JP7347566B2 - work vehicle - Google Patents

Description

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

Rice transplanters having seedling planting devices are known. Such a seedling planting device includes a seedling mat mounting section on which the seedling mat is placed, a seedling planting section on which the seedlings on the seedling mat are planted, and a seedling removal amount adjustment mechanism that adjusts the amount of seedlings to be planted from the seedling mat. (For example, see Patent Documents 1 and 2).

Japanese Patent Application Publication No. 2017-55704 JP 2017-136008 Publication

However, with regard to work vehicles such as the above-mentioned conventional rice transplanter, it is desired to reduce the burden on workers involved in seedling planting work.

The present invention has been made in consideration of the above-mentioned conventional problems, and an object of the present invention is to provide a work vehicle that can reduce the burden on a worker regarding seedling planting work.

A first aspect of the present invention includes a seedling mat mounting part (110) on which a seedling mat (900) is placed, a seedling planting part (120) on which the seedlings of the seedling mat (900) are planted, and a seedling to be planted is placed on the seedling mat ( a seedling planting device (100) having a seedling removal amount adjustment mechanism (130) that adjusts the amount of seedlings taken from the seedling removal amount adjustment mechanism (130); and a driving force generating device that generates a driving force that drives the seedling removal amount adjustment mechanism (130). (500), a seedling removal amount adjustment driving force transmission member that transmits the driving force from the driving force generation device (500) to the seedling removal amount adjustment mechanism (130); A control device (400) that controls the seedling removal amount adjustment mechanism (130) via a seedling removal amount adjustment driving force transmission member, and an input device (200), and by the input device (200), The control device can input the target amount of seedling mats in the seedling planting work, and obtain data regarding the shape of the field as well as the distance between rows and the distance between the plants, which provides the grid spacing of the seedling planting points arranged in a lattice pattern in the field. (400) calculates the target seedling removal amount at each of the seedling planting points according to the inputted target seedling mat amount, and adjusts the seedling removal amount adjustment mechanism ( 130) to adjust the amount of seedlings removed, and whether or not the change in the amount of seedling feeding with respect to the change in the amount of seedlings removed is appropriate is determined by a detection means provided at the seedling scraping position in the seedling planting section (120). This work vehicle is characterized in that judgment is made based on the amount of seedlings scraped .

A second aspect of the present invention is the work vehicle according to claim 1, characterized in that the amount of seedlings taken is maximized immediately after turning back the seedling mat mounting portion (110) .

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According to the first aspect of the present invention, it is possible to reduce the burden on workers regarding seedling planting work.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, it is possible to suppress the occurrence of missing plants while avoiding collapse of seedlings due to turning .

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Left side view of a rice transplanter according to an embodiment of the present invention (a) Partial left side view (part 1) of the vicinity of the seedling planting device of the rice transplanting machine according to the embodiment of the modification of the present invention, (b) The vicinity of the seedling planting device of the rice transplanting machine of the embodiment of the modification of the present invention Partial left side view (Part 2) A partial plan view of the vicinity of the seedling planting device of the rice transplanter according to the embodiment of the present invention A partial left side view of the vicinity of the driving force transmission member use switching mechanism of a rice transplanter according to a modified embodiment of the present invention. A schematic partial plan view (part 1) of the vicinity of the driving force transmission member use switching mechanism of the rice transplanter according to the embodiment of the modified example of the present invention A schematic partial plan view of the vicinity of the driving force transmission member use switching mechanism of the rice transplanter according to the embodiment of the modified example of the present invention (Part 2)

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

The same applies to the following, but some components may not be shown in the drawings, or may be shown in perspective or omitted.

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

(A) First, the configuration and operation of the rice transplanter of this embodiment will be specifically explained with reference to FIGS. 1 to 3.

Here, 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 (parts 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 according to the present embodiment, a method for adjusting the amount of seedlings harvested according to an invention related to the present invention will also be explained.

The seedling planting device 100 includes a seedling mat mounting section 110 on which the seedling mat 900 is placed, a seedling planting section 120 on which the seedlings of the seedling mat 900 are planted, and a seedling removal amount adjustment device that adjusts the amount of seedlings to be planted from the seedling mat 900. This device has a mechanism 130 and a seedling planting depth adjustment mechanism 140 that adjusts the seedling planting depth at which seedlings are planted.

