JP7467302B2 - Seedling transplanter - Google Patents

Description

The present invention relates to a seedling transplanter.

Patent Document 1 discloses a rice transplanter equipped with a vertical feed mechanism that intermittently transports the seedling mat placed on the seedling carrier to the lower end, and a horizontal feed mechanism for the left and right directions of the seedling carrier. The horizontal feed mechanism moves the seedling carrier back and forth to the left and right, and when the seedling carrier reaches the left and right ends of its reciprocating movement, the vertical feed belt that constitutes the vertical feed mechanism is activated, transporting the seedling mat to the lower end of the seedling carrier by a predetermined distance, thereby stably supplying the seedling mat from the seedling carrier to the planting claws.

JP 2010-213638 A

A seedling picking amount adjustment lever is provided that can change the position of the planting claws in relation to the seedling mat in multiple stages by raising and lowering the seedling carrier, and the operator can adjust the vertical amount of the seedling mat that the planting claws pick up by operating the seedling picking amount adjustment lever.

When planting rice seedlings in paddy fields, the number of plants and the number of seedling mats required per field area are set in advance, anticipating the yield per field area. However, setting the number of plants and the number of seedling mats required per field area was difficult, as it required taking into account various conditions such as the number of lateral movements of the seedling carrier, the vertical removal amount of the planting claws, planting intervals, and the condition of the field. Therefore, the object of the present invention is to provide a seedling transplanter that can plant the desired number of seedling mats in the desired field.

The seedling transplanter of the present invention is a seedling transplanter that uses a planting claw to scrape seedlings from a seedling mat placed on a seedling carrier and plants them in a field, and is configured to be able to change the amount of seedling mat taken by the planting claw. It is provided with a seedling amount calculation unit that can calculate a standard vertical amount based on the field area, the number of seedling mats used in that field area, the seedling planting interval, and the number of lateral feeds of the seedling carrier, and limits the standard vertical amount so that the lateral feed amount of the seedling mat calculated from the number of lateral feeds and the aspect ratio of the seedlings calculated from the standard vertical amount are within a set range.

The seedling quantity calculation unit corrects the standard vertical quantity during planting work from the actual vertical quantity calculated based on the actual work area where planting work was performed and the number of seedling mats used for the actual work area, and the target vertical quantity calculated based on the remaining work area and the number of remaining seedling mats, and limits the corrected standard vertical quantity so that the seedling aspect ratio calculated from the lateral feed amount of the seedling mats and the corrected standard vertical quantity is within the setting range.

According to the present invention, the standard vertical removal amount of seedling mats by the planting claws is limited so that the desired number of seedling mats can be planted in the desired field.

Furthermore, when correcting the standard vertical take-up amount during planting work, the system limits the corrected standard vertical take-up amount of seedling mats by the planting claws so that planting work can be performed with the desired number of seedling mats in the desired field.

Side view of the rice transplanter. Top view of the rice transplanter. FIG. Another side view of the planting section. Diagram showing the dashboard. FIG. FIG. 4 is a control block diagram of the seedling harvesting amount calculation unit. 6 is a graph showing the correlation between the amount of sinking of the rear wheels into the field and the slip ratio. FIG. 1A is a side view showing the amount of sinking of the rear wheels into the field; FIG. 1B is a side view showing the height from the contact surface of the rear wheels to the bottom surface of the float. A side view showing the height from the rear wheel contact surface to the rice field surface. (a) Rear and side views of the loading surface for each row of the seedling loading table on which the upstream rotating body and the downstream rotating body are provided. (b) Rear and side views of the loading surface for each row of the seedling loading table on which the upstream rotating body and the downstream rotating body are provided. FIG. 13 is a diagram showing detection of the number of seedling successions of a seedling mat. FIG. 13 is a diagram showing the correction of the number of seedling successions of a seedling mat. FIG. 13 is a diagram showing correction of an estimated remaining amount of seedling mat. FIG. 1A is a side view of the downstream rotating body; FIG. 1B is a diagram showing the downstream rotating body as viewed from the mounting surface side; FIG. 13 is a diagram showing another embodiment of the rotation speed detection structure for the downstream rotating body; FIG. (a) Rear view of the seedling carrier showing the positional relationship of the seedling holding rod and the upstream rotor and downstream rotor. (b) Rear view of the seedling carrier showing a second embodiment of the positional relationship of the seedling holding rod and the upstream rotor and downstream rotor. (c) Rear view of the seedling carrier showing a third embodiment of the positional relationship of the seedling holding rod and the upstream rotor and downstream rotor. (d) Rear view of the seedling carrier showing a fourth embodiment of the positional relationship of the seedling holding rod and the upstream rotor and downstream rotor. FIG. 11 is a flowchart showing a control mode of the vertical take-up amount. FIG. 11 is a flowchart showing a control mode of the vertical take-up amount. FIG. 4 is a diagram showing items displayed on an information terminal.

