the left and right rear wheel gear cases 22 via axles 220. On the other hand, from the mission case 18, power is transmitted from a working machine drive shaft (not shown) to the seedling planting portion 50 via a planting clutch 500 provided at the rear portion of the traveling vehicle body 2. The planting clutch 500 is operated by the planting clutch motor 510 connected to the controller 150, which will be described in detail later (see FIG. 7).

By the way, the engine 10 is arranged substantially at the center of the traveling vehicle body 2 in the left-right direction and in a state of protruding upward from the floor step 26 on which the operator puts his / her foot when riding. The floor step 26 is provided between the front portion of the traveling vehicle body 2 and the rear portion of the engine 10 and is mounted on the main frame 7, and a part of the floor step 26 is attached to the shoes by forming a grid pattern. Mud can be dropped into field F. Further, behind the floor step 26, a rear step 27 that also serves as a fender for the rear wheels 5 is provided. The rear step 27 has an inclined surface that is inclined upward toward the rear, and is arranged on each of the left and right sides of the engine 10.

Further, the engine 10 projects upward from these floor steps 26 and the rear step 27, and an engine cover 11 covering the engine 10 is arranged at a portion protruding from these steps 26 and 27.

A control seat 28 in which an operator sits is installed on the upper part of the engine cover 11, and a control unit 30 is provided in front of the control seat 28 and in the center of the front side of the traveling vehicle body 2. The control unit 30 is arranged so as to project upward from the floor surface of the floor step 26, and divides the front side of the floor step 26 into left and right.

A steering post 315 is provided in the control unit 30, and a steering wheel 32 that can be steered by an operator is provided on the upper portion of the steering post 315. Then, as shown in FIG. 3, the instrument panel 33 provided on the steering post 315 is provided with various switches 153 and meters including a reference point registration switch 83 and a straight-ahead support start switch 84, which will be described later. Further, the control unit 30 is provided with a tablet terminal device 140, which will be described later, which is detachably attached to the lower portion of the steering post 315. Further, at a predetermined position of the control unit 30, for example, a buzzer 215, which is an example of the notification device 200, is provided (see FIG. 7).

Further, the control unit 30 is provided with a main shift lever 81 and an auxiliary shift lever 82 in the vicinity of the steering post 315. The main shift lever 81 is provided on the right side of the control unit 30, and the auxiliary shift lever 82 is provided below the steering wheel 32, which is a steering wheel.

The main speed change lever 81 is a lever for switching between the forward / backward movement of the traveling vehicle body 2 and the traveling output, and the operator grips and operates the grip portion 810 provided at the tip thereof to operate the hydraulic continuously variable transmission, which will be described later. The speed of the traveling vehicle body 2 can be adjusted by adjusting the rotation angle of the 16 trunnions (not shown).

On the other hand, the auxiliary shift lever 82 is a lever that switches the traveling mode that defines the traveling speed of the traveling vehicle body 2 between the low speed mode and the high speed mode according to the traveling location. Here, the low-speed mode is a traveling mode defined in a speed range suitable for the seedling transplanter 1 to perform the planting work in the field F. On the other hand, the high-speed mode is, for example, a traveling mode when the seedling transplanter 1 is moved between the fields F, and it is possible to travel at a higher speed than in the low-speed mode. These modes are switched by the auxiliary transmission mechanism provided in the transmission case 18 according to the position of the auxiliary transmission lever 82.

Further, a front cover 31 that can be opened and closed is provided at the front portion of the control unit 30. A center mascot 350 as an index member as an index of running is attached so as to be located at the center of the front end of the front cover 31. Although not shown in FIG. 2 for convenience, spare seedling stands 400 and 400 (see FIG. 5A) are provided on the front left and right sides of the traveling vehicle body 2.

FIG. 4A is an overall side view of the center mascot 350, and FIG. 4B is a partial front view of the center mascot 350. The center mascot 350 according to the present embodiment will be described with reference to FIGS. 4A and 4B.

The center mascot 350 according to the present embodiment is attached to the front center position of the traveling vehicle body 2 so as to serve as a guide for the traveling direction when the worker sitting on the control seat 28 operates the seedling transplanter 1. It works for. Further, the center mascot 350 according to the present embodiment also functions as a notification device 200 for notifying the support status including whether or not the straight-ahead support can be executed.

That is, as shown in FIG. 4A, a plurality of center mascots 350 are arranged side by side at the front center position of the traveling vehicle body 2 along the traveling direction. Specifically, the first strut 353a and the second strut 353b, each of which has a curved lower portion and whose tip extends upward, are attached so as to be located at the center of the front end of the front cover 31.

A first lens portion 351 is provided at the tip of the first strut 353a, and a second lens portion 352 is provided at the tip of the second strut 353b. A locking bar 356 is provided in the middle of the second support column 353b, and when the front cover 31 provided at the front portion of the control unit 30 is opened, the locking bar 356 is locked. The open state can be maintained (see FIG. 5B). When it is not necessary to distinguish between the first strut 353a and the second strut 353b, the two may be collectively referred to as the mascot strut 353. The base end of the mascot support 353 is attached to the front side of the main frame 7 of the traveling vehicle body 2 so as to be tiltable back and forth via the pivot portion 355.

As shown in FIG. 4B, the first lens unit 351 and the second lens unit 352 of the center mascot 350 include a plurality of lamps 353A to 354e, and the notification device 200 is configured by the light emission of the lamps 354a to 354e. It is configured to function as a display unit 210 (see FIG. 7). When a plurality of lamps 354a to 354e are collectively referred to, they are referred to as lamps 354.

Further, as shown in FIG. 4A, the first strut 353a is relatively long and located on the front side, and is formed shorter than the first strut 353a in a state of being in close contact with the rear side of the first strut 353a. Two columns 353b are arranged. The first strut 353a bends forward in the middle, and then the tip extends upward.

Therefore, the first lens unit 351 and the second lens unit 352, which emit light and function as the notification device 200 (display unit 210), are arranged apart from each other in the front-rear direction with a predetermined height difference. The visibility from a person is improved, and there is no possibility that the light emitted from the first lens unit 351 and the light emitted from the second lens unit 352 are erroneously recognized. Further, by using a plurality of lens units 351 and 352, the notification contents can be diversified.