The rice transplanter of this embodiment may be an electric rice transplanter or a GNSS (Global Navigation Satellite System) robot rice transplanter, which has a so-called automatic seedling harvesting amount adjustment function.

The driving force generation device 500 is a device that generates a driving force that drives the seedling removal amount adjustment mechanism 130 and the seedling planting depth adjustment mechanism 140.

In this embodiment, the control device 400 controls the seedling removal amount adjustment mechanism 130 and the seedling removal amount adjustment mechanism 130 via the driving force generation device 500, the seedling removal amount adjustment driving force transmission member 600, and the seedling planting depth adjustment driving force transmission member 700. Controls the planting depth adjustment mechanism 140.

The seedling removal amount adjustment driving force transmission member 600 is a member that transmits the driving force from the driving force generation device 500 to the seedling removal 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 generation device 500 to the seedling planting depth adjustment mechanism 140.

(B) Next, the configuration and operation of the rice transplanter according to the present embodiment will be explained in more detail, mainly referring to FIGS. 1 to 3.

(B1) The target seedling mat consumption input device 200 will be explained in more detail.

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

The control device 400 is a device that controls the seedling removal amount adjustment mechanism 130 according to the inputted 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 regarding the shape of the field as well as the inter-row distance and inter-plant spacing that provide the grid spacing of seedling planting points, the control device 400 can: The target amount of seedlings to be harvested at each seedling planting point can be calculated. Since it is often difficult to adjust the amount of seedling mat lateral feed, typically, in order to adjust the amount of seedling removal by adjusting the amount of feed of the seedling mat in the longitudinal direction, the control device 400 sets a target amount corresponding to the target amount of seedling removal. The seedling mat vertical feed amount is calculated and the seedling removal amount adjustment mechanism 130 is controlled according to the target seedling mat vertical feed 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 portable information terminal device such as a smartphone. Therefore, various data such as the data regarding the shape of the field described above may be stored in advance in the memory device of the control device 400, or may be transmitted 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 amount.

Since the amount of seedlings taken is adjusted according to the inputted target amount of seedling mat consumption, occurrence of excess or shortage of seedling mats 900 during seedling planting work can be suppressed.

For example, the amount of seedlings removed or the amount of seedling feeding linked to the amount of seedlings removed may be adjusted by the actuator of the driving force generating device 500, and the amount of seedlings removed may be automatically adjusted according to the set target amount of seedling mat consumption. good. Rather than simply "controlling the amount of seedlings removed from the target amount of seedlings consumed and the amount of seedlings consumed," the amount of seedlings removed is arbitrarily set so that it approaches the amount of seedlings removed that corresponds to the target amount of seedling mat consumption. The amount of seedlings taken can be controlled from the amount of seedlings taken and the target amount of seedlings consumed.

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 giving priority to the operator's arbitrary settings, and a mode that automatically adjusts the amount of seedlings taken according to the set target seedling mat consumption. One mode may be selected from among the modes according to the settings. Rather than simply "controlling the amount of seedlings taken from the target amount of seedlings consumed and the amount of seedlings consumed," it is possible to control the amount of seedlings taken from the arbitrarily set amount of seedlings taken and the target amount of seedlings consumed while giving priority to the initial settings of the operator. The amount taken can be controlled.

The seedling consumption amount detection mechanism 300 is a mechanism that detects the amount of seedling consumption in seedling planting work.

The control device 400 controls the seedling removal amount adjusting mechanism 130 so that the seedling removal amount approaches the seedling removal amount corresponding to the target seedling mat consumption amount based on the seedling consumption amount detected during the seedling planting work.

For example, in a system that performs control based on the difference between seedling consumption and target seedling mat consumption during seedling planting work, the seedling feeding rate of the seedling feeding mechanism is not used to monitor seedling consumption, but rather the driving force The amount of seedling consumption may be calculated by detecting the amount of seedling movement using a wheel or the like that does not have a wheel. Rather than simply "calculating the amount of seedling consumption from the amount of seedling feed and the amount of lateral feed of the seedling mat," we calculate the amount of seedling movement by taking into account the difference between the amount of seedling feed and the amount of seedling movement. The consumption amount of seedlings can be calculated with high accuracy from the amount.

In the seedling mat mounting section 110, the seedling mat 900 is fed in the vertical direction.