The overall configuration of the rice transplanter 1, which is one embodiment of the seedling transplanter, will be described below with reference to Figures 1 and 2. The rice transplanter 1 comprises a traveling body 2 and a planting machine 3 attached to the rear of the traveling body 2, and performs planting work using the planting machine 3 while traveling using the traveling body 2.

The traveling machine body 2 includes an engine 4, a transmission 5 that changes the speed of the power from the engine 4, a machine body frame 6 that supports the engine 4 and the transmission 5, and front and rear wheels 7 and 8 that are driven by the power transmitted from the engine 4 and the transmission 5.

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

The power from the engine 4 and the transmission 5 is transmitted to the planting machine 3 via a spacing transmission (not shown). The spacing transmission is configured to be able to change the planting interval of the seedlings planted along the traveling direction of the traveling body 2. The seedling harvesting amount calculation unit 70, which will be described later, is connected to a spacing setting device 9 (see FIG. 7) that sets the seedling planting interval in a stepless manner, and is configured to be able to obtain the seedling planting interval.

A driver's seat 12 is located midway between the front and rear of the traveling vehicle body 2, and in front of it are a steering wheel 13, operation pedals 14, and a dashboard 15. In addition to the steering wheel 13, various operating tools and a display device are also located on the dashboard 15.

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

The planting machine 3 includes a planting arm 31, a planting claw 32, a seedling carrier 33, a float 34, etc. The planting claw 32 is attached to the planting arm 31. The planting machine 3 is driven by a PTO shaft 16 extending rearward from the transmission 5. More specifically, power is transmitted from the PTO shaft 16 to a planting transmission case 36 provided on the planting machine 3 via a planting center case 35, and the power is distributed from the planting transmission case 36 to the planting arm 31 and the planting claw 32. A planting clutch is provided on the planting center case 35, and the planting clutch is configured to connect and disconnect the transmission of power from the engine 4 to the planting machine 3.

The planting arm 31 rotates due to the power transmitted from the planting transmission case 36. Seedlings are supplied to the planting claw 32 from the seedling carrier 33. As the planting arm 31 rotates, the planting claw 32 is inserted into the field, and the seedlings are planted to a predetermined planting depth. In this embodiment, a rotary-type planting claw is used, but a crank-type one may also be used.

The seedling carrier 33 is made of plate-shaped members and is arranged so that it is inclined with the front higher and the rear lower when viewed from the side of the machine. On the rear surface of the seedling carrier 33, the carrier surfaces on which the seedling mats are placed are arranged in the width direction of the machine according to the number of planting arms (number of rows of the rice transplanter). Since the rice transplanter 1 of this embodiment is a six-row planting rice transplanter, six carrier surfaces are formed. The seedling mats are placed on the carrier surfaces in an inclined state.

The float 34 is attached to the planting frame 37. Specifically, the front end of the float 34 is supported so as to be able to swing up and down relative to the planting frame 15, and the rear end of the float 34 is attached to a pivot shaft 38 provided on the planting frame 15 via a link mechanism 39 so as to be able to rise and fall (see FIG. 9(b)).

On the float 34, a sensor 40 (see Figure 10) that detects the field surface (paddy field surface) is provided just before the planting position of the planting unit 4. The sensor 40 extends from the front to the rear. The sensor 40 is supported on the planting frame 37 so that it can swing freely in the pitching direction, and hangs down by gravity around the swing fulcrum, so that the tip of the sensor 40 remains in contact with the field surface. In other words, the rice transplanter 1 moves forward so that the tip of the sensor 40 always follows the field surface.

The lateral feed mechanism that moves the seedling carrier 33 back and forth in the width direction of the machine will be described with reference to Figure 3. As shown in Figure 3, a feed screw 41 extends from the planting center case 35 toward one side in the width direction of the machine. An intersecting groove is formed on the outer circumferential surface of the feed screw 41 along the axial direction. The feed screw 41 is provided with a slider 42 that can slide along the groove and a slider holder 43 that supports the slider 42. The slider holder 43 is formed in an approximately T-shape. The feed screw 41 is inserted through the slider holder 43, and the slider 42 is housed therein so that it can slide along the groove of the feed screw 41.

A lower rail 44 is attached to the lower part of the front surface (the back surface of the mounting surface) of the seedling carrier 33. The lower rail 44 is arranged with its longitudinal direction aligned with the width of the machine body. A slider holder 43 is fixed to the lower rail 44 via a support arm 45.

A guide rail 46 is provided below the lower rail 44 to support the lower rail 44 so that it can slide in the width direction of the machine. The guide rail 46 is arranged with the width direction of the machine as its longitudinal direction. The guide rail 46 is composed of an engagement portion 46a that engages with the lower rail 44 and an extension portion 46b that extends from the engagement portion 46a along the shape of the bottom of the seedling carrier 33. The lower rail 44 engages with the engagement portion 46a of the guide rail 46, so that the lower rail 44 is configured to be able to slide in the width direction of the machine along the guide rail 46. A stopper 47 is removably attached to the guide rail 46 by a bolt to prevent the lower rail 44 from coming off the guide rail 46.

