JP7276286B2 - work vehicle - Google Patents

Description

The present invention relates to a work vehicle such as a rice planter.

A rice transplanter with a seedling planting device is known. Such a seedling planting apparatus includes a seedling mat placing section for placing a seedling mat, a seedling planting section for planting seedlings on the seedling mat, and a seedling amount adjusting mechanism for adjusting the amount of seedlings taken from the seedling mat to be planted. (See Patent Documents 1 and 2, for example).

JP 2017-55704 A Japanese Patent Application Laid-Open No. 2017-136008

However, for work vehicles such as the above-described conventional rice transplanter, it is desirable to reduce the burden on workers involved in the seedling planting work.

SUMMARY OF THE INVENTION An object of the present invention is to provide a work vehicle that can reduce the burden on workers involved in seedling planting work in consideration of the conventional problems described above.

A first aspect of the present invention is
A seedling mat placing section (110) for placing a seedling mat (900), a seedling planting section (120) for planting seedlings on the seedling mat (900), and a seedling picking section for taking the seedlings to be planted from the seedling mat (900). a seedling planting device (100) having a seedling collection amount adjusting mechanism (130) for adjusting the amount;
a driving force generator (500) attached to the upper part of the seedling planting device (100) for generating a driving force for driving the seedling amount adjusting mechanism (130);
a seedling amount adjusting driving force transmission member (600) for transmitting the driving force from the driving force generator (500) to the seedling amount adjusting mechanism (130);
a control device (400) that controls the seeding amount adjustment mechanism (130) via the driving force generator (500) and the seeding amount adjustment driving force transmission member (600);
a target seedling mat consumption input device (200) for inputting a target seedling mat consumption in seedling planting work,
The control device (400) controls the seedling amount adjustment mechanism (130) according to the input target seedling mat consumption,
A seedling consumption amount detection mechanism (300) for detecting the seedling consumption amount in the seedling planting work,
The control device (400) adjusts the amount of seedlings taken based on the detected seedling consumption during the seedling planting work so that the amount of seedlings taken approaches the amount of seedlings taken according to the target seedling mat consumption. controlling the volume adjustment mechanism (130);
The difference between the detected seedling consumption amount and the target seedling mat consumption amount is notified to the outside during the seedling planting work,
The amount of seedlings picked up is maximized immediately after the seedling mat mounting portion (110) is turned back, and the amount of seedlings picked up is gradually reduced from the maximum value immediately after the turn back as it approaches the edge of the seedling mat mounting portion (110). The working vehicle is characterized by realizing uniform seedling consumption as a whole.
A second aspect of the present invention is
The work vehicle according to the first aspect of the present invention is characterized in that the seedling amount is corrected based on a running slip ratio of the vehicle body (10).
A third aspect of the present invention is
The work vehicle according to the first aspect of the present invention is characterized in that the seedling amount is corrected based on the traveling speed of the vehicle body (10).
A first invention related to the present invention comprises a seedling mat placing portion (110) for placing a seedling mat (900), a seedling planting portion (120) for planting seedlings on the seedling mat (900), and the seedlings to be planted. a seedling planting device (100) having a seedling amount adjustment mechanism (130) for adjusting the amount of seedlings taken from the seedling mat (900);
a target seedling mat consumption input device (200) for inputting the target seedling mat consumption in the seedling planting work;
a control device (400) for controlling the seedling amount adjustment mechanism (130) according to the input target seedling mat consumption;
A work vehicle characterized by comprising

A second invention related to the present invention comprises a seedling consumption amount detection mechanism (300) for detecting the seedling consumption amount in the seedling planting work,
The control device (400) adjusts the amount of seedlings taken based on the detected seedling consumption during the seedling planting work so that the amount of seedlings taken approaches the amount of seedlings taken according to the target seedling mat consumption. A work vehicle according to a first invention related to the present invention characterized in that it controls an amount adjusting mechanism (130).

In a third invention related to the present invention , the seedling mat placing section (110) feeds the seedling mat (900) in the vertical direction,
A second invention related to the present invention , wherein the seedling consumption detection mechanism (300) detects the seedling consumption based on the seedling mat longitudinal feeding amount and the traveling distance of the vehicle body (10). is a working vehicle.

A fourth invention related to the present invention is the work vehicle according to the first invention related to the present invention, characterized in that the seedling amount is corrected based on a running slip ratio of the vehicle body (10). .

A fifth invention related to the present invention is the work vehicle according to the first invention related to the present invention, wherein the seedling amount is corrected based on the running speed of the vehicle body (10).

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to reduce the burden on workers involved in planting seedlings, and to improve convenience.
According to the first invention related to the present invention , it is possible to reduce the burden on workers involved in seedling planting work.

According to the second invention related to the present invention, convenience can be improved in addition to the effect of the first invention related to the present invention .

According to the third invention related to the present invention, it is possible to simplify the configuration in addition to the effects of the second invention related to the present invention .

According to the fourth invention related to the present invention, convenience can be improved in addition to the effect of the first invention related to the present invention .

According to the fifth invention related to the present invention, convenience can be improved in addition to the effect of the first invention related to the present invention .