Here, the operation as the notification device 200 will be described with an example. For example, when straight-ahead support is executed and automatic straight-ahead is possible, the lower lamp 354d provided in the first lens unit 351 of the center mascot 350 blinks, and when the center mascot 350 is actually automatic straight-ahead, the lower lamp 354d Lights up. On the other hand, if the straight-ahead support cannot be used for some reason, the lower lamp 354d is turned off. At this time, the upper lamp 354e may be turned on, for example, in red to notify the situation where the straight-ahead support is not available.

On the other hand, in the second lens unit 352 located below the first lens unit 351, the status of the seedling planting portion 50 may be notified by a lamp instead of the status of straight-ahead support. For example, although not shown, a sensor for detecting the remaining amount of seedlings and the remaining amount of fertilizer is provided, and when the amount of seedlings in the seedling planting unit 50 becomes less than a predetermined amount, the second lens unit 352 according to the remaining amount. The lower left lamp 354a and the right lamp 354b are lit or blinked. Further, when the amount of fertilizer is less than a predetermined amount, the upper lamp 354c of the second lens unit 352 blinks or lights up. Contrary to the above-mentioned notification, the first lens unit 351 may notify the status of the seedling planting unit 50, and the second lens unit 352 may notify the status of straight-ahead support.

As described above, the seedling transplanter 1 according to the present embodiment uses the center mascot 350 as the notification device 200, and in addition to the status of straight-ahead support, the remaining work materials such as seedlings and fertilizer provided in the seedling planting section 50. Information on the quantity can also be notified.

Since the center mascot 350 is always in the field of view of the worker facing forward, the worker can always grasp the situation of the seedling transplanter 1 without turning his / her eyes away from the front, and the safety is improved. Can greatly contribute to.

Further, in order for the rice transplanter 1 to perform straight-ahead support, teaching work is required in advance. In the teaching work, for example, the reference traveling line L2 (see FIG. 1) is registered by the traveling standard registration unit 152 (see FIG. 7) while using the GNSS unit 120 in order to execute the straight-ahead support and control the straight-ahead.

That is, the controller 150 (see FIG. 7) of the seedling transplanter 1 according to the present embodiment is a traveling standard registration unit that registers the reference traveling line L2 (see FIG. 1) that serves as a reference for the traveling vehicle body 2 in the straight traveling support. It has 152.

The traveling standard registration unit 152 acquires the start position and the end position of the straight-ahead support as the reference start point P1 and the reference end point P2, respectively, and registers the line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2. I try to do it.

The operation of acquiring the reference start point P1 and the reference end point P2 can be performed by operating the reference point registration switch 83 provided in the control unit 30. The reference point registration switch 83 is composed of a so-called bounce switch, and the first operation is the acquisition operation of the reference start point P1 and the second operation is the acquisition operation of the reference end point P2. Then, if the reference point registration switch 83 is pressed and held for a long time, the acquisition operation of the reference start point P1 and the reference end point P2 is canceled.

At this time, the notification device 200, that is, the center mascot 350, can notify the acquisition status of the reference start point P1 and the reference end point P2 by the display unit 210 composed of the lamps 354a to 354e. Further, by making the buzzer 215 of the notification device 200 sound when the switch is operated, it is possible to perform the acquisition operation of the reference start point P1 and the reference end point P2 while confirming through visual and auditory senses. It is preferable that the buzzer sounds for a long time during the long press operation for canceling the acquisition operation of the reference start point P1 and the reference end point P2.

Here, the notification by the center mascot 350 will be described. For example, when the second lens unit 352 is used and the reference start point P1 and the reference end point P2 that define the reference traveling line L2 have not been acquired, the two lower left and right lamps 354a and 354b of the second lens unit 352 When both are turned off and only the reference start point P1 has been acquired, the left lamp 354a is turned on. Then, when both the reference start point P1 and the reference end point P2 have been acquired, the left and right lamps 354a and 354b are both lit. In this case, for example, the upper lamp 354c may be blinked when the teaching operation is being executed, and may be turned on when the teaching operation is completed.

Of course, the first lens unit 351 may notify the acquisition status of the reference start point P1 and the reference end point P2. In that case, for example, if the reference start point P1 and the reference end point P2 have not been acquired, the upper and lower lamps 354e and 354d of the first lens unit 351 are both turned off, and if only the reference start point P1 has been acquired, the upper lamp 354e is turned off. Light. Then, when both the reference start point P1 and the reference end point P2 have been acquired, the upper and lower lamps 354e and 354d are both lit.

As shown in FIG. 3, the reference point registration switch 83 used when registering the reference traveling line L2 (see FIG. 1) as described above is provided on the left side of the instrument panel 33 in the control unit 30. That is, the main speed change lever 81 for switching between the forward / backward movement and the running output of the traveling vehicle body 2 and the reference point registration switch 83, which is an operation switch for acquiring the reference start point P1 and the reference end point P2, sandwich the handle 32. It is provided at a position facing each other. In this way, the main speed change lever 81 and the reference point registration switch 83 are arranged so as to face each other on the left and right opposite sides. Therefore, for example, when performing teaching work which is a preparation for straight-ahead support, the aircraft moves forward and backward. The risk of the operator erroneously operating the main speed change lever 81 and the reference point registration switch 83 due to misunderstanding is reduced as much as possible.

By the way, in the seedling transplanter 1 according to the present embodiment, as shown in FIG. 2, a GNSS unit 120 having a built-in receiving antenna 121 (see FIG. 7) is arranged in the traveling vehicle body 2. The GNSS unit 120 can acquire position information on the earth at predetermined intervals by acquiring GNSS coordinates at predetermined intervals in time with the receiving antenna 121. Further, in the GNSS unit 120 according to the present embodiment, in addition to the receiving antenna 121, an inertial navigation system using a gyro sensor and an acceleration sensor and a control board for controlling them are built in, although not shown.

5A is an explanatory view of the antenna frame included in the seedling transplanter 1 according to the embodiment in front view, FIG. 5B is an explanatory view of the antenna frame in side view, and FIG. 6 is a perspective view of the antenna frame. As shown in FIGS. 2, 5A and 5B, the GNSS unit 120 is located at the top of the antenna frame 124 whose base end is connected to the front end side of the traveling vehicle body 2 so as to be located directly above the axle 131 of the front wheel 4. It is attached to. The height of the antenna frame 124 in the normal state is set so that it does not interfere with the head even if a standard general man stands on the floor step 26.