A lateral feed switching lever 48 for adjusting the lateral feed amount of the seedling carrier 33 is provided on the side from which the feed screw 41 of the planting center case 35 extends. The operator can adjust the lateral feed amount of the seedling carrier 33 and change the number of lateral feeds of the seedling carrier 33 by operating the lateral feed switching lever 48. The lateral feed switching lever 48 is provided with a lateral feed number detection sensor 48a (see FIG. 7) that detects the position of the lateral feed switching lever to detect the number of lateral feeds of the seedling carrier 33. The seedling collection amount calculation unit 70 is connected to the lateral feed number detection sensor 48a and is configured to be able to detect the number of lateral feeds of the seedling carrier 33.

The vertical feed mechanism that feeds the seedling mat placed on the seedling platform 33 downward will be described with reference to FIG. 4. As shown in FIG. 4, the vertical feed cam shaft 52 to which the vertical feed cam 51 is fixed extends from the planting center case 35 toward the other side of the machine width direction. The vertical feed cam shaft 52 is connected to the feed screw 41, and when it reaches the stroke end, it abuts against the driven cam 53. The driven cam 53 is provided on the conveyor belt drive shaft 55 that drives the conveyor belt 54 at the bottom of the seedling platform 33. When the vertical feed cam 51 and the driven cam 53 abut with the rotation of the vertical feed cam shaft 52, the driven cam 53 rotates. The conveyor belt drive shaft 55 rotates with the rotation of the driven cam 53, and the conveyor belt 54 is circulated to convey the seedling mat placed on the conveyor belt 54 by a predetermined distance.

A seedling tray rail support shaft 56 is supported at the front upper part of each planting transmission case 36 so as to be freely rotatable in the left and right direction. A number of support frames 57 are protruded upward and rearward from the seedling tray rail support shaft 56 at appropriate intervals, and the guide rail 46 is supported horizontally in the left and right direction by the support frames 57. An arm 58 is attached to the front upper part of the seedling tray rail support shaft 56. A rotation angle detection sensor 59 that detects the rotation angle of the seedling tray rail support shaft 56 is provided at the other end of the arm 58. The rotation angle detection sensor 59 is attached to the planting frame 37. An actuator 56a (see Figure 7) is provided on the seedling tray rail support shaft 56. The seedling removal amount calculation unit 70 is connected to the rotation angle detection sensor 59 and can detect the vertical removal amount from the seedling mat.

The actuator 56a is driven and controlled to rotate the seedling tray rail support shaft 56. Therefore, the support frame 57 is rotated in conjunction with the rotation of the seedling tray rail support shaft 56, so that the guide rail 46 (seedling carrier 36) moves up and down (is configured to be able to rise and fall), and the distance between the planting transmission case 36 supporting the planting claws 32 and the seedling carrier 33 can be changed. Therefore, the amount of seedling mat that is vertically removed by the planting claws 32 can be changed. Here, the vertical amount of removal refers to the amount of seedling mat that is scraped off in the direction of travel of the traveling body 2 in a plan view. By adjusting the vertical amount of removal, the amount of seedling mat that is removed by the planting claws 32 can be changed.

The seedling tray rail support shaft 56 is also connected to the driven cam 53 via an interlocking wire 60. As the seedling tray rail support shaft 56 rotates, the tension on the interlocking wire 60 rotates the driven cam 53 by a predetermined angle, adjusting the feed rate of the conveyor belt 54 according to the vertical amount of seedlings taken from the seedling mat.

In the above configuration, power from the engine 4 is transmitted to the feed screw 41 via the planting center case 35, causing the slider 42 to slide against the groove of the feed screw 41, and the slider receiver 43 to slide in the width direction of the machine body. As the slider receiver 43 slides, the lower rail 44 slides along the guide rail 46 via the support arm 45, and the seedling carrier 33 slides in the width direction of the machine body. When the seedling carrier 33 reaches the stroke end in the width direction of the machine body, the vertical feed cam 51 abuts against the driven cam 53, causing the conveyor belt drive shaft 55 to rotate, circulating the conveyor belt 54.

The slider 42 reciprocates along the groove of the feed screw 41, causing the seedling carrier 33 to reciprocate along the guide rail 46. The horizontal feed mechanism causes the seedling carrier 33 to reciprocate along the guide rail 46, allowing the planting claws 32 to scrape off the seedlings from one side of the seedling mat placed on the seedling carrier 33 to the other side or from the other side to one side, and transplant them. The vertical feed mechanism allows the planting claws 32 to scrape off the seedlings from one side or the other of the seedling mat, and then the conveyor belt 54 is activated to convey the seedling mat toward the lower end (rear end) of the placement surface. As described above, the seedling mat is reciprocated in the width direction of the machine and appropriately conveyed downward, making it possible to scrape off the seedlings from the seedling mat placed on the seedling carrier 33.