1 is a left side view of a rice transplanter according to an embodiment of the present invention; FIG. (a) Partial left side view (part 1) of the vicinity of the seedling planting device of the rice transplanter according to the modified embodiment of the present invention, (b) The vicinity of the seedling planting device of the rice transplanter according to the modified embodiment of the present invention Partial left side view of (Part 2) FIG. 2 is a partial plan view of the vicinity of the seedling planting device of the rice transplanter according to the embodiment of the present invention; Partial left side view in the vicinity of the driving force transmission member use switching mechanism of the rice transplanter according to the modified embodiment of the present invention Schematic partial plan view in the vicinity of a driving force transmission member use switching mechanism of a rice transplanter according to a modified embodiment of the present invention (No. 1) Schematic partial plan view of the vicinity of the driving force transmission member use switching mechanism of the rice transplanter according to the modified embodiment of the present invention (No. 2)

Embodiments of the present invention will be described in detail with reference to the drawings.

Likewise, some components may not be shown in the drawings, or may be shown in perspective or in an abbreviated manner.

The rice transplanter of this embodiment is an example of a work vehicle in the present invention or inventions related to the present invention.

(A) First, the configuration and operation of the rice transplanter according to the present embodiment will be specifically described with reference to FIGS. 1 to 3. FIG.

1 is a left side view of a rice transplanter according to an embodiment of the present invention, and FIGS. 2(a) and 2(b) are a seedling planting device 100 of a rice transplanter according to a modified embodiment of the present invention. FIG. 3 is a partial left side view (No. 1 and 2) of the vicinity, and FIG. 3 is a partial plan view of the vicinity of the seedling planting device 100 of the rice transplanter according to the embodiment of the present invention.

While explaining the operation of the rice transplanter of the present embodiment, the method for adjusting the amount of seedlings taken according to the present invention will also be explained.

The seedling planting apparatus 100 includes a seedling mat placing unit 110 for placing a seedling mat 900 thereon, a seedling planting unit 120 for planting seedlings on the seedling mat 900, and a seedling amount adjustment for adjusting the amount of seedlings taken from the seedling mat 900 to be planted. A device having a mechanism 130 and a seedling planting depth adjustment mechanism 140 for adjusting the seedling planting depth at which seedlings are planted.

The rice transplanter of the present embodiment may be an electric rice transplanter or a GNSS (Global Navigation Satellite System) robot rice transplanter having a so-called automatic seeding amount adjustment function.

The driving force generator 500 is a device that generates driving force for driving the seedling amount adjusting mechanism 130 and the seedling planting depth adjusting mechanism 140 .

In the present embodiment, control device 400 controls seedling amount adjustment mechanism 130 and seedling amount adjustment mechanism 130 via driving force generator 500, seedling amount adjustment driving force transmission member 600, and seedling planting depth adjustment driving force transmission member 700. Control the planting depth adjustment mechanism 140 .

The seedling amount adjustment driving force transmission member 600 is a member that transmits the driving force from the driving force generator 500 to the seedling amount adjustment mechanism 130 .

The seedling planting depth adjustment driving force transmission member 700 is a member that transmits the driving force from the driving force generator 500 to the seedling planting depth adjustment mechanism 140 .

(B) Next, mainly referring to FIGS. 1 to 3, the configuration and operation of the rice transplanter of this embodiment will be described more specifically.

(B1) The target seedling mat consumption input device 200 will be described more specifically.

The target seedling mat consumption input device 200 is a device for inputting a target seedling mat consumption in seedling planting work.

The control device 400 is a device that controls the seedling amount adjusting mechanism 130 according to the input target seedling mat consumption amount.

The number of seedling planting points arranged in a grid pattern in the field is determined according to the shape of the field. More specifically, by obtaining data on the shape of the field and data on the inter-row distance and the inter-row spacing that give the grid spacing of the seedling planting points, the control device 400, according to the input target seedling mat consumption, A target seedling collection amount at each seedling planting point can be calculated. Since it is often difficult to adjust the seedling mat lateral feeding amount, typically, in order to adjust the seedling picking amount by adjusting the seedling mat longitudinal feeding amount, the control device 400 sets a target seedling picking amount corresponding to the target seedling picking amount. The seedling mat vertical feeding amount is calculated, and the seedling picking amount adjusting mechanism 130 is controlled according to the target seedling mat vertical feeding amount.

Of course, even if the control device 400 is an in-vehicle information processing device, the target seedling mat consumption input device 200 may be a mobile information terminal device such as a smart phone. Therefore, various data such as the above-described data relating to the shape of the field may be stored in advance in the memory device of the control device 400, or may be input from the portable information terminal device as the target seedling mat consumption input device 200. It may be input together with the target seedling mat consumption.

Since the amount of seedlings taken is adjusted according to the input target seedling mat consumption amount, occurrence of an excess or deficiency of the seedling mats 900 in the seedling planting work can be suppressed.

For example, the seedling amount or the seedling feeding amount linked to the seedling amount is adjusted by the actuator of the driving force generator 500, and the seedling amount is automatically adjusted according to the set target seedling mat consumption amount. good. Instead of simply "controlling the amount of seedlings taken based on the target seedling consumption and actual seedling consumption", the amount of seedlings taken is arbitrarily set so that the amount of seedlings taken approaches the target seedling mat consumption. The amount of seedlings taken can be controlled from the amount of seedlings taken and the target seedling consumption.