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

The difference between the seedling consumption amount and the target seedling mat consumption amount in the seedling planting work may be reported. Rather than simply "notifying the difference between the amount of seedlings consumed and the target amount of seedling mat consumed," the difference from the arbitrary settings made by the operator is notified on a display device, etc., so the so-called amount of seedlings taken per plant is reported. etc. are easily recognized.

The amount of remaining seedlings required in the designated work area may be notified. Rather than simply "reporting the difference between the amount of seedlings consumed and the target amount of seedling mat consumed," it is possible to easily calculate the amount of remaining seedlings required by the end of the work, which is more realistically useful than the amount of seedlings consumed. Recognized.

The amount of seedlings removed is corrected based on the running slip rate of the vehicle body 10.

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

The amount of seedlings removed is corrected based on the traveling 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, in addition to the seedling feed rate such as the seedling feed rotation speed, the actual travel distance and actual travel speed of the vehicle body 10 calculated using GNSS or the like may be used to monitor the seedling consumption amount. Rather than simply "calculating the amount of seedlings consumed from the amount of seedlings taken or the amount of seedling feed, and the amount of lateral feed of the seedling mat," it takes into account the occurrence of slips and other factors, and also calculates the amount of seedlings consumed by the soil quality of the field. The amount of seedlings consumed can be calculated with high accuracy.

It goes without saying that the amount of seedlings removed may be corrected in various ways, as will be explained below.

The amount of seedlings taken may be reduced in furrow planting. This is because the ridges have relatively high fertility, and even if the amount of seedlings removed is small, the growth of the seedlings as a whole will not be hindered. This suppresses the overgrowth of seedlings, improves ventilation, and increases resistance to diseases.

The amount of seedlings taken may be increased in furrow planting. This is because the fertility of the ridges is relatively high, so increasing the amount of seedlings taken will improve the growth of seedlings throughout the field and make them more uniform.

The amount of seedlings taken may be reduced at locations of low field fertility and increased at locations of high field fertility. This is because by adjusting the amount of seedlings taken according to the field fertility, the growth of seedlings will be improved and it will be easier to arrange them.

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

The amount of seedlings removed may be reduced at positions where the field depth is small and increased at positions where the field depth is large. This is because by adjusting the amount of seedlings removed depending on the plowing depth of the field, the growth of seedlings will be improved and the seedlings will be more uniform.

Even in the same field, the amount of seedlings removed may be reduced in areas where seedling growth is slow and increased in areas where seedling growth is fast. This is because by adjusting the amount of seedlings taken according to the accumulated past seedling raising data, the growth of seedlings is improved and it is easier to arrange them.

Even in the same field, the amount of seedlings removed may be increased in areas where seedlings grow slowly and decreased in areas where seedlings grow quickly. This is because by adjusting the amount of seedlings taken according to the accumulated past seedling raising data, the survival rate of seedlings is improved and it is easier to arrange them.

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

In the same field, in addition to the planting settings, the amount of seedlings taken is automatically reproduced according to past seedling raising data such as the automatic plant switching mechanism settings and the automatic fertilization feed amount adjustment mechanism settings. It's okay. This is because even beginners can start rice planting without worrying about detailed settings.

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

The amount of seedlings removed is reduced when the travel slip rate calculated by comparing the actual travel distance of the vehicle body 10 with the wheel rotation speed while measuring the actual travel distance such as the actual travel distance of the vehicle body 10 calculated using GNSS etc. is large. It's okay.

The amount of seedlings removed may be increased when it is detected that so-called thin planting occurs by comparing the seedlings planted in the seedling tank recognized by a rear camera or the like with the planting settings. This is because it is possible to suppress variations in the amount of seedlings taken due to variations in the number of seedlings in the seedling mat 900.

The amount of seedlings to be removed is determined by imaging the bottom end of the seedling mat 900 immediately before being scraped off by the seedling planting unit 120 for the seedlings planted in the seedling tank recognized by a rear camera or the like, and when occurrence of so-called thin sowing is detected. May be increased. This is because it is possible to suppress variations in the amount of seedlings taken due to variations in the number of seedlings in the seedling mat 900.