The dashboard 15 will be described using FIG. 5. The steering handle 13 is located in the center of the dashboard 15, with a main speed change lever 61 provided to the left of the steering handle 13 and a planting lift lever 62 provided to the right of the steering handle 13. Below the steering handle 13 are a row stop switch 63 for stopping the drive of the planting claws 32 for each specified row, a speed setting volume 64 for setting the maximum speed, a sensitivity setting volume 65 for setting the hydraulic sensitivity of the float 34, a select dial 66 for setting the planting depth and the vertical amount of seedlings taken from the seedling mat, etc. Provided in front of the steering handle 13 is a monitor 67 for displaying the settings of the select dial 66, the speed of the traveling machine body 2, etc.

The select dial 66 is a dial that can set various items (planting depth, vertical harvest amount, etc.). The operator rotates the select dial 66 left and right to select the item they wish to set from the various items, and presses the select dial 66 to confirm. For example, if they wish to set the vertical harvest amount, they rotate the select dial 66 left and right to select the vertical harvest amount item, press the select dial 66 to confirm the item, rotate the select dial 66 left and right to select the vertical harvest amount adjustment amount, and press the select dial 66 to set the vertical harvest amount to the adjustment amount. The select dial 66 is connected to the seedling harvest amount calculation unit 70 (see Figure 7).

The standard vertical take-up amount of the planting claw 32 will be described with reference to Figures 6 and 7. The standard vertical take-up amount refers to the vertical take-up amount that is the standard when performing planting work in a specified field using a specified number of seedling mats. Before performing seedling planting work in the field, the operator uses the select dial 66 to input the number of seedling mats to be used and the field area to the seedling take-up amount calculation unit 70. In other words, the select dial 66 is provided as a field area input means and a seedling mat number setting means. The seedling take-up amount calculation unit 70 calculates the standard vertical take-up amount based on the input number of seedling mats and the field area, and drives and controls the actuator 56a. The seedling take-up amount calculation unit 70 is configured to be able to detect the number of plants (the number of plants per specified area calculated from the planting interval set by the operator) from the detection value of the plant interval setting device 9. The seedling take-up amount calculation unit 70 is configured to be able to calculate the number of plants taking into account the slip rate described below. The slip ratio here is set based on the amount of sinking of the rear wheels 8 into the field at the work start point or a predetermined reference value.

The seedling quantity calculation unit 70 calculates the target number of mats (number of seedling mats per specified area) from the field area and the number of seedling mats. The seedling quantity calculation unit 70 then calculates the standard vertical quantity from the target number of mats, the number of lateral feeds of the seedling carrier 33, and the number of plants (the number of plants may take into account the slip rate).

In the above configuration, by controlling the actuator 56a to achieve the standard vertical take-up amount, the vertical take-up amount required for planting the desired number of seedling mats in the desired field can be set without relying on the operator's experience or intuition.

When planting work begins, the seedling quantity calculation unit 70 corrects the standard vertical harvest amount as needed based on the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work. Specifically, the seedling quantity calculation unit 70 calculates the actual vertical harvest amount based on the actual work area and the number of seedling mats used. The seedling quantity calculation unit 70 then calculates the target vertical harvest amount based on the remaining work area, which is calculated by subtracting the actual work area from the work area, and the number of remaining seedling mats, which is calculated by subtracting the number of seedling mats used from the number of seedling mats. The seedling quantity calculation unit 70 corrects the standard vertical harvest amount by adding the value obtained by subtracting the actual vertical harvest amount from the target vertical harvest amount as a correction amount to the standard vertical harvest amount.

The calculation of the actual work area will be explained using Figures 8 and 9. The actual work area is calculated from the vehicle speed of the traveling body 2 taking into account the slip rate and the work width set from the number of rows where planting work is performed. The vehicle speed of the traveling body 2 is calculated using the rotation speed of the traveling wheels. In this embodiment, it is calculated using the rotation speed of the rear wheels 8. A rear wheel rotation speed detection sensor 8a that detects the rotation speed is provided on the rotation shaft of the rear wheels 8. The seedling quantity calculation unit 70 is connected to the rear wheel rotation speed detection sensor 8a and is configured to be able to detect the rotation speed of the rear wheels 8.

As shown in FIG. 8, there is a linear correlation between the slip ratio and the amount of sinking of the running wheels (in this embodiment, the rear wheels 8) into the field. The amount of sinking of the rear wheels 8 into the field refers to the height from the contact surface of the rear wheels 8 with the field to the rice paddy surface (field surface). As the amount of sinking of the rear wheels 8 into the field increases, the slip ratio increases linearly.

The amount of sinking of the rear wheels 8 into the field will be described using FIG. 9. The amount of sinking of the rear wheels 8 into the field is calculated from a planting machine position detection sensor 71 consisting of an appropriate sensor such as a potentiometer provided on the lifting link mechanism 20 and a planting depth detection sensor 39a (see FIG. 7) consisting of an appropriate sensor such as a potentiometer provided on the link mechanism 39 or the pivot shaft 38 of the float 34. The planting machine position detection sensor 71 is provided on a lifting link frame 72 to which the rear ends of the pair of left and right upper links 21 and lower links 22 are respectively attached. The seedling amount calculation unit 70 is connected to the planting machine position detection sensor 71 and is configured to be able to detect the height (distance) of the planting machine 3, specifically the lowest point of the planting claw 32, relative to the traveling body 2. The seedling amount calculation unit 70 is connected to the planting depth detection sensor 39a and is configured to be able to detect the height of the planting machine 3 from the bottom surface of the float 34. The planting depth detection sensor 39a is configured to detect the protrusion amount h1 of the planting claw 32 (the distance between the tip of the planting claw 32 and the bottom surface of the float).

