JP6850658B2 - Seedling transplanter - Google Patents

Description

The present invention relates to a seedling transplanter.

Patent Document 1 discloses a rice transplanter provided with a vertical feed mechanism for intermittently transporting a seedling mat placed on a seedling stand to the lower end side and a lateral feed mechanism for the seedling stand in the left-right direction. Has been done. The horizontal feed mechanism reciprocates the seedling stand in the left-right direction, and when the seedling stand reaches the left and right reciprocating end, the vertical feed belt that constitutes the vertical feed mechanism is activated, and the seedling mat is moved by a predetermined interval. By transporting to the lower end side of the seedling stand, the seedling mat of the seedling stand is stably supplied to the planting claws.

Japanese Unexamined Patent Publication No. 2010-23638

By raising and lowering the seedling stand, a seedling amount adjustment lever that can change the position of the planting claw with respect to the seedling mat in multiple stages is provided, and the planting claw can be moved by operating the seedling amount adjustment lever by the operator. The vertical amount of the seedling mat to be scraped off can be adjusted.

When planting rice seedlings in paddy fields, the number of stocks per field area, the required number of seedling mats, etc. are set in advance in anticipation of the yield per field area. However, when setting the number of stocks per field area and the required number of seedling mats, various conditions such as the number of horizontal feedings of the seedling stand, the vertical amount of planting claws, the planting interval, and the condition of the field must be taken into consideration. It was difficult because it didn't become. Therefore, an object of the present invention is to provide a seedling transplanter capable of planting a desired field with a desired number of seedling mats.

The seedling transplanting machine of the present invention is configured to scrape seedlings from a seedling mat placed on a seedling stand and plant them in a field with a planting claw, and to change the vertical acreage of the seedling mat by the planting claw. A seedling transplanting machine is provided with a seedling amount calculation unit capable of calculating a reference vertical amount from the field area and the number of seedling mats used for the field area, and the seedling amount calculation unit is used during planting work. , Calculated based on the actual vertical working area calculated based on the actual working area where the planting work was performed and the number of seedling mats used for the actual working area, and the remaining working area and the number of remaining seedling mats. Based on the target vertical area, the difference between the actual vertical area and the target vertical area is added to the standard vertical area to correct the standard vertical area .

The seedling mounting table is configured to be able to move up and down by an actuator, and the seedling harvesting amount calculation unit drives and controls the actuator so that the vertical harvesting amount by the planting claw becomes the reference vertical harvesting amount.

The actual work area includes a vehicle speed of run line aircraft considering the slip ratio, the working width is set from the number of threads that the planting operation is performed, is calculated on the basis of the seedling mat number used, conditions for each It is calculated based on the feed amount of the seedling mat calculated in 1 and the compression rate of the seedling mat calculated for each row.

According to the present invention, the planting work can be carried out in a desired field with a desired number of seedling mats.

Side view of rice transplanter. Top view of rice transplanter. One side view of the planting part. Another side view of the planting part. Diagram showing the dashboard. A block diagram showing vertical volume control. The control block diagram of the seedling amount calculation unit. A graph showing the correlation between the amount of rear wheel subsidence in the field and the slip rate. (A) Side view showing the amount of subsidence of the rear wheels into the field (b) Side view showing the height from the ground contact surface of the rear wheels to the bottom surface of the float. Side view showing the height from the contact patch of the rear wheel to the field surface. (A) Rear view and side view of the mounting surface for each row of the seedling stand provided with the upstream rotating body and the downstream rotating body (b) The seedling mounting table provided with the upstream rotating body and the downstream rotating body Rear view and side view of the mounting surface for each section. The figure which shows the detection of the number of times of seedling succession of a seedling mat. The figure which shows the correction of the number of times of seedling succession of a seedling mat. The figure which shows the correction of the remaining amount of the seedling mat which is estimated. (A) Side view of the downstream rotating body (b) A view showing the downstream rotating body seen from the mounting surface side (c) A view showing the downstream rotating body seen from the back side of the mounting surface. The figure which shows another embodiment of the rotation speed detection structure of the downstream side rotating body. (A) Rear view of the seedling stand showing the positional relationship between the seedling holding rod, the upstream rotating body and the downstream rotating body (b) Second implementation of the positional relationship between the seedling holding rod, the upstream rotating body and the downstream rotating body Rear view of the seedling stand showing the form (c) Rear view of the seedling stand showing the third embodiment of the positional relationship between the seedling holding rod and the upstream rotating body and the downstream rotating body (d) The seedling holding rod and the upstream side The rear view of the seedling stand which shows the 4th Embodiment of the positional relationship of a rotating body and a downstream rotating body. The flowchart which shows the control mode of the vertical amount. The figure which shows the item displayed on the information terminal.

Hereinafter, the overall configuration of the rice transplanter 1, which is an embodiment of the seedling transplanter, will be described with reference to FIGS. 1 and 2. The rice transplanter 1 includes a traveling machine 2 and a planting work machine 3 mounted on the rear portion thereof, and performs planting work by the planting work machine 3 while traveling by the traveling machine 2.

The traveling body 2 includes an engine 4, a transmission 5 that shifts power from the engine 4, a body frame 6 that supports the engine 4 and the transmission 5, front wheels 7 and rear wheels that are driven by power transmitted from the engine 4 and the transmission 5. Equipped with 8 mag.

The power from the engine 4 and the transmission 5 is transmitted to the front axle case 9 and the rear axle case 10, respectively. The front axle case 9 is supported by the front portion of the airframe frame 6, and front wheels 7 are supported at both left and right ends thereof. Similarly, the rear axle case 10 is supported by the rear portion of the airframe frame 6, and the rear wheels 8 are supported at both left and right ends thereof. The upper part of the airframe frame 6 is covered by step 11, and the operator can move on step 11.

Further, the power from the engine 4 and the transmission 5 is transmitted to the planting work machine 3 via an inter-stock transmission (not shown). The inter-stock transmission is configured so that the planting interval of seedlings to be planted along the traveling direction of the traveling machine 2 can be changed. The seedling harvesting amount calculation unit 70, which will be described later, is connected to an inter-strain setting device 9 (see FIG. 7) that sets the seedling planting interval steplessly, and is configured to be able to acquire the seedling planting interval.

A driver's seat 12 is arranged in the middle of the front and rear of the traveling machine body 2, and a steering handle 13, an operation pedal 14, a dashboard 15, and the like are provided in front of the driver's seat 12. In addition to the steering wheel 13, operating tools and display devices for various operations are arranged on the dashboard 15.

The planting work machine 3 is connected to the traveling machine body 2 via an elevating link mechanism 20. The elevating link mechanism 20 includes a pair of left and right upper links 21, a lower link 22, an elevating cylinder, and the like. The lower link 22 and the upper link 21 are rotated by the elevating cylinder to raise and lower the planting work machine 3.