The amount of seedling feeding linked to the amount of seedlings removed is uniquely determined from the amount of seedlings removed, so in a mechanism that automatically adjusts the amount of seedling feeding according to the amount of seedlings removed, there is no need to adjust the amount of seedling feeding itself. do not have. For example, in a mechanism that automatically adjusts the amount of seedlings fed, there is no need for the operator to manually adjust the height of the seedling removal port of the seedling planting section 120, and the mechanism functions as a part of the mechanism 130 for adjusting the amount of seedlings taken out. Since the configuration of the seedling feeding mechanism in the seedling planting section 120 can be simplified, the number of parts can be reduced.

Of course, in a configuration in which the amount of seedlings removed and the amount of seedlings fed can be adjusted independently, the amount of seedlings removed is adjusted in conjunction with the amount of seedlings fed, and the amount of seedlings sent is adjusted in conjunction with the amount of seedlings removed. Since the amount of seedlings is adjusted, it is possible to both set the standard for the amount of seedlings taken and the standard for the amount of seedlings to send.

Whether or not the change in the amount of seedling feed with respect to the change in the amount of seedlings removed is appropriate may be determined by whether the change in torque of the feed roll of the seedling removal amount adjustment mechanism 130 is within a predetermined range. For example, if such a torque change is a large change exceeding a predetermined value, the seedling feed rate is decreased, and if not, the seedling feed rate is increased. In a configuration in which the amount of seedlings removed and the amount of seedlings fed can be adjusted independently using an actuator, etc., regardless of whether the setting of the seedling removal amount standard or the setting of the seedling feeding amount standard is used, the The occurrence of seedling clogging and missing plants can be suppressed by appropriate settings.

When setting seedling feed rate standards is used, it is often easier to calculate the amount of seedlings required for planting.

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 scraped seedling block, by imaging with a camera installed at the seedling scraping position in the seedling planting section 120. You may be judged. It is possible not only to deal with variations in the number of seedlings from seedling box to seedling box, but also to deal with variations in the number of seedlings within the seedling box.

In the case of high-speed planting, the number of plantings per predetermined travel distance will be small, so the seedling feed amount specified for the predetermined amount of seedlings to be taken is increased to a slightly larger value, and in the case of low-speed planting, the seedling feed rate is increased slightly. The amount is reduced to a slightly smaller size.

Since seedling collapse, which is the collapse of the seedling mat 900, is likely to occur as the seedling tank approaches the edge, the amount of seedlings removed may be maximum immediately after the seedling tank is turned over. The amount of seedlings removed gradually decreases from the maximum value immediately after turning, as the seedling tank approaches the edge of the tank, but overall it is possible to achieve even seedling consumption, while avoiding collapse of seedlings due to turning. It is possible to suppress the occurrence of stock shortages.

In rainy weather, the seedlings tend to become heavy due to the high humidity and the amount of seedlings removed tends to be large. Therefore, in the case of planting in rainy weather, rain is detected and at least the amount of seedlings removed and the amount of seedlings sent is reduced. By reducing one of them, it is possible to collect seedlings regardless of the weather according to the settings.

When the weather is sunny, the seedlings become lighter due to dryness due to low humidity and tend to become less slippery. Therefore, when planting on sunny days, increase at least one of the amount of seedlings taken and the amount of seedling feeding. It is possible to collect seedlings regardless of the weather according to the settings.

Since the amount of seedlings taken tends to change due to the weather, by providing a cover or the like to cover the upper part of the seedling tank, seedlings can be taken stably depending on the settings regardless of the weather.

Of course, the amount of seedlings taken tends to be large due to the large weight of the seedlings, so if the weight of the seedlings detected by a scale installed in a seedling tank exceeds a predetermined value, the amount of seedlings taken and the amount of seedlings fed may be changed. By reducing at least one of these, the amount of seedlings taken 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 the driving force generating device 500, the seedling planting depth may be adjusted according to the instantaneous behavior of the vehicle body 10. If the car body is tilted forward due to the lifting of the seedling planting section, the seedling planting depth will be adjusted to be larger, and if the car body is tilted backwards, the seedling planting depth will be adjusted to be smaller. When the trip ends, the seedling planting depth is returned to the original depth. High-speed planting can be achieved while avoiding so-called floating seedlings and deep planting.

The planting depth of seedlings may be adjusted depending on the hardness and softness of the field. Since field conditions constantly change, for example, by detecting field hardness and softness 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. The planting depth of seedlings is adjusted accordingly. It is possible to stably achieve an appropriate seedling planting depth that is not affected by field hardness while avoiding seedling collapse and poor growth due to deep planting by changing settings.