The seedling quantity calculation unit 70 detects the length from the bottom of the float 34 relative to the traveling body 2 using the planting machine position detection sensor 71 and the planting depth sensor 39a. The seedling quantity calculation unit 70 calculates the amount of sinking h0 of the rear wheels 8 into the field by subtracting the length from the length of the lowest point (ground contact surface) of the rear wheels 8 relative to the traveling body 2 to the bottom of the float 34 relative to the traveling body 2. The amount of sinking of the rear wheels 8 into the field may also be calculated taking into account the amount of sinking d of the float 34 into the field (see Figure 10).

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

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

In the above configuration, the travel distance of the rear wheels 8 taking the slip ratio into account can be calculated from the slip ratio calculated from the amount of sinking of the rear wheels 8 into the field and the number of rotations of the rear wheels 8. The actual work area is then calculated from the travel distance of the rear wheels 8 taking the slip ratio into account and the work width, which is set according to the number of rows in which planting work is performed.

The detection of the number of seedling mats used will be described with reference to Figures 11 and 12. As shown in Figure 11, a rotor is provided on the placement surface on which the seedling mats are placed for each row of the seedling placement table 33 as a means for detecting the number of seedling successions of the seedling mats. As the rotors, a downstream rotor 81 is provided on the downstream side (downstream side in the feed direction of the seedling mats) on the placement surface, and an upstream rotor 85 is provided on the upstream side (upstream side in the feed direction of the seedling mats) of the downstream rotor 81. The seedling amount calculation unit 70 detects the number of times the seedling mats have been added (the number of seedling successions) based on the rotational state of the downstream rotor 81 and the upstream rotor 85.

The downstream rotating body 81 is arranged so as to protrude upward from the back side of the mounting surface (front surface). The downstream rotating body 81 is arranged so as to rotate in conjunction with the vertical transport of the seedling mat by the conveyor belt 54 when the seedling mat is placed on the downstream rotating body 81.

The downstream rotating body 81 is provided at a position on the placement surface where it can rotate in conjunction with the vertical feed of the seedling mat when a seedling mat is placed from the bottom end to the top side. The downstream rotating body 81 is placed downward from the top end of the seedling mat with an upper limit at a position spaced apart by a distance F1 equivalent to one vertical feed of the seedling mat. The downstream rotating body 81 is placed upward from the bottom end of the seedling mat with a lower limit at a position spaced apart by a predetermined distance F2. The "predetermined distance" refers to an interval that takes into account the time lag between the calculation of the compression rate in the first row described below and the correction control of the reference vertical feed amount. The downstream rotating body 81 is preferably placed near the bottom end of the placement surface in order to detect the feed amount of the seedling mat based on the rotation linked to the vertical feed of the seedling mat, and in this embodiment, it is placed at the lower limit.

In addition, the lower limit for the downstream rotating body 81 may be set at a position that is spaced far enough away that the remaining seedling mat is not completely consumed before the new seedling mat is added when new seedling mat is added after the upper end of the seedling mat has been sent below the downstream rotating body 81.

The seedling quantity calculation unit 70 adds one to the number of seedling transfers of the seedling mat when the downstream rotating body 81 transitions from a non-rotating state to a state in which it rotates in conjunction with the vertical feed of the seedling mat. When the downstream rotating body 81 transitions from a non-rotating state to a state in which it rotates in conjunction with the vertical feed of the seedling mat, it refers to when the downstream rotating body 81 detects rotation in conjunction with the vertical feed of the seedling mat from a non-rotating state. The seedling quantity calculation unit 70 determines whether the rotation is in conjunction with the vertical feed of the seedling mat by the conveyor belt 54 from the number of rotations per specified time.

When the seedling quantity calculation unit 70 detects the rotation of the downstream rotating body 81 linked to the vertical feed of the seedling mat, it determines whether the downstream rotating body 81 rotates linked to the vertical feed of the seedling mat within a predetermined time after the rotation, thereby detecting whether the downstream rotating body 81 is in a state where it rotates linked to the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the vertical feed of the seedling carrier 33 is performed.

The upstream rotating body 85 is arranged so as to protrude upward from the back side of the mounting surface (front surface). The upstream rotating body 85 is arranged so as to rotate in conjunction with the vertical transport of the seedling mat by the conveying belt 54 when the seedling mat is placed on the upstream rotating body 85.

The upstream rotor 85 is positioned on the placement surface at a position from the bottom end upwards that is at least greater than the vertical length of one seedling mat, and at a position where it can rotate in conjunction with the vertical feed of a seedling mat when a seedling mat is placed above the downstream rotor 81. The upstream rotor 85 is positioned downwards from the top end of the seedling mat, with the upper limit being a position spaced a distance F1 equal to the vertical feed amount of one seedling mat. In this embodiment, the upstream rotor 85 is positioned near a position spaced upwards from the bottom end that is the vertical length of one seedling mat.