As shown in FIG. 6, the antenna frame 124 is composed of left and right front lower frames 124a and 124a, a front upper frame 124b, an upper L-shaped frame 124c, and a rear vertical frame 124d.

A pair of brackets 127 and 127 are provided at the base ends of the left and right front lower frames 124a and 124a, and the front lower frame 124a is attached to the bumper 700 of the traveling vehicle body 2 via the brackets 127 and 127.

The front upper frame 124b has left and right vertical frames 1241 and 1242 whose base ends are rotatably connected to the left and right front lower frames 124a and 124a via rotary couplers 124f and 124f, respectively. It is a shaped frame, and is formed in an abbreviated shape when viewed from the side (see FIG. 2).

As shown in FIG. 6, the left and right rotary connecting tools 124f and 124f are connected and fixed by a knob bolt 128, and as shown in FIG. 2, the rotary connecting tools 124f and 124f and the front cover 31 are reinforced. The frame 124e is hung. In this way, rattling of the front lower frames 124a and 124a and the left and right vertical frames 1241 and 1242 is prevented by a simple configuration.

As shown in FIG. 5A, the left and right front lower frames 124a and 124a are erected diagonally inward so that the upper end side does not come into contact with the front cover 31. Therefore, a space Q is formed between the control unit 30 and the spare seedling mounting tables 400 and 400 arranged on the left and right sides of the machine body, for example, so that the operator can move between the front side of the machine body and the floor step 26.

Then, the GNSS unit 120 is arranged on the aluminum block 122 bridged between the upper portions of the left and right vertical frames 1241 and 1242. In this way, by interposing the aluminum block 122 between the GNSS unit 120 and the steel pipe antenna frame 124, the reception sensitivity is improved as compared with the case where the aluminum block 122 is directly attached to the receiving antenna 121.

The tip of the upper L-shaped frame 124c is connected to the rear end of the front upper frame 124b, and although not shown, wiring such as a harness extending from the GNSS unit 120 is along the upper L-shaped frame 124c. Is being routed.

The lower end of the rear vertical frame 124d is connected to the rear step 27 at the rear side of the control seat 28. The storage hoppers 71 and 71 of the fertilizer application device 70 are arranged on the left and right behind the cockpit 28, respectively, because the rear vertical frame 124d is positioned between the left and right storage hoppers 71 and 71. , There is no interference when opening and closing the storage hopper 71.

In this way, the antenna frame 124 for arranging the GNSS unit 120 has the front side connected to the bumper 700 and the front cover 31 and the rear side connected to the rear step 27, and has a structurally stable three-point support. Therefore, it can be attached to the traveling vehicle body 2 in an extremely stable state.

At the upper end of the rear vertical frame 124d, a connecting portion 125 for detachably connecting the other end of the upper L-shaped frame 124c is provided, and the upper L-shaped frame 124c is detachably connected. The connecting portion 125 includes, for example, a pin insertion hole (not shown) formed at the connecting end portion of the upper L-shaped frame 124c and the rear vertical frame 124d, and a fastening pin (not shown) that can be inserted into and removed from the pin insertion hole. (Not shown). As described above, with a simple configuration, the upper L-shaped frame 124c and the rear vertical frame 124d can be detachably connected to each other.

In this way, the upper L-shaped frame 124c is separated from the rear vertical frame 124d, and as shown in FIG. 6, the front upper frame 124b and the upper L-shape are separated from the front lower frames 124a and 124a by the rotary connecting members 124f and 124f. The height of the antenna frame 124 can be lowered by a simple operation of rotating the frame 124c downward at the rear (see FIG. 5B).

Therefore, for example, when the seedling transplanter 1 is transported or stored in a barn or the like, if the thickness of the GNSS unit 120 becomes a height obstacle, the overall vehicle height is lowered without removing the GNSS unit 120. be able to.

Further, since the antenna frame 124 (front upper frame 124b and upper L-shaped frame 124c) is rotated by a simple configuration provided with the rotating connector 124f, the cost increase is suppressed and the antenna frame 124 is suppressed. The overall rattling can be minimized. Moreover, it has the convenience of being able to perform a rotation operation with one action.

By the way, in the present embodiment, as shown in FIG. 6, a frame receiver 126 formed in a substantially Y shape is provided near the upper end of the rear vertical frame 124d. Therefore, when the antenna frame 124 is folded to lower the height, the upper L-shaped frame 124c can be stably held by being locked to the frame receiver 126.

Here, returning to FIG. 2, the seedling planting portion 50 and other configurations will be described. As shown in FIG. 2, the seedling planting portion 50 is attached to the rear portion of the traveling vehicle body 2 so as to be able to move up and down via the seedling planting portion elevating mechanism 40. The seedling planting portion elevating mechanism 40 includes an elevating link device 41, and the elevating link device 41 includes a parallel link mechanism for connecting the rear portion of the traveling vehicle body 2 and the seedling planting portion 50. Such a parallel link mechanism has an upper link 41a and a lower link 41b, and these links 41a and 41b are rotatably attached to a rear view gate type link base frame 43 erected at the rear end of the main frame 7. Be connected. The other ends of the links 41a and 41b are rotatably connected to the seedling planting portion 50. In this way, the seedling planting portion 50 is connected to the traveling vehicle body 2 so as to be able to move up and down.

In addition, the seedling planting section elevating mechanism 40 has a hydraulic elevating cylinder 44 that expands and contracts by flood control, and the seedling planting section 50 can be raised and lowered by the expansion and contraction operation of the hydraulic elevating cylinder 44. The hydraulic elevating cylinder 44 is driven by the above-mentioned hydraulic continuously variable transmission 16 and raises the seedling planting portion 50 to a non-working position or works on the ground (planting) by the elevating operation of the seedling planting portion elevating mechanism 40. It can be lowered to the attached position).

In addition, the seedling planting unit 50 can plant the seedlings in a plurality of sections or a plurality of rows. For example, it can be a so-called 6-row planting part 50 in which seedlings are planted in 6 sections.