The planting work machine 3 includes a planting arm 31, a planting claw 32, a seedling stand 33, a float 34, and the like. The planting claw 32 is attached to the planting arm 31. The planting work machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 to the planting transmission case 36 provided in the planting work machine 3 via the planting center case 35, and the planting arm 31 and the planting are planted from the planting transmission case 36. Power is distributed to the claws 32. The planting center case 35 is provided with a planting clutch, and the planting clutch is configured to connect and disconnect the transmission of power from the engine 4 to the planting work machine 3.

The planting arm 31 is rotated by the power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claws 32 from the seedling stand 33. Along with the rotational movement of the planting arm 31, the planting claw 32 is inserted into the field, and seedlings are planted so as to have a predetermined planting depth. In this embodiment, the rotary type planting claw is adopted, but the crank type may be used.

The seedling stand 33 is composed of a plate-shaped member, and is arranged so as to be inclined in a front-high and rear-low shape in a side view of the machine body. On the rear surface of the seedling mounting table 33, mounting surfaces on which the seedling mats are placed are arranged side by side in the width direction of the machine body according to the number of planting arms (the number of rows of rice transplanters). Since the rice transplanter 1 of the present embodiment is a rice transplanter for 6-row planting, 6 mounting surfaces are formed. The seedling mat is placed on the mounting surface in an inclined state.

The float 34 is attached to the planting frame 37. Specifically, the front end of the float 34 is supported so as to be swingable in the vertical direction with respect to the planting frame 15, and the rear end of the float 34 has a link mechanism 39 attached to a rotating support shaft 38 provided on the planting frame 15. It is attached so that it can be raised and lowered via (see FIG. 9B).

In the float 34, a sensor 40 (see FIG. 10) for detecting the field surface (field surface) is provided immediately before the planting position of the planting portion 4. The sensor 40 extends from the front to the rear. The sensor 40 is swingably supported by the planting frame 37 in the pitching direction and hangs down by gravity around the swinging fulcrum, so that the state in which the tip end is in contact with the field surface is maintained. That is, the rice transplanter 1 advances so that the tip of the sensor 40 always follows the surface of the field.

A lateral feed mechanism for reciprocating the seedling mounting table 33 in the width direction of the machine body will be described with reference to FIG. As shown in FIG. 3, the feed screw 41 extends from the planting center case 35 toward one side in the width direction of the machine body. Crossing grooves are formed on the outer peripheral surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider receiver 43 that supports the slider 42. The slide receiver 43 is formed in a substantially T shape. A feed screw 41 is penetrated into the slide receiver 43, and the slide 42 is housed so as to be slidable along the groove of the feed screw 41.

A lower rail 44 is attached to the lower part of the front surface (back surface of the mounting surface) of the seedling mounting table 33. The lower rail 44 is arranged with the body width direction as the longitudinal direction. A slide receiver 43 is fixed to the lower rail 44 via a support arm 45.

Below the lower rail 44, a guide rail 46 that slidably supports the lower rail 44 in the width direction of the machine body is provided. The guide rail 46 is arranged with the width direction of the machine body as the longitudinal direction. The guide rail 46 is composed of an engaging portion 46a that engages with the lower rail 44 and an extending portion 46b that extends from the engaging portion 46a along the shape of the bottom portion of the seedling stand 33. When the lower rail 44 engages with the engaging portion 46a of the guide rail 46, the lower rail 44 is configured to be slidable along the guide rail 46 in the width direction of the machine body. A stopper 47 for preventing the lower rail 44 from coming off the guide rail 46 is detachably attached to the guide rail 46 by bolts.

On the side surface of the planting center case 35 from which the feed screw 41 is extended, a lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling stand 33 is provided. By operating the lateral feed switching lever 48, the operator can adjust the lateral feed amount of the seedling stand 33 and change the number of lateral feeds of the seedling mount 33. The lateral feed switching lever 48 is provided with a lateral feed count detection sensor 48a (see FIG. 7) that detects the lateral feed count of the seedling mounting table 33 by detecting the position of the lateral feed switching lever. The seedling harvesting amount calculation unit 70 is connected to the lateral feed count detection sensor 48a, and is configured to be able to detect the lateral feed count of the seedling mounting table 33.

A vertical feeding mechanism for feeding the seedling mat placed on the seedling stand 33 downward will be described with reference to FIG. As shown in FIG. 4, the vertical feed cam shaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side in the width direction of the machine body. The vertical feed cam shaft 52 is connected to the feed screw 41, and when it reaches the stroke end, it comes into contact with the driven cam 53. The driven cam 53 is provided on the transport belt drive shaft 55 that drives the transport belt 54 at the lower part of the seedling stand 33. When the vertical feed cam 51 and the driven cam 53 come into contact with each other as the vertical feed cam shaft 52 rotates, the driven cam 53 rotates. By rotating the transport belt drive shaft 55 with the rotation of the driven cam 53, the transport belt 54 is circulated to transport the seedling mat placed on the transport belt 54 by a predetermined distance.

The seedling stand rail support shaft 56 is rotatably supported in the left-right direction on the front upper part of each planting transmission case 36. A plurality of support frames 57 are projected rearward and upward from the nursery rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported by the support frame 57 in the left-right horizontal direction. Further, the arm 58 is attached to the front upper side from the nursery rail support shaft 56. At the other end of the arm 58, a rotation angle detection sensor 59 that detects the rotation angle of the seedling rail support shaft 56 is provided. The rotation angle detection sensor 59 is attached to the planting frame 37. An actuator 56a (see FIG. 7) is provided on the nursery rail support shaft 56. The seedling amount calculation unit 70 is connected to the rotation angle detection sensor 59 and can detect the vertical amount taken from the seedling mat.

By driving and controlling the actuator 56a, the nursery rail support shaft 56 is configured to be rotatable. Therefore, the support frame 57 is rotated along with the rotation of the seedling stand rail support shaft 56, so that the guide rail 46 (seedling stand 36) is moved up and down (configured so as to be able to move up and down), and the planting claw 32 is moved. The distance between the supporting planting transmission case 36 and the seedling stand 33 can be changed. Therefore, the vertical amount taken from the seedling mat by the planting claw 32 can be changed. Here, the vertical amount means the amount of scraping the seedling mat in the traveling direction of the traveling machine 2 in a plan view. By adjusting the vertical amount, the amount of the seedling mat taken by the planting claw 32 can be changed.

Further, the nursery rail support shaft 56 is connected to the driven cam 53 via an interlocking wire 60. As the seedling stand rail support shaft 56 rotates, the driven cam 53 is rotated by a predetermined angle by the tension related to the interlocking wire 60, so that the feed amount by the transport belt 54 is adjusted according to the vertical amount taken from the seedling mat. are doing.