The seedling quantity calculation unit 70 increments the number of seedling transfers of the seedling mat by one when the upstream rotating body 85 transitions from a non-rotating state to a rotating state in conjunction with the vertical feed of the seedling mat while the downstream rotating body 81 is rotating in conjunction with the vertical feed of the seedling mat. The transition of the upstream rotating body 85 from a non-rotating state to a rotating state in conjunction with the vertical feed of the seedling mat refers to the detection of the upstream rotating body 85 moving from a non-rotating state to a rotating state in conjunction with the vertical feed of the seedling mat. The seedling quantity calculation unit 70 determines whether the rotation is linked to the vertical feed of the seedling mat by the conveyor belt 54 from the number of rotations per specified time.

When the seedling quantity calculation unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feed of the seedling mat, it determines whether the upstream rotating body 85 rotates in conjunction with the vertical feed of the seedling mat within a predetermined time after the rotation, thereby detecting whether the upstream rotating body 85 is in a state where it can rotate in conjunction with the vertical feed of the seedling mat. The predetermined time here is set according to the interval at which the vertical feed of the seedling carrier 33 is performed.

The seedling quantity calculation unit 70 calculates the compression rate of the seedling mat when it transitions from a state in which it rotates in conjunction with the vertical feed of the seedling mat on the upstream rotor 85 to a state in which it is not rotating. The compression rate is calculated by adding the length of the seedling mat placed on the seedling platform 33 in the feed direction (the length from the bottom end of the loading surface to the upstream rotor 85, which is measured in advance) and the feed amount of the seedling mat calculated from the rotation speed of the downstream rotor 51, and dividing the result by the length of the seedling mat for the number of seedling transfers.

The detection of the number of seedling successions during planting work will be described using FIG. 12. Here, the seedling quantity calculation unit 70 is configured to be able to store the number of seedling successions. In addition, the seedling quantity calculation unit 70 is configured to detect the rotational state and rotational speed of the downstream rotor 81 and the upstream rotor 85 when the planting clutch is activated.

In this embodiment, two seedling mats are placed on the loading surface of the seedling loading platform 33, and the planting clutch is activated to start the planting operation. When the seedling mat located at the lower end is transported vertically by the conveyor belt 54, the downstream rotor 81 rotates. When the seedling quantity calculation unit 70 detects the rotation of the downstream rotor 81 linked to the vertical transport of the seedling mats by the conveyor belt 54, it adds one to the number of seedling successions (detects the first seedling mat).

Then, as the first seedling mat is fed vertically, the seedling mat above the first seedling mat is fed vertically toward the lower end, causing the upstream rotating body 85 to rotate. When the seedling quantity calculation unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feeding of the seedling mat, it adds one to the number of seedling successions (detects the second seedling mat).

When the second seedling mat is fed vertically below the upstream rotor 85, the upstream rotor 85 transitions from a state in which it rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating. When the seedling amount calculation unit 70 detects that the upstream rotor 85 is not rotating, it calculates the compression rate of the seedling mat. The seedling amount calculation unit 70 calculates the compression rate by adding up the length of the seedling mat placed on the seedling platform 33 in the feed direction and the feed amount of the seedling mat calculated from the rotation speed of the downstream rotor 81, and dividing the result by the length of the seedling mat for the number of seedling successions.

When the seedling mat is added while the upper end of the second seedling mat is positioned above the downstream rotating body 81 and below the upstream rotating body 85, the seedling quantity calculation unit 70 detects the rotation of the upstream rotating body 85 linked to the vertical feed of the seedling mat and adds one to the number of seedling additions (detects the third seedling mat).

Similarly, when the third seedling mat is fed vertically below the upstream rotating body 85, the upstream rotating body 85 transitions from a state in which it rotates in conjunction with the vertical feeding of the seedling mat to a state in which it is not rotating. When the seedling quantity calculation unit 70 detects that the upstream rotating body 85 is not rotating, it calculates the compression rate of the seedling mat.

As described above, the downstream rotating body 81 is positioned so that when a seedling mat is placed on the loading surface from the bottom end upward, it can rotate in conjunction with the vertical feed of the seedling mat, thereby detecting the first seedling mat placed on the loading surface.

The upstream rotor 85 is positioned on the placement surface at a distance from the bottom end upward that is at least greater than the vertical length of one seedling mat, and at a position where it can rotate in conjunction with the vertical feed of a seedling mat when one is placed above the downstream rotor 81. This allows the seedling mat to be detected when a new seedling mat is added while a seedling mat is placed on the downstream rotor 81 (when the downstream rotor 81 is rotating in conjunction with the vertical feed of the seedling mat).