Further, the seedling planting section 50 includes a seedling planting device 60, a seedling placing table 51, and a float 47 (48, 49). Of these, the seedling placing table 51 is provided as a seedling placing member for loading a plurality of seedlings on the rear part of the traveling vehicle body 2, and the seedlings are placed for the number of planting rows partitioned in the left-right direction of the traveling vehicle body 2. It has a surface 52, and it is possible to place a mat-like seedling with soil on each seedling loading surface 52.

The seedling planting device 60 is a device arranged in the lower part of the seedling placing table 51 on which the seedlings are placed, and the seedlings are taken from the seedling placing table 51 and planted in the field F, and arranged on the front side of the seedling placing table 51. It is supported by the planting support frame 55. The seedling planting device 60 has a planting transmission case 64 and a planting body 61, and the planting body 61 is configured so that seedlings can be taken from the seedling placing table 51 and planted in the field F. The planting transmission case 64 can supply a driving force to the planting body 61.

Further, the planting transmission case 64 is configured to be able to supply the power transmitted from the engine 10 to the seedling planting portion 50 to the planting body 61, and the planting body 61 is configured to supply the planting body 61 to the planting transmission case 64. Is rotatably connected. Further, the planting body 61 rotatably supports the planting rod 62, which takes seedlings from the seedling placing table 51 and plants them in the field F, and the planting rod 62, and rotatably connects to the planting transmission case 64. It has a rotary case 63 to be used. The rotary case 63 is equipped with a non-uniform speed transmission mechanism (not shown) that can rotate the planting rod 62 while changing the rotation speed when the implantation rod 62 is rotated by the driving force transmitted from the planting transmission case 64. ing. As a result, when the planting body 61 is rotated, the implanting rod 62 can rotate while the rotation speed changes depending on the rotation angle with respect to the rotary case 63.

One seedling planting device 60 configured in this way is arranged every two rows. That is, each of the plurality of seedling planting devices 60 is assigned a planting strip. Further, each planting transmission case 64 is provided with two planting bodies 61 rotatably. That is, in one planting transmission case 64, two rotary cases 63 are connected to both sides in the left-right direction of the machine body.

Further, the float 47 slides on the field scene as the traveling vehicle body 2 moves to level the ground, and has a center float 48 located at the center of the seedling planting portion 50 in the left-right direction of the traveling vehicle body 2 and the left-right direction. It has side floats 49 located on both sides of the seedling planting portion 50 in the above.

The center float 48 in the present embodiment is provided with a float potentiometer 154 (see FIG. 7) that functions as a hydraulic sensitivity mechanism for moving the seedling planting portion 50 up and down according to the situation of the field F. The float potentiometer 154 can change the range of sensitivity for detecting the vertical movement of the center float 48. For example, if the sensitivity is made sensitive, even a small vertical movement of the center float 48 will be detected and a detection signal will be transmitted to the controller 150. On the other hand, if the sensitivity is desensitized, the detection signal is transmitted to the controller 150 by detecting only the vertical movement of a certain amplitude or more without detecting the small vertical movement of the center float 48.

Further, on the front side at the position on the lower side of the seedling planting portion 50, rotors 67 and 67 for leveling the field F are provided. The rotor 67 is rotatably configured by the output from the engine 10 transmitted via the rear wheel gear case 22, and is rotatably provided by a rotor motor 165 (see FIG. 7), which is an electric motor. .. In the seedling transplanter 1 according to the present embodiment, the controller 150, which will be described later, executes straight-ahead support on condition that the rotors 67 and 67 for leveling are in contact with the ground. That is, straight-ahead support is executed only when the seedling planting work is performed.

Further, on both the left and right sides of the seedling planting portion 50, drawing markers 68 forming a line serving as a guide for the traveling direction are provided on the next planting strip. The line drawing marker 68 draws a mark on the field F when the seedling transplanter 1 turns straight ahead at the ridge of the field F and then goes straight forward in the field F. However, since the seedling transplanter 1 according to the present embodiment can execute straight-ahead support by using GNSS (Global Positioning System), the line drawing marker 68 can be abolished.

Further, a fertilizer application device 70 is mounted behind the control seat 28 in the traveling vehicle body 2. The fertilizer application device 70 supplies the left and right storage hoppers 71 and 71 for storing fertilizer, the feeding device 72 for feeding the fertilizer supplied from the storage hoppers 71 and 71 by a set amount, and the fertilizer delivered by the feeding device 72 to the field F. A fertilizer application hose 74, which is a fertilizer application passage, and a blower 73 that supplies transport air to the fertilizer application hose 74 are provided. The blower 73 transfers the fertilizer in the fertilizer application hose 74 to the seedling planting section 50 side. Further, the fertilizer application device 70 includes a fertilizer guide 75 to which fertilizer is transferred by the fertilizer hose 74, and a groove making device that drops the fertilizer transferred by the fertilizer hose 74 into the fertilizer groove formed near the side portion of the seedling planting strip. It has 76 and.

FIG. 7 is a functional block diagram centered on the controller 150 of the rice transplanter 1. The seedling transplanter 1 according to the present embodiment can control each part by electronic control, and the seedling transplanter 1 includes a controller 150 as a control unit for controlling each part. The controller 150 is provided with a processing unit having a CPU (Central Processing Unit) and the like, a storage unit such as a ROM (Read Only Memory) and a RAM (Random Access Memory), and an input / output unit, and these are connected to each other. It is possible to exchange signals with each other. A computer program that controls the rice transplanter 1 is stored in the storage unit.

As shown in the figure, the controller 150 is connected to the tablet terminal device 140, various actuators, sensors for acquiring information of each part, and the like. In the present embodiment, the controller 150 and the tablet terminal device 140 are wirelessly connected according to a predetermined wireless communication standard.

As actuators, for example, a throttle motor 100 for adjusting the intake amount of the engine 10, a rotor motor 165 for raising and lowering the rotor 67 for leveling, and a planting clutch motor 510 for operating the planting clutch 500 are connected to the controller 150. Will be done. Although not shown, a trunnion drive motor that changes the rotation angle of the trunnion of the hydraulic continuously variable transmission 16 is also connected to the controller 150.