In the above configuration, the power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, so that the slider 42 slides with respect to the groove of the feed screw 41 and slides together with the slide. The child receiver 43 slides in the width direction of the machine body. By sliding the slide receiver 43, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling mounting table 33 slides in the machine body width direction at the same time. Then, when the seedling stand 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 comes into contact with the driven cam 53 and the transport belt drive shaft 55 rotates, so that the transport belt 54 is circulated.

The slide element 42 reciprocates along the groove of the feed screw 41, so that the seedling stand 33 reciprocates along the guide rail 46. By the lateral feed mechanism, the seedling stand 33 reciprocates along the guide rail 46, so that the seedling mat placed on the seedling stand 33 is planted from one side to the other side or from the other side to one side. The claws 32 scrape the seedlings and allow them to be transplanted. When the planting claw 32 scrapes the seedlings on one side or the other side of the seedling mat by the vertical feed mechanism, the transport belt 54 operates to direct the seedling mat toward the lower end (rear end) of the mounting surface. It is possible to carry it. As described above, the seedling mat is reciprocated in the width direction of the machine body and is appropriately transported downward, so that the seedlings can be scraped from the seedling mat placed on the seedling stand 33.

The dashboard 15 will be described with reference to FIG. Steering handles 13 are arranged at the center of the left and right sides of the dashboard 15, a main shifting lever 61 is provided on the left side of the steering handle 13, and a planting elevating lever is provided on the right side of the steering handle 13. 62 is provided. Below the steering handle 13, a strip stop switch 63 for stopping the drive of the planting claw 32 for each predetermined row, a speed setting volume 64 for setting the maximum speed, and a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34. , A select dial 66 and the like for setting the planting depth, the amount of vertical removal from the seedling mat, and the like are provided. In front of the steering handle 13, a monitor 67 for displaying the setting of the select dial 66 and the like, the speed of the traveling machine 2, and the like is provided.

The select dial 66 is a dial on which various items (planting depth, vertical amount, etc.) can be set. The operator rotates the select dial 66 left and right to select an item to be set from various items, and presses the select dial 66 to determine the item. For example, when you want to set the vertical amount, rotate the select dial 66 left and right to select the vertical amount item, press the select dial 66 to determine the item, and rotate the select dial 66 left and right. Select the adjustment amount of the vertical adjustment amount, and press the select dial 66 to set the vertical adjustment amount to the adjustment amount. The select dial 66 is connected to the seedling amount calculation unit 70 (see FIG. 7).

The reference vertical amount of the planting claw 32 will be described with reference to FIGS. 6 and 7. The standard vertical amount refers to the standard vertical amount when planting in a predetermined field using a predetermined number of seedling mats. Before planting seedlings in the field, the operator inputs the number of seedling mats to be used and the field area into the seedling yield calculation unit 70 using the select dial 66. That is, the select dial 66 is provided as a field area input means and a seedling mat number setting means. The seedling amount calculation unit 70 calculates the reference vertical amount based on the input number of seedling mats and the field area, and drives and controls the actuator 56a. The seedling harvesting amount calculation unit 70 is configured to be able to detect the number of stocks (the number of stocks per predetermined area calculated from the planting interval set by the operator) from the detection value of the inter-stock setting device 9. Then, the seedling collection amount calculation unit 70 is configured to be able to calculate the number of shares in consideration of the slip ratio described later. Here, the slip ratio is set from the amount of subsidence of the rear wheel 8 into the field at the work start point or a predetermined reference value.

The seedling amount calculation unit 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the field area and the number of seedling mats. Then, the seedling amount calculation unit 70 calculates the reference vertical amount from the target number of mats, the number of lateral feeds of the seedling stand 33, and the number of shares (the number of shares may be considered in consideration of the slip ratio).

In the above configuration, by driving and controlling the actuator 56a so as to have a reference vertical amount, when performing planting work in a desired field with a desired number of seedling mats without relying on the experience and intuition of the operator. The required vertical amount can be set.

When the planting work is started, the seedling harvesting amount calculation unit 70 determines the standard vertical harvesting amount based on the actual working area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Is corrected at any time. Specifically, the seedling harvesting amount calculation unit 70 calculates the actual vertical harvesting amount based on the actual working area and the number of seedling mats used. Then, the seedling collection amount calculation unit 70 determines the remaining working area calculated by subtracting the actual working area from the working area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. , Calculate the target vertical amount based on. The seedling harvesting amount calculation unit 70 corrects the standard vertical harvesting amount by adding the value obtained by subtracting the actual vertical harvesting amount from the target vertical harvesting amount to the standard vertical harvesting amount.

The calculation of the actual working area will be described with reference to FIGS. 8 and 9. The actual work area is calculated from the vehicle speed of the traveling machine 2 in consideration of the slip ratio and the work width set from the number of rows where the planting work is performed. The vehicle speed of the traveling machine body 2 is calculated using the number of rotations of the traveling wheels. In this embodiment, the number of rotations of the rear wheel 8 is used for calculation. A rear wheel rotation speed detection sensor 8a for detecting the rotation speed is provided on the rotation shaft of the rear wheel 8. The seedling amount calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to be able to detect the rotation speed of the rear wheel 8.

As shown in FIG. 8, the slip ratio and the amount of subsidence of the traveling wheel (rear wheel 8 in the present embodiment) into the field have a linear correlation. The amount of subsidence of the rear wheel 8 to the field refers to the height from the contact patch of the rear wheel 8 to the field to the field surface (field surface). As the amount of subsidence of the rear wheel 8 into the field increases, the slip ratio increases linearly.

The amount of subsidence of the rear wheel 8 into the field will be described with reference to FIG. The amount of sinking of the rear wheel 8 into the field is provided in the link mechanism 39 or the rotary support shaft 38 of the planting work machine position detection sensor 71 and the float 34, which are composed of appropriate sensors such as the potentiometer sensor provided in the elevating link mechanism 20. It is calculated from a planting depth detection sensor 39a (see FIG. 7) composed of an appropriate sensor such as a potentiometer sensor. The planting work machine position detection sensor 71 is provided on the elevating link frame 72 to which the rear ends of the pair of left and right upper links 21 and lower links 22 are attached. The seedling harvesting amount calculation unit 70 is connected to the planting work machine position detection sensor 71, and determines the height (distance) of the lowest point of the planting work machine 3, specifically, the planting claw 32 with respect to the traveling machine body 2. Configured to be detectable. The seedling amount calculation unit 70 is connected to the planting depth detection sensor 39a, and is configured to be able to detect the height from the bottom surface of the float 34 of the planting work machine 3. The planting depth detection sensor 39a is configured to be able to detect the amount h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float).

The seedling collection amount calculation unit 70 detects the length from the planting work machine position detection sensor 71 and the planting depth sensor 39a to the bottom surface of the float 34 with respect to the traveling machine body 2. The seedling amount calculation unit 70 subtracts the length from the length of the lowest point (contact patch) of the rear wheel 8 with respect to the traveling machine 2 to the bottom surface of the float 34 with respect to the traveling machine 2 to obtain the field of the rear wheel 8. The amount of subsidence h0 is calculated. Further, the amount of subsidence of the rear wheel 8 in the field may be calculated in consideration of the amount of subsidence d of the float 34 in the field (see FIG. 10).