A mode that automatically adjusts the amount of seedlings taken according to the set target seedling mat consumption, a mode that approaches the target seedling consumption within a certain range while prioritizing arbitrary settings by the operator, and One mode may be selected from the modes according to the settings. Rather than simply "controlling the amount of seedlings harvested from the target seedling consumption amount and actual seedling consumption amount", seedlings can be controlled based on the arbitrarily set seedling harvest amount and target seedling consumption amount while prioritizing the operator's initial settings. You can control the amount you take.

The seedling consumption detection mechanism 300 is a mechanism for detecting the seedling consumption in seedling planting work.

Based on the seedling consumption detected during the seedling planting work, the control device 400 controls the seedling collection amount adjustment mechanism 130 so that the seedling collection amount approaches the seedling collection amount corresponding to the target seedling mat consumption amount.

For example, in a system that performs control based on the difference between the actual seedling consumption amount and the target seedling mat consumption amount in the seedling planting work, the seedling feeding amount of the seedling feeding mechanism is not used for monitoring the actual seedling consumption amount, but the driving force is The actual seedling consumption may be calculated by detecting the amount of seedling movement using a wheel or the like that does not have a . Considering that there is a difference between the seedling feeding amount and the seedling moving amount, rather than simply "calculating the seedling consumption amount from the seedling feeding amount and the seedling mat horizontal feeding amount", the seedling moving Seedling consumption can be accurately calculated from the amount.

In the seedling mat placing section 110, the seedling mat 900 is sent in the vertical direction.

The seedling consumption detection mechanism 300 detects the seedling consumption based on the seedling mat vertical feeding amount and the traveling distance of the vehicle body 10 .

The difference between the actual seedling consumption amount and the target seedling mat consumption amount in the seedling planting work may be reported. Rather than simply reporting the difference between the actual seedling consumption amount and the target seedling mat consumption amount, the difference from an arbitrary setting by the operator is notified by a display device, etc., so that the amount of seedlings taken per plant etc., can be easily recognized.

The amount of remaining seedlings required in the specified work area may be notified. Rather than simply "reporting the difference between the actual seedling consumption amount and the target seedling mat consumption amount", the amount of remaining seedlings required by the end of the work, which is more realistically useful than the actual seedling consumption amount, can be easily calculated. Recognized.

The seedling amount is corrected based on the running slip ratio of the vehicle body 10 .

When the running slip ratio of the vehicle body 10 is large, it is often desirable to reduce the seedling amount so as not to run out of seedlings.

The seedling amount is corrected based on the running speed of the vehicle body 10 .

When the traveling speed of the vehicle body 10 is low, it is often desirable to reduce the amount of seedlings taken so as not to run out of seedlings.

For example, not only the seedling feeding amount such as the seedling feeding rotation speed, but also the actual traveling distance and actual traveling speed of the vehicle body 10 calculated using GNSS or the like may be used for monitoring the seedling consumption amount. Rather than simply "calculating the amount of seedlings consumed from the amount of seedlings taken or the amount of seedlings fed and the amount of seedling mat laterally fed", considering the occurrence of slips, etc. Therefore, it is possible to accurately calculate the amount of seedlings consumed.

It goes without saying that the harvest rate may be corrected in various ways, as explained next.

Seedling volume may be reduced in furrow plantings. This is because the ridges have relatively high fertility, and even if the amount of seedlings taken is small, there is no hindrance to the growth of the seedlings as a whole. Since the overgrowth of seedlings is suppressed, air circulation is improved and resistance to disease is strengthened.

Seedling yield may be increased in furrow planting. This is because the fertility of the ridges is relatively high, and by increasing the amount of seedlings collected, the growth of the seedlings in the entire field is improved and the seedlings are more likely to be evenly distributed.

Seedling rate may be decreased at locations of low field fertility and increased at locations of high field fertility. This is because the growth of seedlings is improved and uniformity is facilitated by adjusting the amount of seedlings taken according to the fertility of the field.

The amount of seedlings taken may be increased at positions where the field plowing depth is small, and may be decreased at positions where the field plowing depth is large. This is because the survival rate of the seedlings is improved by adjusting the amount of seedlings collected according to the plowing depth of the field, and the seedlings are easily uniformed.

The amount of seedlings taken may be reduced at positions where the field tillage depth is small and increased at positions where the field tillage depth is large. This is because the growth of seedlings is improved and uniformity is facilitated by adjusting the amount of seedlings collected according to the plowing depth of the field.

The amount of seedlings taken may be reduced in areas where seedlings grow slowly and increased in areas where seedlings grow fast, even in the same field. This is because the growth of the seedlings is improved and the seedlings are easily uniformed by adjusting the amount of seedlings taken according to the accumulated past seedling-raising data.

The amount of seedlings taken may be increased in areas where seedlings grow slowly and decreased in areas where seedlings grow fast, even in the same field. This is because the survival rate of the seedlings is improved and the seedlings are easily arranged by adjusting the amount of seedlings taken according to the accumulated past seedling-raising data.

The amount of seedlings taken may be followed by being automatically reproduced according to past seedling raising data such as planting settings in the same field. This is because even beginners can start rice planting without worrying about detailed settings.

In the same field, the amount of seedlings taken is automatically reproduced according to the past seedling data such as the setting of the automatic interplant switching mechanism and the setting of the automatic fertilization feeding amount adjustment mechanism in addition to the planting setting. may This is because even beginners can start rice planting without worrying about detailed settings.