Further, the controller 150 includes a steering angle sensor 130, an orientation sensor 160, an attitude sensor 170, an inclination sensor 180, a seating sensor 190, a material remaining amount sensor 199, and an operation amount of the main shift lever 81 and the auxiliary shift lever 82. Various other sensors are connected, including a lever sensor that detects the tilt angle.

The steering angle sensor 130 is, for example, a sensor that detects the rotation angle of the steering wheel 32, or a sensor that detects the turning angle when the front wheel 4, which is the steering wheel, is steered by operating the steering wheel 32. .. The controller 150 stores the value detected by the steering angle sensor 130 in the RAM of the storage unit.

The directional sensor 160 is a sensor that detects the orientation of the airframe, and is generally used in a car navigation system of an automobile or the like. The controller 150 can derive the actual traveling direction of the aircraft based on the value acquired from the directional sensor 160.

Therefore, the controller 150 does not have a value indicating that the steering angle θ detected by the steering angle sensor 130 is within the allowable range for moving the traveling vehicle body 2 straight, or the direction or attitude sensor 170 detected by the directional sensor 160. If the posture detected by is not a value indicating the straight-ahead direction, the straight-ahead support can be prohibited. For the azimuth sensor 160 and the attitude sensor 170, if the allowable range is set and the azimuth or attitude outside the allowable range continues for more than the time set in the controller 150, it is determined that the controller 150 is not facing the straight direction, and straight-ahead support is provided. The configuration should be prohibited.

Therefore, for example, when the straight-ahead support of the seedling transplanter 1 is restarted from the stopped state for some reason, it is possible to prevent the seedling planting posture from being disturbed immediately after the seedling planting work is started. It is possible to eliminate the adverse effect on the growth of seedlings.

The value at which the steering angle θ is within the permissible range for the traveling vehicle body 2 to travel straight is, for example, a case where the absolute value of the steering angle θ (turning angle) of the front wheels 4 is 15 degrees or less. Further, when the steering angle detected by the steering angle sensor 130 after the traveling vehicle body 2 turns indicates a value in which the traveling vehicle body 2 is not in the straight traveling state (for example, 5 degrees), the straight traveling support can be prohibited.

In addition, when the straight-ahead support of the seedling transplanter 1 is stopped due to some trouble, seedlings are planted when the straight-ahead support is restarted in order to improve safety or prevent work mistakes. It is also possible to control not to restart unless the conditions such as the part 50 being lowered, the spare seedling stand 400 being housed, and the planting clutch 500 being engaged are satisfied.

The posture sensor 170 according to the present embodiment detects how much the posture of the traveling vehicle body 2 is at an oblique posture with respect to the automatic straight line L1, and is composed of a gyro sensor or the like.

The tilt sensor 180 according to the present embodiment detects the vertical tilt of the traveling vehicle body 2, that is, the degree of the forward leaning posture or the backward leaning posture, and is configured by using an acceleration sensor or the like.

The seating sensor 190 is a sensor configured by a load cell, a pressure-sensitive film sensor, or the like provided in the control seat 28, and can detect that the operator is seated in the control seat 28.

In the present embodiment, the straight-ahead support is started on condition that the seating sensor 190 detects the seating on the control seat 28. Therefore, it is possible to ensure safety without providing straight-ahead support by automatic operation while the operator is not seated in an unstable state. In the present embodiment, the condition for starting the straight-ahead support is applied regardless of whether the seedling planting work is first started or the straight-ahead support once started is interrupted and then restarted. Although it is supposed to be, it is possible to set it so that it is limited to either case.

In addition, a sensor off button or the like that invalidates the function of the seating sensor 190 is separately provided to provide straight-ahead support while the seating sensor 190 is forcibly disabled, while the operator leaves the control seat 28. It is also possible to perform other necessary work.

The material remaining amount sensor 199 is a sensor that detects the remaining amount of fertilizer in the storage hopper 71 of the fertilizer application device 70 and the remaining amount of seedlings on the seedling placing table 51 of the seedling planting unit 50. FIG. 8 is an explanatory diagram showing the types of the material remaining amount sensor 199.

As shown in FIG. 8, as the material remaining amount sensor 199, one or a plurality of load cells 201, laser sensor 202, image sensor 203, contact sensor 204, and the like can be used.

Regardless of which sensor is used, the detection result may be displayed on the tablet terminal device 140 in real time via the controller 150. Further, the instrument panel 33 of the control unit 30 may be provided with a display device so that the remaining amount of material (seedlings or fertilizer) can be recognized.

In addition to enabling the operator to recognize the remaining amount of seedlings, for example, the field information stored in advance in the storage unit of the controller 150 and the position information of the aircraft obtained by the GNSS unit 120 are linked to each other. It is also possible to record the linked information in association with the information indicating the change in the remaining amount of seedlings as the work result. With such a configuration, it can be used for the next (next year) seedling box management. For example, it is possible to automatically calculate the number of seedling boxes next time from the amount of change in the seedling boxes based on the state at the beginning of the seedling planting work.

The load cell 201 detects the remaining amount from the change in the weight of the seedlings. For example, the load cell 201 can be provided in each lane of the seedling placing table 51 formed in a plate shape so that the remaining amount of seedlings for each row can be known. .. Since it is not accurate to detect from the weight of seedlings to the quantity of seedlings, for example, a plurality of classifications for measuring the timing of seedling replenishment can be performed by displaying%.

The laser sensor 202 is an optical sensor that detects the position of the seedlings placed on the seedling placing table 51 and measures the remaining amount. The laser sensor 202 is provided for each lane of the seedling stand 51, and can be vertically moved along the lane so that the seedling position of each lane can be detected by a single sensor, and the seedling stand 51 is provided. It may be arranged in a moving device that can move laterally so as to traverse. According to the laser sensor 202, it is possible to detect the remaining amount of seedlings more accurately than the load cell 201.

The image sensor 203 measures the position of the seedlings remaining on the seedling placement table 51 by performing binarization processing, and the remaining amount of seedlings in all lanes can be measured by a single image sensor 203. It is possible to suppress an increase in cost as a seedling transplanter 1.