The seedling planting depth may be adjusted so that it becomes smaller at the edge of the ridge. As the soil in the ridges is often hard, established growth is improved by shallow planting.

Seedling planting depth may be adjusted depending on field fertility. For example, the planting depth of seedlings is adjusted to be large in areas where field fertility is high, and adjusted to be small in areas where nutrients are easily washed away and field fertility is low. Since the absorption of nutrients by the seedlings is made uniform, the growth of the seedlings is improved and it is easier to maintain uniformity.

The seedling planting depth may be adjusted depending on the field plowing depth. For example, the seedling planting depth is adjusted so that it becomes large in a place where the field plowing depth is large, and it is adjusted so that it becomes small in a place where the field plowing depth is small. In areas where the field is plowed to a large depth, the soil is soft and has a lot of nutrients, but this not only prevents seedlings from falling over, but also equalizes the absorption of nutrients by the seedlings, which improves the growth of seedlings and makes them more uniform.

The seedling planting depth may be adjusted depending on the amount of fertilizer applied. The planting depth of seedlings is adjusted to be greater in areas where a large amount of fertilizer is applied, for example, so that so-called fertilization is difficult to occur, and a continuous fertilizing effect is exerted over a long period of time.

The planting depth of seedlings may be adjusted according to the torque loss of the driving torque, which is influenced by the soil quality of the field. The seedling planting depth is adjusted to be larger in sandy fields where the soil is estimated to be soft and where the torque loss is small, and it is adjusted to be smaller in clay fields where the soil is estimated to be hard and the torque loss is large. Therefore, it is possible to stably achieve an appropriate seedling planting depth that is not affected by the soil quality of the field.

The seedling planting depth may be adjusted in accordance with image recognition of the seedling planting mark by imaging with a camera or the like. For example, if image recognition determines that seedling collapse has occurred, the seedling planting depth will be lowered one step automatically, and the seedling planting depth will be adjusted according to the results of previous seedling planting. feedback adjustment can be realized.

Of course, if it is determined by image recognition that deep planting has occurred, an operation to increase the seedling planting depth by one step may be automatically performed so that the seedling planting depth becomes smaller.

The seedling planting depth may be adjusted depending on the seedling planting speed. For example, the seedling planting depth is adjusted so that it increases by a predetermined depth increase in high-speed planting, where planting failure is likely to occur, and it is adjusted so that it becomes smaller by a predetermined decrease in depth in low-speed planting. Ru.

The seedling planting depth may be adjusted according to the acceleration of the vehicle body 10. For example, the seedling planting depth is decreased as the vehicle body 10 increases in speed, and increases as the vehicle body 10 decelerates. Conversely, the seedling planting depth may be increased as the vehicle body 10 speeds up, or may be decreased as the vehicle body 10 decelerates. When detecting the behavior of the vehicle body 10, deviations are likely to occur at the time of detection due to changes in state, but when detecting the acceleration of the vehicle body 10, deviations at the time of detection due to changes in state are less likely to occur, and high-speed response is required. It can be realized.

Seedling planting depth may be adjusted based on weather. In rainy weather, so-called seedling toppling is likely to occur, so when planting in rainy weather, by detecting rain and increasing the seedling planting depth, it is possible to achieve an appropriate seedling planting depth that is not affected by the weather. .

The seedling planting depth may be automatically adjusted based on the amount of seedlings removed. For example, when the amount of seedlings removed is large, the seedling planting depth is adjusted to be large, and when the amount of seedlings removed is small, the seedling planting depth is adjusted to be small. Even when the amount of seedlings removed is large, the seedling planting depth is adjusted to be large, which prevents the occurrence of seedlings falling and collapsing.Even when the amount of seedlings removed is small, so-called thin planting, seedling planting Since the depth is adjusted to be small, not only is root growth preferentially improved by shallow planting, but also photosynthesis is more likely to occur efficiently.

Regarding the automatic seedling feed adjustment mechanism, the seedlings may be arranged by instantaneously increasing the amount of seedling feed immediately after the seedling tank is turned over. This is because, in the case of weak seedlings, there is a gap between the wall of the seedling tank and the seedling mat 900, which tends to cause missing plants, but by arranging the seedlings in this way, missing plants can be suppressed. It is from.