As shown in FIG. 10, the sensor 40 can be further used to calculate the amount h2 of the rear wheel 8 settled in the field in consideration of the amount d of the float 34 settled in the field. By measuring the swing angle θ of the sensor 40, the height of the field surface on which the seedlings are planted can be detected. In this way, the subsidence amount d of the float 34 can be measured by detecting the field surface height with the sensor 40. The seedling amount calculation unit 70 is connected to an appropriate field surface detection sensor 40a (see FIG. 7) such as a potentiometer sensor provided at the rotation fulcrum of the sensor 40, and is configured to be able to detect the field surface height. As described above, by using the sensor 40 provided so as to follow the surface of the field, the amount of subsidence of the rear wheel 8 to the field can be accurately calculated in consideration of the amount of subsidence d of the float 34 to the field. ..

The working width refers to the length in the machine width direction set from the planting interval in the machine width direction of the rice transplanter 1 and the number of rows in which the planting work is performed. The number of rows to be planted is detected by the disconnected state of the unit clutch that disconnects and disconnects the power transmission to the planting arm 31 for each row. The seedling harvesting amount calculation unit 70 is connected to a unit clutch sensor 63a (see FIG. 7) that detects disconnection and disconnection of the unit clutch, and is configured to be able to detect the number of rows to be planted.

In the above configuration, the mileage of the rear wheels 8 in consideration of the slip ratio can be calculated from the slip ratio calculated from the amount of subsidence of the rear wheels 8 into the field and the number of revolutions of the rear wheels 8. Then, the actual work area is calculated from the work width set according to the mileage of the rear wheels 8 in consideration of the slip ratio and the number of rows where the planting work is performed.

The detection of the number of seedling mats used will be described with reference to FIGS. 11 to 12. As shown in FIG. 11, a rotating body is provided as a means for detecting the number of seedlings of the seedling mat on the mounting surface on which the seedling mat is placed for each row of the seedling stand 33. As the rotating body, the downstream rotating body 81 provided on the downstream side (downstream side in the feeding direction of the seedling mat) on the mounting surface and the upstream side (upstream side in the feeding direction of the seedling mat) from the downstream rotating body 81. An upstream rotating body 85 to be provided is provided. The seedling collection amount calculation unit 70 detects the number of times the seedling mat is added (number of seedlings) based on the rotational state of the downstream rotating body 81 and the upstream rotating body 85.

The downstream rotating body 81 is provided so as to project upward from the mounting surface (front surface) from the back surface side of the mounting surface. The downstream rotating body 81 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the downstream rotating body 81.

The downstream rotating body 81 is provided at a position on the mounting surface that can rotate in conjunction with the vertical feed of the seedling mat when one seedling mat is placed from the lower end to the upper side. The downstream rotating body 81 is arranged on the lower side from the upper end of the seedling mat, with an interval of one minute of the vertical feed amount F1 for one seedling mat as the upper limit. Further, the downstream rotating body 81 is arranged with a position at a predetermined interval F2 above the lower end of the seedling mat as a lower limit. The predetermined interval refers to an interval in consideration of the time lag from the calculation of the compression ratio to the correction control of the reference vertical amount in one article described later. Since the downstream rotating body 81 detects the feed amount of the seedling mat based on the rotation linked to the vertical feed of the seedling mat, it is preferably arranged near the lower end of the mounting surface, and in the present embodiment, the lower limit is set. Be placed.

Further, as a lower limit for providing the downstream rotating body 81, when a new seedling mat is added after the upper end of the seedling mat is sent to the lower side than the downstream rotating body 81, a new seedling mat is added. The seedling mats remaining before being added may be set at a position so as not to consume the remaining seedling mats.

The seedling amount calculation unit 70 adds one seedling number of seedling mats when the downstream rotating body 81 shifts from a non-rotating state to a state of rotating in conjunction with the vertical feed of the seedling mat. .. When the downstream rotating body 81 transitions from the non-rotating state to the rotating state linked to the vertical feed of the seedling mat, the downstream rotating body 81 is linked to the vertical feeding of the seedling mat from the non-rotating state. Refers to when rotation is detected. The seedling amount calculation unit 70 determines from the number of rotations per predetermined time whether or not the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54.

When the seedling collection amount calculation unit 70 detects the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat, the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat occurs within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the downstream rotating body 81 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stand 33 is vertically fed.

The upstream rotating body 85 is provided so as to project upward from the mounting surface (front surface) from the back surface side of the mounting surface. The upstream rotating body 85 is provided so as to rotate in conjunction with the vertical feeding of the seedling mat by the transport belt 54 in a state where the seedling mat is placed on the upstream rotating body 85.

The upstream rotating body 85 has a seedling mat at a position larger than the vertical length of at least one seedling mat from the lower end to the upper side on the mounting surface, and one seedling mat on the upper side from the downstream rotating body 81. When placed, it is provided at a position where it can rotate in conjunction with the vertical feed of the seedling mat. The upstream rotating body 85 is arranged on the lower side from the upper end of the seedling mat, up to a position spaced apart by the vertical feed amount F1 for one seedling mat. In the present embodiment, the upstream rotating body 85 is arranged near the position where one seedling mat is spaced above and below from the lower end to the upper side.

In the state where the downstream rotating body 81 rotates in conjunction with the vertical feeding of the seedling mat, the seedling collection amount calculation unit 70 moves from the state in which the upstream rotating body 85 does not rotate in conjunction with the vertical feeding of the seedling mat. When the state transitions to the rotating state, the number of seedlings of the seedling mat is added by one. When the upstream rotating body 85 transitions from the non-rotating state to the rotating state linked to the vertical feed of the seedling mat, the upstream rotating body 85 is linked to the vertical feeding of the seedling mat from the non-rotating state. Refers to when rotation is detected. The seedling amount calculation unit 70 determines from the number of rotations per predetermined time whether or not the rotation is linked to the vertical feeding of the seedling mat by the transport belt 54.

When the seedling collection amount calculation unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat, the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat occurs within a predetermined time after the rotation. By determining whether or not there is, it is detected whether or not the upstream rotating body 85 is in a state of rotating in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the seedling stand 33 is vertically fed.

The seedling amount calculation unit 70 calculates the compression ratio of the seedling mat when the state of rotating in conjunction with the vertical feed of the seedling mat of the upstream rotating body 85 changes to the non-rotating state. The compression ratio is the length of the seedling mat placed on the seedling mounting table 33 in the feeding direction (the length measured in advance from the lower end of the mounting surface to the upstream rotating body 85) and the downstream rotating body 51. It is calculated by adding the feed amount of the seedling mat calculated from the number of revolutions and dividing by the length of the seedling mat for the number of seedlings.