The amount of seedlings taken may be followed by being automatically reproduced according to past seedling raising data such as accessible big data in fields in the same surrounding area. This is because even beginners can start rice planting without worrying about detailed settings.

The seedling amount is reduced when the travel slip ratio calculated by comparing with the wheel rotation speed is large while measuring the actual travel amount such as the actual travel distance of the vehicle body 10 calculated using GNSS or the like. may

The amount of seedlings taken may be increased when the generation of so-called thin planting is detected by comparison with the planting setting for the seedlings planted in the seedling tank recognized by the back camera or the like. This is because the variation in the amount of seedlings taken due to the variation in the number of seedlings on the seedling mat 900 can be suppressed.

The amount of seedlings taken is determined by imaging the bottom end of the seedling mat 900 just before the seedling planting unit 120 scrapes the seedlings planted in the seedling tank recognized by the back camera or the like. may be increased. This is because the variation in the amount of seedlings taken due to the variation in the number of seedlings on the seedling mat 900 can be suppressed.

Since the seedling feeding amount linked to the seedling collection amount is uniquely determined from the seedling collection amount, it is not necessary to adjust the seedling feeding amount itself in a mechanism that automatically adjusts the seedling feeding amount according to the seedling collection amount. do not have. For example, in the mechanism for automatically adjusting the amount of seedling feeding, the operator does not need to manually adjust the height of the seedling opening of the seedling planting unit 120, and functions as part of the seedling amount adjusting mechanism 130. , the configuration of the seedling feeding mechanism in the seedling planting unit 120 can be simplified, so the number of parts can be reduced.

Of course, in a configuration in which the adjustment of the seedling picking amount and the seedling feeding amount can be adjusted independently, the seedling picking amount is adjusted in conjunction with the seedling feeding amount, and the seedling feeding amount is associated with the seedling picking amount. Both the setting of the seedling rate criteria and the setting of the seedling rate criteria are feasible because the seedling rate criteria are adjusted.

Whether or not the change in the amount of seedling feed is appropriate for the change in the amount of seedling taken may be determined by whether or not the torque change of the feed roll of the seedling amount adjustment mechanism 130 is within a predetermined range. For example, if such torque change is a large change exceeding a predetermined value, the seedling feed rate is decreased, otherwise the seedling feed rate is increased. In a configuration in which the adjustment of the amount of seedlings taken and the amount of seedlings sent can be independently performed by an actuator or the like, regardless of which of the setting of the seedlings taking amount standard and the setting of the seedlings feeding amount standard is used, Appropriate settings can suppress the occurrence of clogged seedlings and missing stocks.

When a seedling feeding amount standard setting is used, the seedling amount required for planting is often easy to calculate.

Whether or not the change in the amount of seedling feeding is appropriate with respect to the change in the amount of seedlings taken is determined based on the number of seedlings in the seedling block that has been scraped, captured by a camera provided at the seedling scraping position in the seedling planting unit 120. may be judged. It is possible to deal not only with the variation in the number of seedlings in each seedling box, but also with the variation in the number of seedlings in each seedling box.

In the case of high-speed planting, the number of times of planting with respect to a predetermined travel distance is small, so the seedling feeding amount specified for the predetermined seedling picking amount is increased so as to be slightly larger, and in the case of low-speed planting, the seedling feeding is increased. The amount is reduced so that it is slightly smaller.

Seedling collapse, which is collapse of the seedling mat 900, is likely to occur as the seedling tank approaches the edge of the seedling tank. The amount of seedlings picked up gradually decreases from the maximum value immediately after turning back as it approaches the end of the seedling tank, but overall it is possible to achieve even seedling consumption and avoid seedling collapse due to the turn. It is possible to suppress the occurrence of stock shortages.

In rainy weather, the seedlings tend to become heavy due to moisture due to high humidity, and the amount of seedlings collected tends to increase. By reducing one of them, it is possible to perform seedling picking regardless of the weather according to the setting.

In fine weather, the seedlings tend to become light and slippery due to dryness due to low humidity. Seedlings can be harvested regardless of the weather according to the setting.

Since the amount of harvested seedlings is likely to change due to the weather, by providing a cover or the like to cover the top of the seedling tank, seedlings can be stably harvested regardless of the weather.

Of course, the amount of seedlings collected tends to be large due to the large weight of the seedlings. By reducing at least one of the above, the amount of seedlings collected can be kept within a predetermined range.

It goes without saying that the seedling planting depth may be corrected in various ways, as explained below.

For example, in a configuration in which the seedling planting depth is automatically adjusted by the actuator of driving force generator 500 , the seedling planting depth may be adjusted according to the instantaneous behavior of vehicle body 10 . When the vehicle body tilts forward due to the lift of the seedling planting section, the seedling planting depth is adjusted to increase, and when the vehicle body tilts backward, the seedling planting depth is adjusted to decrease. When the running is finished, the seedling planting depth is restored. High-speed planting can be achieved while avoiding the occurrence of so-called floating seedlings and deep planting.

Seedling planting depth may be adjusted according to field hardness. Since field conditions are constantly changing, for example, by detecting field hardness based on field plowing depth and running torque, shallow planting is performed when the soil is hard, and deep planting is performed when the soil is soft. Seedling planting depth is adjusted as required. It is possible to stably realize an appropriate seedling planting depth that is not affected by field hardness while avoiding poor growth due to seedling falling and deep planting by changing settings.