Further, as shown in FIG. 7, the controller 150 has, as a notification device 200, for example, a display unit 210 composed of a first lens unit 351 and a second lens unit 352 provided in the center mascot 350, and a buzzer for issuing an alarm or the like. 215 is connected.

The controller 150 can use the buzzer 215 and the display unit 210 to notify the support status including the execution and stop of the straight-ahead support. Therefore, the operator can easily recognize whether the state of the forward leaning posture of the aircraft at the present time, the steering angle after turning the aircraft, the attitude of the aircraft, etc. are suitable for performing straight-ahead support. .. Therefore, for example, the operability of switching from the turning operation to the straight-ahead support is improved.

By the way, by using the buzzer 215 and the display unit 210, the controller 150 can notify the operator of, for example, an abnormality of the power transmission device 15 (such as a disengagement of the gear of the clutch mechanism). Although the display unit 210 and the buzzer 215 are provided in advance on the traveling vehicle body 2 in the present embodiment, the same function can be imparted to the tablet terminal device 140 that can be brought in from the outside.

Further, the seedling transplanting machine 1 includes a steering device 110 that can be controlled by the controller 150, a GNSS unit 120 that is a position information acquisition device, and a tablet terminal device 140 that is an information processing terminal device, and these are the controller 150. Connected to.

The steering device 110 includes a steering wheel 32 and a transmission mechanism (not shown) interlocked with the steering wheel 32, and also includes a straight-ahead support mechanism 310 that applies an arbitrary rotational force to the steering wheel 32, and is automatically steered by the controller 150. Is possible. The transmission mechanism includes a steering motor 112 that rotates the steering wheel 32. For example, when the straight-ahead support start switch 84 (see FIG. 3) is operated, the controller 150 travels by automatically steering the steering wheel 32 via the straight-ahead support mechanism 310 based on the position information acquired by the GNSS unit 120. It is possible to maintain the vehicle body 2 in the straight-ahead direction.

Further, when the tilt sensor 180 detects that the forward rising posture of the traveling vehicle body 2 is equal to or greater than a predetermined angle during the straight-ahead support, the controller 150 is used for at least a part of the seedling planting portion 50, for example, for a rotor. By driving and controlling the motor 165 to lower the rotor 67 for leveling and bringing it into a state of being stretched to the field scene behind the center of gravity of the machine body, the inclination of the traveling vehicle body 2 can be suppressed. Therefore, the driving torque of the front wheels 4 can be secured to improve the straightness, and the accuracy of the straightness support can be improved.

Further, in the controller 150, when the steering angle θ detected by the steering angle sensor 130 after the traveling vehicle body 2 turns is not a value indicating a straight-ahead state, or the attitude of the traveling vehicle body 2 detected by the attitude sensor 170 is the traveling direction. In the case of an oblique posture, straight-ahead support is prohibited.

The GNSS unit 120 has a receiving antenna (not shown) that receives a signal from an artificial satellite used in GNSS, acquires the position information (coordinate information) of the seedling transplanter 1 on the earth, and acquires the position information. Is transmitted to the controller 150.

The controller 150 can also derive the actual speed of the seedling transplanter 1 from the position data of the machine body acquired by the GNSS unit 120. That is, the actual traveling speed can be sequentially calculated from the amount of movement of the aircraft within a certain period of time. Therefore, the controller 150 can acquire the actual vehicle speed of the seedling transplanter 1 regardless of the amount of rotation of the rear wheels 5, even if the front and rear wheels 4 and 5 slip, for example.

The tablet terminal device 140 is configured to be wirelessly connectable between the built-in terminal communication unit 144 and the vehicle body communication unit 151 connected to the controller 150. The tablet terminal device 140 includes a control unit 141, a touch panel 142 that also serves as a display unit that displays information and an input operation unit that performs various input operations, and a storage unit 143 that stores information. The storage unit 143 stores map information of one or more fields F, and other various programs and various data necessary for controlling the seedling transplanter 1.

The tablet terminal device 140 has a so-called map function, and the rice transplanter 1 according to the present embodiment sets the position of the machine body on the touch panel 142 based on the position information of the traveling vehicle body 2 acquired by the GNSS unit 120. It can be superimposed and displayed on the map information of the field F including the work area.

Then, as described above, the controller 150 can notify the tablet terminal device 140 of the support status including whether or not the straight-ahead support can be executed and the information regarding the remaining amount of seedlings, fertilizer, and the like. That is, as a modification of the present embodiment, the touch panel 142 or the tablet terminal device 140 provided with the touch panel 142 may be configured as an example of the above-mentioned notification device 200.

Further, the seedling transplanting machine 1 includes a reference point registration switch 83, a float potentiometer 154, and various switches 153 including a straight-ahead support start switch 84 mainly provided in the control unit 30, which are connected to the controller 150. Will be done.

As shown in FIG. 3, the reference point registration switch 83 is provided on the left side of the instrument panel 33, and is used to acquire the reference start point P1 which is the start position of the straight-ahead support and the reference end point P2 which is the end position. Functions as an operation switch.

The float potentiometer 154 is provided on the center float 48 that moves up and down according to the unevenness of the field F, and detects the vertical movement of the center float 48 to move the seedling planting portion 50 up and down according to the unevenness of the field F. Can be made to.

The seedling transplanter 1 according to the present embodiment has the above-described configuration, and an example of straight-ahead support executed by the seedling transplanter 1 will be described below. FIG. 9 is a flowchart showing an example of straight-ahead support.

As shown in FIG. 9, when the straight-ahead support start switch 84 is operated, the controller 150 first determines whether or not an operator is seated in the control seat 28 (step S110), and works on the control seat 28. Wait until the person is seated (step S110: No). The determination by the controller 150 is made by detecting the seating on the control seat 28 by the seating sensor 190. When it is determined that the controller is seated (step S110: Yes), the controller 150 starts straight-ahead support (step S120).

When the straight-ahead support is started, the controller 150 determines whether or not the traveling vehicle body 2 is tilted forward and backward by the vertical angle with respect to the horizontal plane via the tilt sensor 180. (Step S130). If the angle does not reach the predetermined angle (step S130: No), the step is repeated, while if it is determined that the forward rising posture of the traveling vehicle body 2 is equal to or greater than the predetermined angle (step S130: Yes), the controller 150 uses the rotor. The motor 165 is driven to lower the rotor 67 (step S140).