The detection of the number of seedling successions during the planting operation will be described with reference to FIG. Here, the seedling collection amount calculation unit 70 is configured to be able to store the number of seedling successions. Further, the seedling harvesting amount calculation unit 70 is configured to detect the rotational state of the downstream rotating body 81 and the upstream rotating body 85 and detect the rotation speed when the planting clutch is activated.

In the present embodiment, two seedling mats are placed on the mounting surface of the seedling mounting table 33, and the planting clutch is operated from here to start the planting work. When the seedling mat located on the lower end side is vertically fed by the transport belt 54, the downstream rotating body 81 rotates. When the seedling collection amount calculation unit 70 detects the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat by the transport belt 54, it adds one seedling number of seedlings (detects the first seedling mat). ..

Then, as the first seedling mat is vertically fed, the seedling mat on the upper side of the first seedling mat is vertically fed to the lower end side, so that the upstream rotating body 85 is rotated. .. When the seedling collection amount calculation unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat, it adds one seedling number of seedlings (detects the second seedling mat).

When the second seedling mat is vertically fed to the lower side of the upstream rotating body 85, the state in which the upstream rotating body 85 rotates in conjunction with the vertical feeding of the seedling mat is changed to a non-rotating state. To. When the seedling collection amount calculation unit 70 detects a state in which the upstream rotating body 85 is not rotating, it calculates the compression rate of the seedling mat. The seedling amount calculation unit 70 adds the length of the seedling mat placed on the seedling stand 33 in the feeding direction and the feeding amount of the seedling mat calculated from the rotation speed of the downstream rotating body 81. , Calculate the compression rate by dividing by the length of the seedling mat for the number of seedlings.

Then, when the seedling mat is added in a state where the upper end of the second seedling mat is arranged above the downstream rotating body 81 and below the upstream rotating body 85, the seedling mat is added. The seedling collection amount calculation unit 70 adds one seedling succession number (detects the third seedling mat) by detecting the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat.

Similarly, when the third seedling mat is vertically fed to the lower side of the upstream rotating body 85, the upstream rotating body 85 rotates in conjunction with the vertical feeding of the seedling mat, and is not rotating. Transition to. When the seedling collection amount calculation unit 70 detects a state in which the upstream rotating body 85 is not rotating, it calculates the compression rate of the seedling mat.

As described above, the downstream rotating body 81 is provided at a position on the mounting surface that can rotate in conjunction with the vertical feeding of the seedling mat when one seedling mat is placed from the lower end to the upper side. Then, the first seedling mat placed on the mounting surface can be detected.

The upstream rotating body 85 has a seedling mat at a position larger than the vertical length of at least one seedling mat from the lower end to the upper side on the mounting surface, and one seedling mat on the upper side from the downstream rotating body 81. When placed, the seedling mat is placed on the downstream rotating body 81 by being provided at a position where it can rotate in conjunction with the vertical feed of the seedling mat (the downstream rotating body 81 is the seedling mat. The seedling mat can be detected when a new seedling mat is added (in a state of rotating in conjunction with the vertical feed).

Further, since the downstream rotating body 81 is configured to rotate in conjunction with the vertical feeding of the seedling mat, the feeding amount of the seedling mat can be calculated based on the rotation speed of the downstream rotating body 81. That is, the downstream rotating body 81 is used as a means for detecting the feed amount of the seedling mat. Further, the length from the lower end of the mounting surface to the upstream rotating body 85 is measured in advance, and the state of rotating in conjunction with the vertical feed of the seedling mat of the upstream rotating body 85 is changed to a non-rotating state. The compression ratio can be calculated by detecting the transition.

In the above configuration, the seedling collection amount calculation unit 70 uses the compression ratio to feed the seedling mat calculated from the rotation speed of the downstream rotating body 81, and the seedling is based on the length of the seedling mat before compression. The number of mats used can be calculated.

The correction of the number of seedlings of the seedling mat will be described with reference to FIG. The seedling collection amount calculation unit 70 is a seedling mat calculated from the number of seedlings of the seedling mat detected based on the rotational state of the downstream rotating body 81 and the upstream rotating body 85 and the number of rotations of the downstream rotating body 81. The amount of feed and the remaining amount of seedling mats placed on the mounting surface are estimated at any time. The seedling amount calculation unit 70 corrects the number of seedlings of the seedling mat based on the remaining amount of the seedling mat and the rotational state of the downstream rotating body 81 and the upstream rotating body 85.

In the embodiment shown in FIG. 13, one seedling mat is placed on the mounting surface of the seedling stand 33, and the planting clutch is operated from here to start the planting work. When the seedling mat located on the lower end side is vertically fed by the transport belt 54, the downstream rotating body 81 is rotated. When the seedling collection amount calculation unit 70 detects the rotation of the downstream rotating body 81 linked to the vertical feeding of the seedling mat by the transport belt 54, it adds one seedling number of seedlings (detects the first seedling mat). .. The seedling amount calculation unit 70 calculates the feed amount of the seedling mat based on the rotation speed of the downstream rotating body 81, and subtracts the feed amount of the seedling mat from the length of one seedling mat to obtain the seedling mat. Estimate the remaining amount.

Then, when two seedling mats are newly added at the same time while the seedling mat is placed on the downstream rotating body 81, the rotation linked to the vertical feed of the seedling mat of the upstream rotating body 85 is detected. By doing so, the number of seedlings is added by one (the second seedling mat is detected). The feed amount of the seedling mat is calculated from the rotation speed of the downstream rotating body 81, and the remaining amount of the seedling mat is estimated by subtracting the feed amount of the seedling mat from the length of two seedling mats.

When the estimated remaining amount of the seedling mat is lower than the upstream rotating body 85, the seedling amount calculation unit 70 rotates the upstream rotating body 85 in conjunction with the vertical feed of the seedling mat. Detects whether or not. When the rotation linked to the vertical feed of the seedling mat of the upstream rotating body 85 is detected, the seedling mat is placed on the upstream rotating body 85 contrary to the remaining amount of the seedling mat, that is, the estimated seedling mat. Since the actual remaining amount of the seedling mat is larger than the remaining amount of the seedling mat, the number of seedlings is corrected, specifically, the number of seedlings of the seedling mat is added by one (corrected from two to three). .. If it is detected that the upstream rotating body 85 has changed from the state of rotating in conjunction with the vertical feed of the seedling mat to the state of not rotating in the above situation, the estimated remaining amount of the seedling mat is estimated. And the actual remaining amount of the seedling mat is judged to be the same, and the number of seedlings is not corrected.

Then, when the third seedling mat is sent to the lower side of the upstream rotating body 85, the upstream rotating body 85 changes from the state of rotating in conjunction with the vertical feeding of the seedling mat to the state of not rotating. It is transitioned. When the seedling collection amount calculation unit 70 detects a state in which the upstream rotating body 85 is not rotating, it calculates the compression rate of the seedling mat.