Regarding the automatic seedling removal amount adjustment mechanism, so-called blurring is performed by reducing the amount of seedlings taken one step at the straight line start and end portions such as in ridge planting where seedlings are planted along a path orthogonal to the normal seedling planting path. may be performed. This is because when planting in rows, large plants are likely to occur due to duplication of seedling planting, but by reducing the amount of seedlings removed in this way, seedling planting becomes uniform throughout the field.

The seedling planting depth may be at its maximum when seedlings are planted while climbing up a slope at the end of planting, using a method such as slightly lowering the seedling planting section. It is possible to avoid the occurrence of floating seedlings and reduce the effort of supplementary planting.

For example, the seedling planting depth may be adjusted to increase near the water mouth and water bottom recognized on the automatic travel route. It is possible to suppress the occurrence of seedlings falling near the water mouth and water end.

Regarding the automatic seedling feed adjustment mechanism, the amount of seedling feed may be automatically adjusted according to the load capacity of the seedling tank. For example, if it is determined that less than one seedling mat 900 is loaded on average for one seedling planting row, excluding so-called ridge clutch-off rows, the amount of seedling feeding is increased. This is because even if the loading capacity of the seedling tank is small, the seedlings can be picked up at a stable feed rate.

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

The seedling planting depth may be automatically adjusted based on the rolling behavior of the seedling planting device 100. The seedling planting depth is adjusted to be large, for example, when rolling behavior is large. Even in cases where the topsoil height depends on the seedling planting row, where floating seedlings are likely to occur, the seedling planting depth is adjusted, so floating seedlings can be avoided.

(B2) The driving force generating device 500 will be explained in more detail.

The driving force generating device 500 is attached to the upper part of the seedling planting device 100.

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

For example, the actuator of the driving force generation device 500 is arranged above the seedling tank of the seedling planting device 100. The wire of the driving force transmission member 600 for adjusting the amount of seedlings removed is connected to a pipe or the like that can control the amount of seedlings removed. The driving force of the actuator is used for the ascending operation, and not only the driving force of the actuator but also the dead weight of the pipe etc. is used for the descending operation.

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

The wire of the seedling planting depth adjustment driving force transmission member 700 is connected to a pipe or the like that can control 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 dead weight of the pipe etc. is used for the descending operation.

The driving force generating device 500 may be attached to the vehicle body 10.

For example, the actuator of the driving force generating device 500 is arranged on the vehicle body 10.
An adjustment lever L for adjusting at least one of the amount of seedlings taken and the seedling planting depth is held by a wire W of a seedling planting depth adjustment driving force transmission member 700, also called a cable, and the adjustment lever L and the wire W When a failure occurs in the actuator A of the driving force generating device 500 that pulls the wire W using the spring S inserted between the two, the adjustment lever is operated manually. In order to apply a restoring force for attracting and biasing in a predetermined direction if the adjustment lever is not operated, the torque spring is connected to the so-called seedling tube rotation fulcrum, which is also called the seedling tube rotation fulcrum of the seedling planting depth frame. It may be attached to the dynamic fulcrum F.

The driving force generating device 500 attached to the vehicle body 10 is less likely to be damaged due to mud and water splash in the field. Since deterioration in the balance of the vehicle body 10, which may cause the vehicle body 10 to roll over, is less likely to occur, straight-line performance, turning performance, and seedling planting performance are also improved.

The driving force generating device 500 may be attached to a position above the axle of the pair of left and right front wheels 31, or may be attached to a position 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, damage caused by mud and water splash in the field is less likely to occur, 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 in a plan view based on the pair of left and right front wheels 31 and the pair of left and right rear wheels 32.

Since the driving force generating device 500 is installed at a position below the step floor 20, damage due to wetting due to rain is unlikely to occur.

Using fertility sensors for variable fertilization, fewer seedlings are planted in areas of high fertility.

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 left-right inclination of the vehicle body 10 is detected, deep planting is automatically performed.

When the seedling planting section 120 is raised, shallow planting is performed in which the seedling planting depth is set to be the minimum, and mud falls from the slightly hanging float section 40.

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

When the end of the seedling tank is moved to replenish seedlings, the amount of seedlings removed is set to be the minimum in order to prevent foreign objects from getting caught.

When traveling at a moving speed, the amount of seedlings removed is set to be maximum in order to prevent seedlings from falling off from the vehicle body 10.