By such control, the posture of the entire seedling transplanter 1 can be corrected so as to be horizontal, the driving torque of the front wheels 4 can be secured to improve the straightness, and the rotor 67 is pressed against the field F. Since it is possible to reduce the blurring of the seedling planting portion 50, the straightness of the seedling transplanter 1 can be improved.

Further, the controller 150 controls so as to reduce the sensitivity of the center float 48 after lowering the rotor 67 or at the same time as lowering the rotor 67 (step S150). That is, the detection angle of the float potentiometer 154, which is recorded in the controller 150 and serves as a reference for automatically raising and lowering the seedling planting portion 50 by the rotation of the center float 48, is changed, and the rotation angle of the center float 48 is significantly changed. The control configuration is such that the automatic raising and lowering of the seedling planting unit 50 is activated only when the seedling planting unit 50 is used. With such a configuration, the automatic raising and lowering of the seedling planting portion 50 does not operate due to small fluctuations in the field depth, so that vibration when the seedling planting portion 50 moves in the vertical direction is reduced, and straightness in straight-ahead support is improved. There is no loss. The processes of steps S140 and S150 may be interchanged in order.

Further, the controller 150 executes a vehicle speed control process that regulates the vehicle speed by controlling the throttle motor 100 that functions as the vehicle speed regulating unit according to the operating frequency of the float potentiometer 154, that is, the vertical movement frequency of the center float 48. (Step S160), the series of processes of the straight-ahead support is completed. In the vehicle speed control process, for example, when the float potentiometer 154 operates above a certain threshold value within a predetermined time and the seedling planting portion 50 moves up and down, the throttle motor 100 is forced at a predetermined rate from the current running speed. Decelerates to slow down the running speed. The operating frequency of the float potentiometer 154 and the deceleration rate may be linked so that the deceleration rate is adjusted according to the operating frequency.

With such a configuration, the straightness of the seedling transplanter 1 can be further improved, and adverse effects on the growth of the seedlings due to the disorder of planting of the seedlings can be prevented.

Further, in the vehicle speed control process in the straight-ahead support in the present embodiment, the vehicle speed regulation can be strengthened depending on the conditions. FIG. 10 is a flowchart showing an example of vehicle speed control processing. As shown in FIG. 10, while executing the straight-ahead support, the controller 150 controls the throttle motor 100 even when the steering angle θ detected by the steering angle sensor 130 is larger than the predetermined angle A (step S210: Yes). The vehicle speed regulation is strengthened to regulate the vehicle speed (step S230).

On the other hand, even when the steering angle θ detected by the steering angle sensor 130 is not larger than the predetermined angle A (step S210: No), the controller 150 determines the frequency at which the steering wheel 32 is automatically steered, that is, the autopilot frequency. When the frequency is higher than the predetermined frequency B (step S220: Yes), the throttle motor 100 is controlled to perform the vehicle speed regulation strengthening process (step S230). Then, when the autopilot frequency is not higher than the predetermined frequency B (step S220: No), and after finishing the vehicle speed regulation strengthening process in step S230, the vehicle speed control process ends. The predetermined angle A, which is the threshold value of the steering angle θ, and the predetermined frequency B, which is the threshold value of the autopilot frequency, can be set empirically as appropriate.

Here, with reference to FIG. 11, a procedure for registering the reference traveling line L2, which is a reference when executing the straight-ahead support described above, will be described. FIG. 11 is an explanatory diagram showing a procedure for registering the reference traveling line L2 in the straight-ahead support.

As shown in FIG. 11, first, the reference start point P1 is acquired (step S310). That is, in the field F, the seedling transplanter 1 is stopped along the traveling direction of the machine body when the seedling planting work is carried out, and the machine body is directed in the straight direction. Then, by operating the reference point registration switch 83, the position is acquired as the reference start point P1 which is the start position of the straight-ahead support. At this time, the notification device 200 performs the first notification indicating that the acquisition of the reference start point P1 is completed (step S320). Here, as described above, the notification is performed by the light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

Next, the reference end point P2 is acquired (step S330). In this method, after the acquisition of the reference start point P1 is completed, the seedling transplanter 1 is made to go straight and stopped by a distance for executing the straight-ahead support, and the reference point registration switch 83 is operated. The second operation of the reference point registration switch 83 is the acquisition operation of the reference end point P2, which is the end position of the straight-ahead support. At this time, the notification device 200 performs a second notification indicating that the acquisition of the reference end point P2 is completed (step S340). Here, too, the notification is performed by the light emission of the lamps 354a to 354e of the display unit 210 provided in the center mascot 350.

When the acquisition of the reference start point P1 and the reference end point P2 is completed, the travel reference registration unit 152 of the controller 150 generates a line segment connecting the acquired reference start point P1 and the reference end point P2 as the reference travel line L2 (step S350). As a result, it is possible to specify the straight-ahead direction when executing the straight-ahead support.

Then, when the generated reference traveling line L2 is registered, the notification device 200 performs a third notification indicating that the reference traveling line L2 has been registered (step S360). This is also notified by the light emission of the lamps 354a to 354e of the display unit 210.

The following seedling transplanter 1 is realized from the above-described embodiment.

(1) A traveling vehicle body 2 having a front wheel 4 steered by a steering device 110, a seedling planting portion 50 movably connected to the rear portion of the traveling vehicle body 2, and a GNSS unit for acquiring position information of the traveling vehicle body 2. The steering device 110 is controlled based on the position information acquired by the 120, the tilt sensor 180 that detects the tilt of the traveling vehicle body 2 in the front-rear direction, and the GNSS unit 120 to support the traveling vehicle body 2 to automatically travel straight. The controller 150 includes a controller 150, and when the tilt sensor 180 detects that the forward rising posture of the traveling vehicle body 2 is equal to or more than a predetermined angle while executing straight-ahead support, the controller 150 detects at least a part of the seedling planting portion 50. A seedling transplanting machine 1 that is lowered to suppress the inclination of the traveling vehicle body 2.