As described above, the remaining amount of the seedling mat is estimated, and the number of seedlings is corrected based on the estimated remaining amount of the seedling mat and the rotational state of the downstream rotating body 81 and the upstream rotating body 85. Therefore, for example, even when two seedling mats are seeded at the same time or one seedling mat is arranged from the downstream rotating body 81 to the upstream rotating body 85, the number of seedlings is accurately detected. can do. Further, when estimating the remaining amount of the seedling mat, if the compression rate is calculated, the compression rate may be taken into consideration.

The correction of the remaining amount of the seedling mat will be described with reference to FIG. In the embodiment shown in FIG. 14, the estimated remaining amount of the seedling mat is lower than the downstream rotating body 81, and the state where the downstream rotating body 81 is not rotating is changed. I'm assuming. When the seedling collection amount calculation unit 70 detects that the downstream rotating body 81 has transitioned to a non-rotating state, it is estimated based on the number of rotations of the downstream rotating body 81 rotated by the joint of the seedling mat. Correct the remaining amount of seedling mat.

When the seedling mat is replenished after detecting that the state of rotating in conjunction with the vertical feed of the seedling mat of the downstream rotating body 81 has changed to the non-rotating state, the seedling mat is replenished. Is in contact with the downstream rotating body 81, and the downstream rotating body 81 is rotated. Then, the downstream rotating body 81 is rotated until the lower end of the seedling mat to be added comes into contact with the upper end of the remaining seedling mat. Therefore, if there is a difference between the estimated remaining amount of the seedling mat and the actual remaining amount of the seedling mat, the seedling mat to be added to the actual remaining amount position of the seedling mat is sent. Therefore, the seedling amount calculation unit 70 subtracts the feed amount of the seedling mat calculated based on the rotation speed of the downstream rotating body 81 from the estimated remaining amount of the seedling mat. The remaining amount is corrected so that it becomes the actual remaining amount of the seedling mat.

As described above, when it is detected that the downstream rotating body 81 has transitioned to a non-rotating state, it is estimated based on the rotation speed of the downstream rotating body 81 generated by the addition of a new seedling mat. By correcting the remaining amount of the seedling mat, the remaining amount of the seedling mat can be calculated accurately, and the number of seedling successions can be calculated accurately.

In the above configuration, the downstream rotating body 81 and the upstream rotating body 85 are provided as the seedling succession frequency detecting means, but the present invention is not limited thereto. For example, the number of seedlings may be detected while estimating the remaining amount of the seedling mat using only the downstream rotating body 81.

The configuration of the downstream rotating body 81 will be described with reference to FIGS. 15 (a), 15 (b) and 15 (c). Since the upstream rotating body 85 has the same structure as the downstream rotating body 81, the description thereof will be omitted. FIG. 15A shows the configuration of the downstream rotating body 81 in a side view, and FIG. 15B shows the configuration of the downstream rotating body 81 in a rear view (viewed from the mounting surface side). In FIG. 15C, the configuration of the downstream rotating body 81 is shown in a front view (viewed from the back surface side of the mounting surface).

A plurality of protrusions 81a arranged radially with respect to the center of rotation are provided on the outer peripheral portion of the downstream rotating body 81. The downstream rotating body 81 is provided so that the protrusion 81a projects upward from the mounting surface through the through hole 33a from the back surface side of the mounting surface. The downstream rotating body 81 is configured to rotate in conjunction with the vertical feeding of the seedling mat while the protrusions 81a bite (engage) with the bottom surface of the seedling mat that is vertically fed on the mounting surface. The surface of the protrusion 81a on the contact side with the seedling mat is formed so as to be curved toward the upstream side in the rotation direction of the downstream rotating body 81. From the viewpoint of the relationship between the seedling stand 33 and the downstream rotating body 81, the surface of the protrusion 81a on the contact side with the seedling mat is formed in a shape warped toward the feeding source of the seedling mat. In the present embodiment, the protrusion 81a is formed so as to be curved in the upstream side in the rotation direction of the downstream rotating body 81 from the base end portion to the tip end portion in the side view.

As described above, the surface of the protrusion 81a of the downstream rotating body 81 on the contact side with the seedling mat is formed so as to be curved toward the upstream side in the rotation direction, so that the vicinity of the upper side of the downstream rotating body 81 is near. When the seedling mat is sent to the mounting surface, the seedling mat is likely to come into contact with the protrusion 81a (it is easy to get caught). Therefore, the downstream rotating body 81 can be prevented from slipping, and the downstream rotating body 81 can be rotated in conjunction with the vertical feeding of the seedling mat.

Further, the protrusion 81a may be formed as a star wheel without being curved in the upstream side in the rotation direction from the base end portion to the tip portion in the side view, or may be formed as a star foil in the side view, and may rotate from the base end portion to the tip end portion. It may be formed so as to be inclined to the upstream side in the direction, and the tip portion may be formed in a pointed shape. By forming the tip of the protrusion 81a into a pointed shape, the protrusion 81a can be easily hooked on the downstream side surface or the bottom surface of the seedling mat. Therefore, the downstream rotating body 81 can be prevented from slipping, and the downstream rotating body 81 can be rotated in conjunction with the vertical feeding of the seedling mat.

The downstream rotating body 81 is rotatably attached to the back surface of the seedling stand 33 about the pitch axis via the stay 82. A boss portion 81b is provided at the center of rotation of the downstream rotating body 81. The boss portion 81b is provided with a screw 83 every 90 degrees in the rotation direction, and by detecting the screw 83 with a proximity sensor 84 provided on one end side of the stay 82, the rotation speed of the downstream rotating body 81 can be determined. It is possible to detect it.

Further, by using the downstream rotating body 81 and the upstream rotating body 85 as the means for detecting the number of seedlings of the seedling mat, not only the number of times of seedlings but also the feed amount of the seedling mat can be detected. Therefore, for example, when the seedling mat is placed on the upstream rotating body 85 and the rotation of the upstream rotating body 85 according to the rotation of the downstream rotating body 81 is not detected, a seedling feeding failure is detected. be able to.

In the above configuration, in order to prevent erroneous detection due to rotation of the downstream rotating body 81 due to external force such as wind, the downstream rotating body 81 is urged to the back side of the seedling stand 33 by an elastic member to make the downstream rotating body 81. It may be locked. In this case, the urging force of the elastic member is such that when the seedling mat is placed on the downstream rotating body 81, the downstream rotating body 81 is pushed to the back side of the seedling mounting table 33 by the weight of the seedling mat. The lock on the back side of the seedling stand 33 is released, and the downstream rotating body 81 is set to be rotatable. The upstream rotating body 85 may be configured in the same manner.

Further, the rotation speed of the downstream rotating body 81 is detected by detecting the screw 83 provided on the boss portion 81b of the downstream rotating body 81 by the proximity sensor 84, but the present invention is not limited to this.