The two actuators for adjusting the amount of seedlings taken and the depth of seedling planting will be explained in more detail.

A possible configuration is to provide an actuator outside the frame that constitutes the seedling tank.

A conceivable configuration is to provide an actuator on the upper part of the frame that constitutes the seedling tank.

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 the actuator is provided below the center of the hopper of the fertilizer applicator 50 is conceivable.
This is because balance can be improved.

A configuration in which the actuator is provided inside the skirt below the center of the hopper of the fertilizer applicator 50 is conceivable. 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.

It is conceivable to have each of both actuators on opposite sides of the lead cam. This is because balance can be improved.

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

The two actuators for adjusting the amount of seedlings taken and the depth of seedling planting will be explained in more detail.

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

A conceivable configuration is that 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.

A conceivable configuration is to provide 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 part, and further arrange a speed reduction device to increase the transmitted torque.

A conceivable configuration is that 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 part, and a tying transmission device is provided. This is because balance can be improved.

A possible configuration would be to install an 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 part, and install a mechanism that provides a tying transmission device into the current machine by bolting on. This is because parts can be shared between the current model and the new model.

A conceivable configuration is to provide 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 area, and provide a tying transmission device to achieve left-right symmetry. This is because it is possible to not only improve simplicity but also promote common use of parts and types.

A conceivable configuration is to provide the actuator on the outside of the seedling tank frame, transmit the rotation of the actuator to a position near the center of the seedling planting part, and arrange the deceleration device at a position avoiding the suspension base.

The actuator is installed outside the seedling tank frame, the speed reducer is placed in a position that avoids the suspension base, and the shaft that transmits the rotation of the actuator passes through a position near the center of the seedling planting area and above the fertilization hose. However, it is possible.

The actuator is installed on the outside of the seedling tank frame, the speed reducer is placed in a position that avoids the suspension base, and the shaft that transmits the rotation of the actuator is passed through a position near the center of the seedling planting area and above the fertilization hose. A possible configuration is to place it in the immediate vicinity of the seedling tank.

A conceivable configuration is that the actuator is provided outside the seedling tank frame, and the lengths of the shafts that transmit the rotation of the two actuators do not match each other.

It is conceivable to provide the actuator on the outside of the seedling tank frame and between the so-called front guard.

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

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

The driving force generating device 500 will be described in more detail with reference mainly to FIGS. 4 to 6.

Here, FIG. 4 is a partial left side view of the vicinity of a driving force transmission member use switching mechanism 800 of a rice transplanter according to an embodiment of a modification of the present invention, and FIGS. 5 and 6 are diagrams showing an embodiment of a modification of the present invention. FIG. 3 is a schematic partial plan view (parts 1 and 2) of the vicinity of a driving force transmission member use switching mechanism 800 of the rice transplanter.

Usage state of seedling removal amount adjustment driving force transmission member 600, non-use state of seedling removal amount adjustment driving force transmission member 600 and seedling planting depth adjustment driving force transmission member 700, and seedling planting depth adjustment driving force transmission member 700. The switching of the operating state is indicated by two arrows in FIG. 5 for switching the clutch gear 810 using a solenoid mechanism, and in FIG. 6 one 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 the use of the seedling removal amount adjustment driving force transmission member 600 and the use of the seedling planting depth adjustment driving force transmission member 700.

That is, the seedling removal amount adjustment gear 610 and the seedling planting depth of the seedling removal amount adjustment driving force transmission member 600 can be interlocked with the manual adjustment lever 820 for adjusting at least one of the seedling removal amount and the seedling planting depth. The seedling planting depth adjustment gear 710 of the depth adjustment driving force transmission member 700 is operated by 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. Each is rotated by an electric motor 511. The seedling removal amount adjustment gear 610 and the seedling planting depth adjustment gear 710 function as fan-shaped racks that mesh with the orbital circle of the pinion gear 512, that is, as driven gears. Since switching is performed by the clutch gear 810, almost no load is generated on the electric motor 511 when it is not in use, and physical damage to the electric motor is less likely to occur. Since the electric motor 511 is not used very often, it is expected that the number of parts can be effectively reduced by reducing the time when the electric motor is not in use due to this reasonable combination of electric motors.

The seedling removal amount adjusting driving force transmitting member 600 and the seedling planting depth adjusting driving force transmitting member 700 can be manually operated without using the driving force generating device 500 and the driving force transmitting member use switching mechanism 800.