In addition, by configuring the downstream rotor 81 to rotate in conjunction with the vertical feed of the seedling mat, the feed amount of the seedling mat can be calculated based on the rotation speed of the downstream rotor 81. In other words, the downstream rotor 81 is used as a seedling mat feed amount detection means. In addition, the compression rate can be calculated by measuring the length from the bottom end of the placement surface to the upstream rotor 85 in advance and detecting the transition from a state in which the upstream rotor 85 rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating.

In the above configuration, the seedling quantity calculation unit 70 can use the compression rate to calculate the number of seedling mats to be used based on the length of the seedling mats before compression from the amount of seedling mats fed, which is calculated from the rotation speed of the downstream rotor 81.

The correction of the number of seedling successions of the seedling mat will be explained using FIG. 13. The seedling amount calculation unit 70 constantly estimates the remaining amount of seedling mat placed on the placement surface from the number of seedling successions of the seedling mat detected based on the rotational state of the downstream rotor 81 and the upstream rotor 85, and the feed amount of the seedling mat calculated from the rotation speed of the downstream rotor 81. The seedling amount calculation unit 70 corrects the number of seedling successions of the seedling mat based on the remaining amount of seedling mat and the rotational state of the downstream rotor 81 and the upstream rotor 85.

In the embodiment shown in FIG. 13, one seedling mat is placed on the placement surface of the seedling platform 33, and the planting clutch is activated to start planting. When the seedling mat located at the lower end is vertically transported by the conveyor belt 54, the downstream rotor 81 rotates. When the seedling amount calculation unit 70 detects the rotation of the downstream rotor 81 linked to the vertical transport of the seedling mat by the conveyor belt 54, it adds one to the number of seedling successions (detects the first seedling mat). The seedling amount calculation unit 70 calculates the amount of seedling mat transported based on the number of rotations of the downstream rotor 81, and estimates the remaining amount of seedling mat by subtracting the amount of seedling mat transported from the length of one seedling mat.

When the seedling mat is placed on the downstream rotor 81 and two new seedling mats are added at the same time, the number of seedling additions is incremented by one by detecting the rotation of the upstream rotor 85 linked to the vertical feed of the seedling mat (the second seedling mat is detected). The amount of seedling mat feed is calculated from the number of rotations of the downstream rotor 81, and the remaining amount of seedling mat is estimated by subtracting the amount of seedling mat feed from the length of two seedling mats.

The seedling quantity calculation unit 70 detects whether the upstream rotor 85 is rotating in conjunction with the vertical feed of the seedling mat when the estimated remaining amount of seedling mat is below the upstream rotor 85. If the upstream rotor 85 detects rotation in conjunction with the vertical feed of the seedling mat, the seedling mat is placed on the upstream rotor 85 contrary to the remaining amount of seedling mat, that is, the actual remaining amount of seedling mat is greater than the estimated remaining amount of seedling mat, so the number of seedling successions is corrected, specifically, the number of seedling successions of the seedling mat is increased by one (corrected from two sheets to three sheets). If it is detected that the upstream rotor 85 has transitioned from a state in which it rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating in the above situation, it is determined that the estimated remaining amount of seedling mat matches the actual remaining amount of seedling mat, and the number of seedling successions is not corrected.

Then, when the third seedling mat is sent to the lower side of the upstream rotating body 85, the upstream rotating body 85 transitions from a state in which it rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating. When the seedling quantity calculation unit 70 detects that the upstream rotating body 85 is not rotating, it calculates the compression rate of the seedling mat.

As described above, by estimating the remaining amount of seedling mats and correcting the number of seedling successions based on the estimated remaining amount of seedling mats and the rotational states of the downstream rotor 81 and the upstream rotor 85, it is possible to accurately detect the number of seedling successions, for example, even when two seedling mats are successively transferred at the same time or when one seedling mat is placed from the downstream rotor 81 to the upstream rotor 85. Furthermore, if the compression rate has been calculated, the compression rate may be taken into consideration when estimating the remaining amount of seedling mats.

The correction of the remaining amount of seedling mat will be explained using Figure 14. In the embodiment shown in Figure 14, it is assumed that the estimated remaining amount of seedling mat is below the downstream rotor 81, and the downstream rotor 81 transitions to a non-rotating state. When the seedling amount calculation unit 70 detects that the downstream rotor 81 has transitioned to a non-rotating state, it corrects the estimated remaining amount of seedling mat based on the number of rotations of the downstream rotor 81, which is rotated by the addition of the seedling mat.

When seedling mat is added after detecting that the downstream rotor 81 has transitioned from a state in which it rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating, the seedling mat to be added comes into contact with the downstream rotor 81 and the downstream rotor 81 rotates. The downstream rotor 81 then rotates until the bottom end of the seedling mat to be added comes into contact with the top end of the remaining seedling mat. Therefore, if there is a difference between the estimated remaining amount of seedling mat and the actual remaining amount of seedling mat, the seedling mat to be added is fed up to the actual remaining amount of seedling mat. Therefore, the seedling amount calculation unit 70 corrects the estimated remaining amount of seedling mat to the actual remaining amount of seedling mat by subtracting the feed amount of seedling mat calculated based on the rotation speed of the downstream rotor 81 from the estimated remaining amount of seedling mat.