Seedling planting depth may be adjusted to be smaller at the edge of a furrow. Since the soil in the furrow is often hard, root growth is improved by shallow planting.

Seedling planting depth may be adjusted according to field fertility. The seedling planting depth is adjusted, for example, to be large in areas with high field fertility and to be small in areas where nutrients are prone to runoff and low field fertility. Nutrient absorption of the seedlings is uniformed, so the growth of the seedlings is improved and easy to arrange.

The seedling planting depth may be adjusted according to the field plowing depth. The seedling planting depth is adjusted, for example, to be large in places where the field plowing depth is large, and to be small in places where the field plowing depth is small. In places where the plowing depth of the field is large, the soil is soft and rich in nutrients, but seedlings are not only prevented from falling down, but the absorption of nutrients by the seedlings is made uniform, so that the growth of the seedlings is improved and they are easy to align.

Seedling planting depth may be adjusted according to the amount of fertilizer applied. The seedling planting depth is adjusted, for example, to be greater in places where the amount of fertilization is large so that continuous fertilization effects can be exhibited over a long period of time when so-called fertilization is less likely to occur.

The seedling planting depth may be adjusted according to the torque loss of the drive torque that is affected by the soil quality of the field. The seedling planting depth is adjusted to be large in sandy fields where the soil is presumed to be soft and torque loss is small, etc., and is adjusted to be small in clayey fields where the soil is presumed to be hard and the torque loss is large. , it is possible to stably achieve an appropriate seedling planting depth that is not affected by field soil quality.

The seedling planting depth may be adjusted according to the image recognition of the seedling planting trace by imaging with a camera or the like. For example, when image recognition determines that a seedling has fallen, the seedling planting depth is automatically lowered by one step to reduce the seedling planting depth according to the results of seedling planting that has already been performed. feedback regulation can be realized.

Of course, when it is determined by image recognition that deep planting has occurred, the operation of raising the seedling planting depth by one step may be automatically performed so that the seedling planting depth is reduced.

The seedling planting depth may be adjusted according to the seedling planting speed. The seedling planting depth is, for example, adjusted to increase with a predetermined increment of depth in high-speed planting where planting failure is likely to occur, and adjusted to decrease with a predetermined decrease in depth in low-speed planting. be.

The seedling planting depth may be adjusted according to the acceleration of the vehicle body 10 . The seedling planting depth is decreased, for example, as the vehicle body 10 accelerates, and is increased as the vehicle body 10 decelerates. Conversely, the seedling planting depth may be increased as the vehicle body 10 accelerates, or may be decreased as the vehicle body 10 decelerates. Detection of the behavior of the vehicle body 10 is likely to cause a deviation at the time of detection due to a change in state, but detection of the acceleration of the vehicle body 10 is unlikely to have a deviation at the time of detection due to a change in state, so high speed response is possible. can be realized.

Seedling planting depth may be adjusted based on the weather. Since so-called seedling rollover tends to occur in rainy weather, in the case of planting in rainy weather, by detecting rain and increasing the seedling planting depth, it is possible to realize an appropriate seedling planting depth that is not affected by the weather. .

Seedling planting depth may be automatically adjusted based on seedling volume. For example, the seedling planting depth is adjusted to be large when the amount of seedlings taken is large, and adjusted to be small when the amount of seedlings taken is small. Since the seedling planting depth is adjusted to be large even when the amount of seedlings taken is large, the occurrence of seedling rolling and falling is avoided, and seedlings can be planted even when the amount of seedlings taken is small, i.e., so-called thin planting. Since the depth is adjusted to be small, root growth is preferentially improved by shallow planting, and photosynthesis is easily performed efficiently.

With respect to the automatic seedling feed adjustment mechanism, the seedlings may be adjusted by momentarily increasing the seedling feed amount immediately after turning back the seedling tank. This is because, in the case of weak seedlings, etc., gaps are likely to occur between the wall surface of the seedling tank and the seedling mat 900, and missing plants are likely to occur. It is from.

Regarding the automatic seedling amount adjustment mechanism, at the start and end of a straight line such as ridge planting, where seedlings are planted along a path that is orthogonal to the normal seedling planting path, a so-called blurring operation is performed by reducing the amount of seedlings taken by one step. may be performed. This is because, in ridge planting and the like, large plants tend to grow due to overlapping seedling planting, but by reducing the amount of seedlings taken, seedling planting is uniformed over the entire field.

Seedling planting depth may be greatest when seedling planting is performed while ascending a slope at the end of planting, such as when a seedling planting portion micro-lowering is utilized. Floating seedlings can be avoided and labor for supplementary planting can be reduced.

The seedling planting depth may be adjusted, for example, to be greater near the water inlet and water bottom recognized on the automatic driving route. It is possible to suppress the occurrence of seedling rollover in the vicinity of the water mouth and water bottom.

As for the automatic seedling feed adjustment mechanism, the seedling feed amount may be automatically adjusted according to the seedling tank load. For example, if it is determined that less than one seedling mat 900 is loaded for one seedling planting line on average, the seedling feeding amount is increased, except for so-called ridge clutch-off lines. This is because even if the seedling tank loading capacity is small, seedlings can be harvested with a stable seedling feeding amount.