As shown in FIG. 16, the downstream rotating body 81 is provided with an elliptical cam 86 that rotates together with the downstream rotating body 81, and a microswitch 87 that repeatedly turns on and off as the cam 86 rotates. The microswitch 87 is arranged so as to be turned on when the short-diameter end of the cam 86 is in contact with the arm 87a and turned off when the long-diameter end of the cam 86 is in contact with the arm 87a. In the above configuration, the rotation speed of the downstream rotating body 81 can be detected by repeating the on and off of the micro switch 87 every 90 degrees.

In addition to the above configuration, a rotary encoder may be attached to the rotation shaft of the downstream rotating body 81 to calculate the number of rotations (rotation angle) of the downstream rotating body 81, or the downstream rotating body 81 may be calculated. A potential sensor may be attached to the rotation axis of the downstream side rotating body 81 to calculate the rotation number (rotation angle) of the downstream rotating body 81.

Further, a rotating body is used as a means for detecting the feed amount of the seedling mat, but the present invention is not limited to this. As a contact type measurement method, a capacitance type gauge, a load cell, or the like can be considered. By installing the capacitance type gauge on the entire mounting surface, for example, the feed amount and the remaining amount of the seedling mat of the seedling mounting table 33 can be accurately measured. Further, by attaching the load cell to the support member of the seedling mounting table 33, for example, the feed amount of the seedling mat can be detected based on the load of the seedling mat placed on the mounting surface.

Further, as the non-contact measurement method, a laser range finder, image processing of an image captured by a camera, an optical sensor, a brightness sensor and the like can be considered. The laser range finder can detect the feed amount of the seedling mat by being provided so as to be able to measure the distance from the upper side of the mounting surface to the upper end surface of the seedling mat to be mounted. .. Further, for example, the camera is provided so that the seedling mat placed on the mounting surface can be photographed, and the feed amount of the seedling mat can be detected by performing image processing on the photographed image. The optical sensor can detect the feed amount of the seedling mat by being composed of, for example, a light emitting unit and a light receiving unit that detects that the light beam from the light emitting unit is blocked by the seedling mat.

The positions of the downstream rotating body 81 and the upstream rotating body 85 in the body width direction will be described with reference to FIG.

The seedling holding rod has a role of pressing the seedling mat on each mounting surface from above to perform smooth transportation, and is formed in a rod shape with the feeding direction of the seedling mat of the seedling mounting table 33 as the longitudinal direction. In the embodiment shown in FIG. 17A, the long-diameter seedling holding rod 88a is provided symmetrically with respect to the center of the mounting surface, and the short-diameter seedling holding rod 88b is provided at the center of the mounting surface.

The upstream rotating body 85 is provided in the center of the mounting surface. The downstream rotating body 81 is arranged below the short-diameter seedling holding rod 88b (in the direction of pressing the seedling mat).

As described above, by arranging the downstream rotating body 81 below the short-diameter seedling holding rod 88b, the downstream rotating body 81 is downstream of the seedling mat without creating a gap between the seedling mat and the downstream rotating body 81. The side rotating body 81 can be made to bite. Therefore, it is possible to prevent the downstream rotating body 81 from slipping, and it is possible to accurately calculate the feed amount of the seedling mat from the number of rotations of the downstream rotating body 81.

In the embodiment shown in FIG. 17B, the upstream rotating body 85 is arranged below the long-diameter seedling holding rod 88a located on the right side (direction in which the seedling mat is pressed). Therefore, similarly, it is possible to prevent the upstream rotating body 85 from slipping, and it is possible to accurately calculate the feed amount of the seedling mat from the number of rotations of the upstream rotating body 85.

In the embodiment shown in FIG. 17C, three long-diameter seedling holding rods 88a are arranged symmetrically with respect to the center of the mounting surface. The upstream rotating body 85 and the downstream rotating body 81 are arranged below the long-diameter seedling holding rod 88a (in the direction of holding the seedlings) arranged in the center. Therefore, the same effect is obtained.

In the embodiment shown in FIG. 17D, two long-diameter seedling holding rods 88a are arranged side by side symmetrically with respect to the center of the mounting surface. The upstream rotating body 85 is arranged below the long-diameter seedling holding rod 88a located on the right side (in the direction of pressing the seedling mat). Therefore, the same effect is obtained.

As described above, by arranging the upstream rotating body 85 and the downstream rotating body 81 below the seedling holding rod (in the direction of pressing the seedling mat), the upstream rotating body 85 and the downstream rotating body 81 are prevented from slipping. It is possible to accurately calculate the feed amount of the seedling mat from the number of revolutions. Further, a plurality of upstream rotating bodies 85 and downstream rotating bodies 81 may be arranged side by side at the same height.

In the above configuration, the seedling harvesting amount calculation unit 70 calculates the actual vertical harvesting amount based on the actual working area and the number of seedling mats used in all the rows. The seedling collection amount calculation unit 70 calculates the actual number of mats (the number of seedling mats used per predetermined area) from the number of seedling mats used and the actual work area obtained by adding all the number of seedling mats used for each row. Then, the seedling amount calculation unit 70 calculates the actual vertical amount from the actual number of mats, the number of lateral feeds of the seedling stand 33, and the number of stocks in consideration of the slip ratio.

The seedling collection amount calculation unit 70 determines the remaining working area calculated by subtracting the actual working area from the field area and the number of remaining seedling mats calculated by subtracting the number of seedling mats used from the number of seedling mats. Calculate the target vertical amount based on this. The seedling collection amount calculation unit 70 calculates the target number of mats (the number of seedling mats per predetermined area) from the remaining working area and the number of remaining seedling mats. Then, the seedling amount calculation unit 70 calculates the target vertical amount from the target number of mats, the number of lateral feeds of the seedling stand 33, and the number of stocks in consideration of the slip ratio.

When the seedling harvesting amount calculation unit 70 calculates the actual vertical harvesting amount and the target vertical harvesting amount, the value obtained by subtracting the actual vertical harvesting amount from the target vertical harvesting amount is used as a correction amount and added to the standard vertical harvesting amount as a reference. The vertical amount is corrected and the actuator 56a is driven and controlled.

In the above configuration, the actual vertical amount is calculated from the actual work area for all rows and the number of seedling mats used, and the target vertical amount is calculated from the remaining work area and the number of remaining seedling mats for all rows. The correction amount for all rows is calculated from the amount and the target vertical amount, but it is not limited to this, the correction amount for each row is calculated, and the correction amount for all rows is calculated based on the correction amount for each row. May be calculated.