That is, when a failure occurs in the electric motor unit 510, the manual adjustment lever 820 may be operated manually.

More specifically, in the link mechanism in which the electric motor unit 510 is provided, the manual adjustment lever 820 is provided as a driven link. Such a driven link rotates by being fixed in mesh with the seedling removal amount adjusting gear 610 and the seedling planting depth adjusting gear 710. A manual switching rotation shaft 821 that is orthogonal to the direction of rotation by the pinion and rack is constructed near the link fulcrum, and when the pinion and rack are not engaged, the amount of seedlings taken and the depth of seedling planting can be manually adjusted. The locking occurs when the pinion and rack return to the meshed state.

(C) Next, the configuration and operation of the rice transplanter of this embodiment will be explained in more detail.

Arrangements for adjusting seedling frame height and float height are contemplated.

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

The float portion 40 may be pushed up and held by a spring. An arm with a roller is provided to operate the first to third links of the seedling frame, and the roller portion of the arm with rollers moves the first to third links by rotation of the motor. The third link swings, the third link moves in the vertical direction, and the fourth link that connects the third link to the float part 40 moves in the vertical direction.

Note that the program of the invention related to the present invention causes a computer to execute all or some 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 present invention described above. This is a program that operates in cooperation with a computer.

In addition, the recording medium of the invention related to the present invention can perform all or some 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 present invention described above. A computer-readable recording medium that stores a program for causing a computer to perform operations, and is a computer-readable recording medium in which the read program is used in cooperation with the computer.

Note that the above-mentioned "some steps (or steps, operations, effects, etc.)" means one or some steps among the plurality of steps.

Moreover, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or part of the above-mentioned steps.

Further, 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 operated in cooperation with the computer. It may be.

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

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

Note that, as described above, the configuration of the present invention may be realized in software or hardware.

The work vehicle of the present invention can reduce the burden on a worker regarding seedling planting work, and is useful for use 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 mounting part 120 Seedling planting part 130 Seedling removal amount adjustment mechanism 140 Seedling planting depth adjustment mechanism 200 Target seedling mat consumption input device 300 Seedling consumption detection mechanism 400 Control device 500 Driving force generation device 510 Electric motor unit 511 Electric motor 512 Pinion gear 600 Seedling removal amount adjustment driving force transmission member 610 Seedling removal amount adjustment gear 700 Seedling planting depth adjustment driving force transmission member 710 Seedling planting depth adjustment gear 800 Drive force transmission member use switching mechanism 810 Clutch gear 820 Manual adjustment lever 821 Manual switching rotation shaft 900 Seedling mat A Actuator F Seedling tube rotation fulcrum L Adjustment lever S Spring W Wire

Claims (2)

A seedling mat mounting section (110) on which a seedling mat (900) is placed, a seedling planting section (120) on which the seedlings of the seedling mat (900) are planted, and a seedling picker where the seedlings to be planted are taken from the seedling mat (900). A seedling planting device (100) having a seedling removal amount adjustment mechanism (130) that adjusts the amount;
a driving force generating device (500) that generates a driving force that drives the seedling removal amount adjustment mechanism (130);
a seedling removal amount adjustment driving force transmission member that transmits the driving force from the driving force generation device (500) to the seedling removal amount adjustment mechanism (130);
A control device (400) that controls the seedling removal amount adjustment mechanism (130) via the driving force generation device (500) and the seedling removal amount adjustment driving force transmission member,
An input device (200) is provided, by which a target seedling mat amount in seedling planting work can be input,
By obtaining data regarding the shape of the field as well as data regarding the inter-row distance and inter-plant spacing that provide the grid spacing of the seedling planting points arranged in a lattice pattern in the field, the control device (400) can determine the input target amount of seedling mats. Accordingly, calculate the target amount of seedlings to be taken at each of the seedling planting points,
adjusting the amount of seedlings taken by the seedlings removal amount adjustment mechanism (130) so as to approach the calculated target amount of seedlings taken;
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 amount of seedlings scraped by a detection means provided at the seedling scraping position in the seedling planting section (120). A work vehicle characterized by being judged . The work vehicle according to claim 1 , wherein the amount of seedlings taken is maximum immediately after the seedling mat mounting portion (110) is turned back .