(2) In the above (1), the seedling planting portion includes a rotor 67 for field leveling that is vertically provided by a rotor motor 165, and the controller 150 has a tilt sensor 180 that raises the front of the traveling vehicle body 2. When it is detected that the posture is equal to or larger than a predetermined angle, the seedling transplanter 1 drives the rotor motor 165 to lower the rotor 67 and suppress the inclination of the traveling vehicle body 2.

(3) In the above (1) or (2), the traveling vehicle body 2 includes a control seat 28 and a seating sensor 190 for detecting the presence of a worker in the control seat 28, and the controller 150 is a control seat. A rice transplanter 1 that starts straight-ahead support on condition that the seating sensor 190 detects the seating on the 28.

(4) In the above (1) or (2), the traveling vehicle body 2 includes a control seat 28 and a seating sensor 190 for detecting the presence of a worker in the control seat 28, and the controller 150 is temporarily interrupted. When restarting the straight-ahead support, the seedling transplanter 1 performs the seating on the control seat 28 on condition that the seating sensor 190 detects the seating.

(5) In any of the above (1) to (4), the center float 48 that moves up and down following the unevenness of the field F and the seedling planting portion 50 that senses the vertical movement of the center float 48 are moved to the field F. The controller 150 includes a float potentiometer 154 that moves up and down according to the unevenness of the float sensor 180, and when the tilt sensor 180 detects that the posture of the traveling vehicle body 2 is raised forward by a predetermined angle or more, the center float 48 by the float potentiometer 154 Seedling transplanter 1 that reduces the sensitivity to vertical movement.

(6) In the above (5), the throttle motor 100 for regulating the vehicle speed of the traveling vehicle body 2 is provided, and the controller 150 controls the throttle motor 100 according to the operating frequency of the float potentiometer 154 to regulate the vehicle speed. Machine 1.

(7) In the above (6), the steering angle sensor 130 for detecting the steering angle θ of the front wheel 4 is provided, and the controller 150 detects the steering angle sensor 130 when restarting the once interrupted straight-ahead support. The seedling transplanter 1 is performed on the condition that the steering angle θ of the above is within the allowable range for traveling the traveling vehicle body 2 straight.

(8) In the above (7), when the steering angle θ detected by the steering angle sensor 130 is equal to or greater than the predetermined angle, or the frequency of automatically steering the steering device 110 is higher than the predetermined frequency while the controller 150 is executing the straight-ahead support. If it is too high, the seedling transplanter 1 controls the throttle motor 100 to regulate the vehicle speed.

The embodiments described above are merely examples, and are not intended to limit the scope of the invention. The embodiment can be implemented in various other forms, and various omissions, replacements, combinations, and changes can be made without departing from the gist of the invention. In addition, specifications such as each configuration, shape, and display elements (structure, type, direction, shape, size, length, width, thickness, height, number, arrangement, position, material, etc.) are changed as appropriate. Can be carried out.

1 Rice transplanter 2 Traveling vehicle body 4 Front wheels (steering wheels)
28 Control seat 47 Float 48 Center float 50 Seedling planting part 67 Rotor (leveling device)
110 Steering device 120 GNSS unit (position information acquisition device)
130 Steering angle sensor 150 Controller (control unit)
154 Float potentiometer (hydraulic sensitivity mechanism)
165 Rotor motor (electric motor)
180 Tilt sensor (tilt detector)
F field θ rudder angle

Claims (7)

A traveling vehicle body equipped with a steering wheel steered by a steering device,
A seedling planting part that is freely connected to the rear part of the traveling vehicle body
A position information acquisition device that acquires the position information of the traveling vehicle body, and
An inclination detection unit that detects the inclination of the traveling vehicle body in the front-rear direction,
A control unit that controls the steering device based on the position information acquired by the position information acquisition device to support the automatic straight running of the traveling vehicle body, and a control unit that provides straight running support.
With
The seedling planting part
Equipped with a leveling device for field leveling that can be raised and lowered by an electric motor
The control unit
When the straight-ahead support is executed on condition that the ground leveling device is in contact with the ground, and the tilt detection unit detects that the forward rising posture of the traveling vehicle body is equal to or greater than a predetermined angle during the straight-ahead support. The seedling planting portion is characterized in that at least the ground leveling device is lowered so that the ground leveling device is stretched to the field scene behind the center of gravity of the machine body, thereby suppressing the inclination of the traveling vehicle body. Seedling transplanter. The traveling vehicle body
It is equipped with a cockpit and a seating sensor that detects the presence of a worker in the cockpit.
The control unit
Said seating to control seat on condition that the seating sensor is detecting, seedling transplantation machine as set forth in claim 1, characterized in that initiating the straight support. The traveling vehicle body
It is equipped with a cockpit and a seating sensor that detects the presence of a worker in the cockpit.
The control unit
Once the restarting said rectilinear support interrupted, seedling transplantation machine as set forth in claim 1, characterized in that said seating sensor seating to the control seat is detected as a condition. It is equipped with a float that moves up and down according to the unevenness of the field, and a hydraulic sensitivity mechanism that senses the vertical movement of the float and raises and lowers the seedling planting part according to the unevenness of the field.
The control unit
According to claim 1, when the tilt detecting unit detects that the posture of the traveling vehicle body rises forward by a predetermined angle or more, the sensitivity of the float to vertical movement by the hydraulic sensitivity mechanism is reduced. The seedling transplanter according to any one of 3 . It is equipped with a vehicle speed regulation unit that regulates the vehicle speed of the traveling vehicle body.
The control unit
The seedling transplanter according to claim 4 , wherein the vehicle speed regulating unit is controlled to regulate the vehicle speed according to the operating frequency of the hydraulic sensitivity mechanism. A steering angle detection unit for detecting the steering angle of the steering wheel is provided.
The control unit
When restarting the straight-ahead support that has been interrupted once, the steering angle of the steering wheel detected by the steering angle detection unit is within an allowable range for the traveling vehicle body to travel straight. The seedling transplanter according to claim 5 . The control unit
When the steering angle detected by the steering angle detection unit is equal to or greater than a predetermined angle or the frequency of automatic steering of the steering device is higher than the predetermined frequency while the straight-ahead support is being executed, the vehicle speed regulating unit is controlled. The seedling transplanter according to claim 6 , wherein the vehicle speed is regulated.

Images