The seedling collection amount calculation unit 70 calculates the actual number of mats for each row from the actual working area for each row and the number of seedling mats used for each row, and the actual number of mats for each row, the number of times the seedling mounting table 33 is fed laterally, and Calculate the actual vertical amount for each article from the number of shares considering the slip rate. Then, the seedling collection amount calculation unit 70 calculates the target number of mats for each row from the remaining work area for each row and the number of remaining seedling mats for each row, and laterally feeds the target number of mats for each row and the seedling mounting table 33. Calculate the target vertical amount for each row from the number of shares considering the number of times and the slip rate. The seedling harvesting amount calculation unit 70 calculates the correction amount for each row by subtracting the target vertical harvesting amount from the actual vertical harvesting amount calculated for each row, and all based on the correction amount calculated for each row. The amount of correction for the strip may be calculated.

In the above configuration, the correction control of the standard vertical amount is performed after the number of seedling mats used for all the number of rows where the planting work is performed is calculated, so that the correction control is performed after one row calculates the compression rate. There will be a time lag before you do. Therefore, in consideration of the time lag, the downstream rotating body 81 is arranged at least at a predetermined distance from the lower end portion upward on the mounting surface of each row of the seedling stand 33.

As described above, by making it possible to calculate the actual working area where the actual planting work was performed and the number of seedling mats used in the actual planting work during the planting work, the standard vertical amount can be set. It can be corrected. Therefore, the planting work can be performed on a desired field with a desired number of seedling mats. Therefore, the consumption efficiency of the seedling mat can be improved.

The vertical amount control of the planting claw 32 will be described with reference to FIG. In the following, it is assumed that the planting clutch is connected and the planting work machine 3 is operating. When the vertical amount control is started, the actual working area is calculated at any time from the mileage and the working width of the rear wheels 8 in consideration of the slip ratio. Further, the downstream rotating body 81 and the upstream rotating body 85 are appropriately rotated in conjunction with the vertical feeding of the seedling mat, and the number of seedling successions is detected from the rotating state of the downstream rotating body 81 and the upstream rotating body 85. At the same time, the feed amount of the seedling mat is calculated at any time from the number of rotations of the downstream rotating body 81.

In step S110, the seedling amount calculation unit 70 determines whether or not the field area and the number of seedling mats have been input using the select dial 66. When the field area and the number of seedling mats are input, the process proceeds to step S120.

In step S120, the seedling harvesting amount calculation unit 70 drives and controls the actuator 56a so as to obtain the reference vertical harvesting amount calculated based on the field area and the number of seedling mats, and shifts to step S130.

In step S130, the seedling collection amount calculation unit 70 determines whether or not the state of rotating in conjunction with the vertical feeding of the seedling mat of the upstream rotating body 85 has changed to the non-rotating state. When the non-rotating state of the upstream rotating body 85 is detected, the process proceeds to step S140.

In step S140, the seedling amount calculation unit 70 calculates the number of seedling mats used for each row from the compression rate calculated based on the feed amount of the seedling mats for each row and the number of seedlings of the seedling mats, and in step S150. Migrate to.

In step S150, the seedling amount calculation unit 70 determines whether or not the number of seedling mats used for each row has been calculated. When the number of seedling mats used is calculated, the process proceeds to step S160.

In step S160, the seedling harvesting amount calculation unit 70 calculates the actual vertical harvesting amount based on the actual working area and the number of seedling mats used, and shifts to step S170.

In step S170, the seedling harvesting amount calculation unit 70 calculates the target vertical harvesting amount based on the remaining working area and the number of remaining seedling mats, and shifts to step S180.

In step S180, the seedling harvesting amount calculation unit 70 corrects the reference vertical harvesting amount based on the actual vertical harvesting amount and the target vertical harvesting amount, and drives and controls the actuator 56a so as to obtain the corrected standard vertical harvesting amount. , Step S190.

In step S190, the seedling harvesting amount calculation unit 70 determines whether or not the actual working area is the field area. If the actual working area is the field area, the process ends. If the actual working area is not the field area, the process proceeds to step S130.

The grasping and planning of the planting work by the information terminal 91 will be described with reference to FIG. The communication unit of the rice field machine 1 transmits and receives various data via a wide area communication network such as the Internet, and can perform data communication with an external information terminal 91 connected via the wide area communication network. It is configured so that it can be done.

As shown in FIG. 19 (a), the information terminal 91 has an elapsed time, a number of stocks, a number of lateral feeds, a rear wheel sinking amount, a slip rate, and a per-stem detected during planting work in a certain field. Receives and displays data such as the number of stems, the number of stems per predetermined area, the remaining working area, and the number of remaining seedling mats. Various data may be displayed in real time during the planting work, or may be displayed at the end of the planting work.

As described above, by enabling the information terminal 91 to receive various detailed data, an administrator or the like who manages a plurality of fields can grasp the work status of each field by using the information terminal 91. can do.

As shown in FIG. 19B, the relationship between the number of stems and the yield per predetermined area and the relationship between the number of strains and the yield may be displayed. In this case, the breakdown of the yield can be useful for the next plan by showing the ratio of the sizing and the waste rice.

In addition, when setting the number of stocks and the number of seedling mats per predetermined area in anticipation of the yield per predetermined area of the field in advance, various information is input to the information terminal 91 to simulate the required number of mats and the number of stocks. It can be carried out. Therefore, the manager can make a plan from the seedling transplanting stage or the seedling mat growing stage, and can appropriately set the required number of mats, the number of stocks, and the like.

1: Rice transplanter, 2: Traveling machine, 3: Planting work machine, 8: Rear wheel, 20: Lifting link mechanism, 32: Planting claw, 33: Seedling stand, 56: Seedling stand rail support shaft, 56a: Actuator, 60: Interlocking wire, 63: Stripe switch, 66: Select dial, 70: Seedling amount calculation unit, 71: Planting work machine position detection sensor, 81: Downstream rotating body, 84: Proximity sensor, 85: Upstream rotating body, 88a / 88b: Seedling holding rod

Claims (3)

It is a seedling transplanter that can change the vertical amount of the seedling mat by scraping the seedlings from the seedling mat placed on the seedling stand and planting them in the field with the planting claws.
A seedling amount calculation unit that can calculate the standard vertical amount from the field area and the number of seedling mats used for the field area is provided .
The seedling harvesting amount calculation unit includes the actual vertical harvesting amount calculated based on the actual working area where the planting work was performed and the number of seedling mats used for the actual working area during the planting work. Based on the target vertical amount calculated based on the remaining working area and the number of remaining seedling mats, the standard vertical amount is calculated by adding the difference between the actual vertical amount and the target vertical amount to the standard vertical amount. Seedling transplanter to correct. The seedling stand is configured to be able to move up and down by an actuator, and
The seedling transplanter according to claim 1, wherein the seedling harvesting amount calculation unit drives and controls the actuator so that the vertical harvesting amount by the planting claw becomes the reference vertical harvesting amount. The actual work area includes a vehicle speed of run line aircraft considering the slip ratio, the working width is set from the number of threads that the planting operation is performed, is calculated based on,
The seedling transplanting machine according to claim 1 or 2, wherein the number of seedling mats used is calculated based on the feed amount of the seedling mats calculated for each row and the compressibility of the seedling mats calculated for each row. ..

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