Of course, excluding the ridge clutch-off row, if it is determined that 1.5 or more seedling mats 900 are loaded for one seedling planting row on average, the seedling feeding amount may be reduced. . This is because even if the seedling tank loading capacity is large, the seedlings can be picked up with a stable seedling feeding amount.

The seedling planting depth may be automatically adjusted based on the rolling behavior of the seedling planting device 100 . Seedling planting depth is adjusted to be greater, for example, when rolling behavior is greater. Even when the topsoil height is dependent on the seedling-planting line, where floating seedlings tend to occur, the seedling-planting depth is adjusted to avoid the occurrence of floating seedlings.

(B2) The driving force generator 500 will be described more specifically.

The driving force generator 500 is attached to the top of the seedling planting device 100 .

The seedling amount adjusting driving force transmission member 600 has a wire.

For example, the actuator of driving force generator 500 is arranged above the seedling tank of seedling planting apparatus 100 . The wire of the seedling amount adjustment driving force transmission member 600 is connected to a pipe or the like capable of controlling the seedling amount. The driving force of the actuator is used for the ascending operation, and not only the driving force of the actuator but also the weight of the pipe or the like is used for the descending operation.

The seedling planting depth adjustment driving force transmission member 700 may have a wire.

The wire of the seedling planting depth adjusting driving force transmission member 700 is connected to a pipe or the like capable of controlling the seedling planting depth. The driving force of the actuator is used for the ascending operation, and not only the driving force of the actuator but also the weight of the pipe or the like is used for the descending operation.

Driving force generator 500 may be attached to vehicle body 10 .

For example, the actuator of driving force generating device 500 is arranged on vehicle body 10 . An adjustment lever L for adjusting at least one of the seedling amount and the seedling planting depth is held by a wire W of the seedling planting depth adjustment driving force transmission member 700, also called a cable. When the actuator A of the driving force generating device 500 that pulls the wire W using the spring S inserted between and fails, the adjustment lever is operated manually. A torque spring rotates the so-called seeding tube rotation, also called the seedling tube rotation fulcrum, of the seedling planting depth frame so that a restoring force for attracting bias in a predetermined direction is applied in the absence of adjustment lever operation. It may be attached to the fulcrum F.

The driving force generator 500 attached to the vehicle body 10 is less likely to be damaged due to mud and water splashes in the field. Since the balance of the vehicle body 10, which may cause the vehicle body 10 to overturn, is less likely to occur, straight running performance, turning performance and seedling planting performance are also improved.

The driving force generator 500 may be mounted above the axle of the pair of left and right front wheels 31 or above the axle of the pair of left and right rear wheels 32 .

Since the driving force generating device 500 is attached near the center of the seedling planting device 100, it is less likely to be damaged due to splashes of mud and water in the field, and the balance of the vehicle body 10 is improved.

The driving force generating device 500 may be attached to a position below the step floor 20 at the center of the pair of left and right front wheels 31 and the pair of left and right rear wheels 32 in a plan view.

Since the driving force generating device 500 is attached to the position below the step floor 20, it is less likely to be damaged due to wetting due to rainfall.

Using a fertility sensor for variable fertilization, fewer seedlings are planted where fertility is greater.

Deep planting is automatically performed in so-called headland planting, in which seedlings are planted along a path orthogonal to a reference line, which is a normal seedling planting path.

Deep planting is automatically performed when the lateral inclination of the vehicle body 10 is detected.

When the seedling planting part 120 is raised, shallow planting is performed so that the seedling planting depth is set to the minimum, and mud falls from the float part 40 which hangs down a little.

When PTO (Power Take Off), which is the driving force of the engine, is used instead of the driving force of the driving force generator 500, the amount of seedlings taken is set to the minimum in order to prevent foreign matter from getting caught.

When the seedling tank ends are moved to supply seedlings, the amount of seedlings taken is set to a minimum in order to prevent foreign matter from getting caught.

In order to prevent seedlings from dropping off from the vehicle body 10 when traveling at the moving speed, the amount of seedlings taken is set to the maximum.

Two actuators for adjusting the seedling amount and the seedling planting depth will be described more specifically.

A configuration in which the actuator is provided outside the frame that constitutes the seedling tank is conceivable.

A configuration in which an actuator is provided on the upper portion of the frame that constitutes the seedling tank is conceivable.

A configuration in which an actuator is provided on the suspension base of the seedling planting section is conceivable. This is because balance can be improved.

A configuration in which an actuator is provided below the central portion of the hopper of the fertilizer applicator 50 is conceivable. This is because balance can be improved.

A configuration is conceivable in which the actuator is provided inside the skirt of the lower central portion of the hopper of the fertilizer applicator 50 . This is because the balance can be improved and the outer shape can be made to look beautiful.

A configuration in which both actuators are provided on the same member is conceivable. This is because the configuration can be simplified.

A configuration is conceivable in which both actuators are each provided on opposite sides of the lead cam. This is because balance can be improved.

A configuration is conceivable in which both actuators are provided in tandem and in phase.

Two actuators for adjusting seedling yield and seedling planting depth will now be more specifically described.

A configuration is conceivable in which both actuators are provided outside the seedling tank frame, and the direction of rotation of the actuator on the larger side for adjusting the amount of seedlings taken coincides with the direction of rotation on the deeper side of the actuator for adjusting the seedling planting depth. .

A configuration in which the actuator is provided outside the seedling tank frame and the rotation of the actuator is transmitted to the vicinity of the center of the seedling planting section is conceivable.

A configuration is conceivable in which the actuator is provided outside the seedling tank frame, the rotation of the actuator is transmitted to the vicinity of the center of the seedling planting section, and a reduction gear is arranged to increase the transmission torque.

A configuration is conceivable in which the actuator is provided outside the seedling tank frame, the rotation of the actuator is transmitted to the vicinity of the center of the seedling planting portion, and a tying transmission device is provided. This is because balance can be improved.

It is conceivable to install the actuator on the outside of the seedling tank frame, transmit the rotation of the actuator to the vicinity of the center of the seedling planting section, and bolt-on the current machine to a mechanism that provides a tying transmission device. This is because parts can be shared between the current machine and the new machine.

A configuration in which the actuator is provided outside the seedling tank frame, the rotation of the actuator is transmitted to the vicinity of the center of the seedling planting portion, and a tying transmission device is provided to realize left-right symmetry is conceivable. This is because it can promote part and type sharing as well as simplicity.

A configuration is conceivable in which the actuator is provided outside the seedling tank frame, the rotation of the actuator is transmitted to a position near the center of the seedling planting section, and the speed reducer is arranged at a position avoiding the suspension base.

The actuator is provided outside the seedling tank frame, the speed reducer is arranged at a position avoiding the suspension base, and the shaft that transmits the rotation of the actuator passes through the position near the center of the seedling planting section and above the fertilizing hose. is conceivable.

The actuator is installed outside the seedling tank frame, the speed reducer is arranged at a position that avoids the suspension base, and the shaft that transmits the rotation of the actuator passes through the position near the center of the seedling planting section and above the fertilizing hose. Arrangements in close proximity to the seedling tank are conceivable.

A configuration is conceivable in which the actuators are provided outside the seedling tank frame and the lengths of the shafts for transmitting the rotation of the two actuators are not the same.

Arrangements are conceivable in which the actuator is provided outside the seedling tank frame and between the so-called front guards.

A configuration in which the actuator is provided inside the front plate guard is conceivable.

A configuration is conceivable in which the drive angles of the two actuators are approximately matched to each other. This is because parts can be shared between the two actuators.

Mainly referring to FIGS. 4 to 6, the driving force generator 500 will be described more specifically.

Here, FIG. 4 is a partial left side view in the vicinity of a driving force transmission member use switching mechanism 800 of a rice transplanter according to a modified embodiment of the present invention, and FIGS. 5 and 6 are modified embodiments of the present invention. 2 is a schematic partial plan view (No. 1 and No. 2) in the vicinity of the driving force transmission member use switching mechanism 800 of the rice transplanter.

Usage state of seedling amount adjustment drive force transmission member 600, non-use state of seedling amount adjustment drive force transmission member 600 and seedling planting depth adjustment drive force transmission member 700, and seedling planting depth adjustment drive force transmission member 700 5 for switching the clutch gear 810 using a solenoid mechanism, and in FIG. 6 a single arrow for switching the clutch gear 810 using an electric motor mechanism. marked with a double-headed arrow.

The driving force transmission member use switching mechanism 800 is a mechanism for switching between use of the seedling amount adjustment driving force transmission member 600 and use of the seedling planting depth adjustment driving force transmission member 700 .

That is, the seedling amount adjusting gear 610 and the seedling planting depth of the seedling amount adjusting driving force transmission member 600 can be interlocked with the manual adjusting lever 820 for adjusting at least one of the seedling amount and the seedling planting depth. The seedling planting depth adjusting gear 710 of the height adjusting driving force transmission member 700 is an electric motor unit 510 having a pinion gear 512 as a driving gear in response to switching by a clutch gear 810 that utilizes a solenoid mechanism or an electric motor mechanism. They are each rotated by an electric motor 511 . The seedling amount adjusting gear 610 and the seedling planting depth adjusting gear 710 function as fan-shaped racks that mesh with the orbital circle of the pinion gear 512, that is, as driven gears. Since the switching is performed by the clutch gear 810, almost no load is generated on the electric motor 511 when not in use, and the electric motor is less likely to be physically damaged. Since the frequency of use of the electric motor 511 is not very high, an effective reduction in the number of parts is expected as the electric motor non-use time can be reduced by such reasonable use of the electric motor.

The seedling amount adjustment drive force transmission member 600 and the seedling planting depth adjustment drive force transmission member 700 can be manually operated without using the drive force generator 500 and the drive force transmission member usage switching mechanism 800 .

That is, when the electric motor unit 510 fails, the manual adjustment lever 820 may be operated manually.

More specifically, in the link mechanism in which electric motor unit 510 is provided, manual adjustment lever 820 is provided as a driven link. Such a driven link rotates by being fixed by meshing with the seedling amount adjusting gear 610 and the seedling planting depth adjusting gear 710 and moving. A manual switching rotary shaft 821 orthogonal to the direction of rotation of the pinion and rack is arranged near the link fulcrum, and when the pinion and rack are not meshed, the seedling amount and seedling planting depth can be manually adjusted. Locking occurs upon return of the pinion and rack to engagement.

(C) Next, the configuration and operation of the rice transplanter according to the present embodiment will be described more specifically.

Arrangements for adjusting the frame height and the float height are envisioned.

A coupling mechanism having a first link that is a left link, a second link that is a right link, and a third link that is a central link between the first and second links is provided on the seedling frame frame. A roller portion is provided on the connecting shaft that connects the first and second links to the third link. Such rollers are in contact with the bottom of the seedling frame. The seedling frame has guides and the like for sliding vertically. A gear is connected to the seedling frame frame side shaft of the first or second link. When the gear is rotated by the geared motor, the first to third links swing, the third link moves vertically, and the fourth link connecting the third link to the float portion 40 moves vertically. Moving. There is no need to manually adjust the float portion 40 in the vertical direction, and the motor is not provided near the center of the seedling frame frame, but is provided at the lateral end of the seedling frame frame. , electric position adjustment of the float portion 40 in the vertical direction is realized.

The float portion 40 may be pushed up and held by a spring. An arm with rollers is provided for operating the first to third links of the seedling frame frame, and the roller portion of the arm with rollers pushes the first to third links by rotation of the motor, thereby moving the first link. The third link swings, the third link moves vertically, and the fourth link connecting the third link to the float portion 40 moves vertically.

In addition, the program of the invention related to the present invention causes a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the above-described method for adjusting the amount of seedlings taken according to the invention related to the present invention. It is a program for operating in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention includes all or part of all or part of the steps (or processes, operations, actions, etc.) of the method for adjusting the amount of seedlings taken according to the invention related to the above-described invention. It is a recording medium recording a program for causing a computer to execute an operation, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

It should be noted that "some of the steps (or processes, operations, actions, etc.)" mentioned above mean one or some of those steps.

Also, the "operations of steps (or processes, operations, actions, etc.)" mentioned above mean the operations of all or part of the steps mentioned above.

In addition, one usage form of the program of the invention related to the present invention is a form in which it is transmitted in a transmission medium such as the Internet, light, radio waves or sound waves, read by a computer, and operates in cooperation with the computer. may be

Further, the recording medium includes a ROM (Read Only Memory) and the like.

In addition, the computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and peripheral devices.

It should be noted that, as described above, the configuration of the present invention may be implemented in software or in hardware.

INDUSTRIAL APPLICABILITY The work vehicle according to the present invention can reduce the burden on workers involved in planting seedlings, and is useful for the purpose of being used as a work vehicle such as a rice transplanter.

10 Vehicle body 20 Step floor 31 Front wheel 32 Rear wheel 40 Float part 50 Fertilizer 100 Seedling planting device 110 Seedling mat placing part 120 Seedling planting part 130 Seedling picking amount adjusting mechanism 140 Seedling planting depth adjusting mechanism 200 Target seedling mat consumption input device 300 Seedling consumption detection mechanism 400 Control device 500 Driving force generator 510 Electric motor unit 511 Electric motor 512 Pinion gear 600 Seedling amount adjustment driving force transmission member 610 Seedling amount adjustment gear 700 Seedling planting depth adjustment driving force transmission member 710 Seedling planting depth adjustment gear 800 Driving force transmission member use switching mechanism 810 Clutch gear 820 Manual adjustment lever 821 Manual switching rotary shaft 900 Seedling mat A Actuator F Seedling tube rotation fulcrum L Adjustment lever S Spring W Wire

Claims (3)

A seedling mat placing section (110) for placing a seedling mat (900), a seedling planting section (120) for planting seedlings on the seedling mat (900), and a seedling picking section for taking the seedlings to be planted from the seedling mat (900). a seedling planting device (100) having a seedling collection amount adjusting mechanism (130) for adjusting the amount;
a driving force generator (500) attached to the upper part of the seedling planting device (100) for generating a driving force for driving the seedling amount adjusting mechanism (130);
a seedling amount adjusting driving force transmission member (600) for transmitting the driving force from the driving force generator (500) to the seedling amount adjusting mechanism (130);
a control device (400) that controls the seeding amount adjustment mechanism (130) via the driving force generator (500) and the seeding amount adjustment driving force transmission member (600);
a target seedling mat consumption input device (200) for inputting a target seedling mat consumption in seedling planting work,
The control device (400) controls the seedling amount adjustment mechanism (130) according to the input target seedling mat consumption,
A seedling consumption amount detection mechanism (300) for detecting the seedling consumption amount in the seedling planting work,
The control device (400) adjusts the amount of seedlings taken based on the detected seedling consumption during the seedling planting work so that the amount of seedlings taken approaches the amount of seedlings taken according to the target seedling mat consumption. controlling the volume adjustment mechanism (130);
The difference between the detected seedling consumption amount and the target seedling mat consumption amount is notified to the outside during the seedling planting work,
The amount of seedlings picked up is maximized immediately after the seedling mat mounting portion (110) is turned back, and the amount of seedlings picked up is gradually reduced from the maximum value immediately after the turn back as it approaches the edge of the seedling mat mounting portion (110). A work vehicle characterized by realizing uniform seedling consumption on the whole . The work vehicle according to claim 1, wherein the seedling amount is corrected based on a running slip ratio of the vehicle body (10). The work vehicle according to claim 1, wherein the seedling amount is corrected based on the traveling speed of the vehicle body (10).

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