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

In the above configuration, the downstream rotor 81 and the upstream rotor 85 are provided as seedling succession count detection means, but this is not limited to this. For example, the downstream rotor 81 alone may be used to detect the number of seedling successions while estimating the remaining amount of seedling mat.

The configuration of the downstream rotor 81 will be described using Figures 15(a), 15(b), and 15(c). The upstream rotor 85 has the same structure as the downstream rotor 81, so its description will be omitted. Figure 15(a) shows the configuration of the downstream rotor 81 from a side view, Figure 15(b) shows the configuration of the downstream rotor 81 from a rear view (seen from the mounting surface side), and Figure 15(c) shows the configuration of the downstream rotor 81 from a front view (seen from the rear side of the mounting surface).

The outer periphery of the downstream rotating body 81 is provided with a plurality of protrusions 81a arranged radially with respect to the center of rotation. The downstream rotating body 81 is provided so that the protrusions 81a protrude upward from the back side of the mounting surface through the through holes 33a. The downstream rotating body 81 is configured so that the protrusions 81a bite (engage) into the bottom surface of the seedling mat that is fed vertically on the mounting surface, and rotate in conjunction with the vertical feeding of the seedling mat. The surface of the protrusions 81a that comes into contact with the seedling mat is configured with a shape that is warped toward the upstream side in the rotation direction of the downstream rotating body 81. In terms of the relationship between the seedling loading platform 33 and the downstream rotating body 81, the surface of the protrusions 81a that comes into contact with the seedling mat is configured with a shape that is warped toward the source of the seedling mat. In this embodiment, the protrusions 81a are formed to be curved toward the upstream side in the rotation direction of the downstream rotating body 81 from the base end to the tip end in a side view.

As described above, the surface of the protrusion 81a of the downstream rotor 81 that comes into contact with the seedling mat is configured with a shape that is curved upstream in the direction of rotation, so that when the seedling mat is delivered to the loading surface near the upper side of the downstream rotor 81, the seedling mat is likely to come into contact with (get caught on) the protrusion 81a. This prevents the downstream rotor 81 from slipping, and allows the downstream rotor 81 to rotate in conjunction with the vertical feed of the seedling mat.

In addition, the protrusion 81a may be formed as a star wheel without curving upstream in the direction of rotation from the base end to the tip in a side view, or may be formed in a pointed shape with an inclination toward the upstream direction of rotation from the base end to the tip in a side view. By forming the tip of the protrusion 81a into a pointed shape, it becomes easier to hook onto the downstream side or bottom surface of the seedling mat. This prevents the downstream rotating body 81 from slipping, and allows the downstream rotating body 81 to rotate in conjunction with the vertical feed of the seedling mat.

The downstream rotor 81 is rotatably attached to the underside of the seedling carrier 33 via a stay 82 around the pitch axis. A boss 81b is provided at the center of rotation of the downstream rotor 81. The boss 81b has screws 83 provided every 90 degrees in the rotational direction, and the number of rotations of the downstream rotor 81 can be detected by detecting the screws 83 with a proximity sensor 84 provided on one end of the stay 82.

In addition, by using the downstream rotor 81 and the upstream rotor 85 as a means for detecting the number of seedling transfers of the seedling mat, it is possible to detect not only the number of seedling transfers but also the feed amount of the seedling mat. Therefore, for example, when a seedling mat is placed on the upstream rotor 85, if the rotation of the upstream rotor 85 corresponding to the rotation of the downstream rotor 81 is not detected, poor seedling feed can be detected.

In the above configuration, in order to prevent erroneous detection due to rotation of the downstream rotor 81 caused by external forces such as wind, the downstream rotor 81 may be biased against the back side of the seedling carrier 33 by an elastic member to lock the downstream rotor 81. In this case, the biasing force of the elastic member is set so that when a seedling mat is placed on the downstream rotor 81, the weight of the seedling mat presses the downstream rotor 81 against the back side of the seedling carrier 33, releasing the lock against the back side of the seedling carrier 33 and allowing the downstream rotor 81 to rotate. The upstream rotor 85 may be configured in a similar manner.

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

As shown in FIG. 16, the downstream rotor 81 is provided with an elliptical cam 86 that rotates together with the downstream rotor 81, and a microswitch 87 that repeatedly turns on and off as the cam 86 rotates. The microswitch 87 is positioned so that it is on when the short diameter end of the cam 86 is in contact with the arm 87a, and is off when the long diameter end of the cam 86 is in contact with the arm 87a. In the above configuration, the microswitch 87 repeatedly turns on and off every 90 degrees, making it possible to detect the rotation speed of the downstream rotor 81.

In addition to the above configuration, a rotary encoder may be attached to the rotating shaft of the downstream rotating body 81 to calculate the rotation speed (rotation angle) of the downstream rotating body 81, or a potentiometer may be attached to the rotating shaft of the downstream rotating body 81 to calculate the rotation speed (rotation angle) of the downstream rotating body 81.

In addition, a rotating body is used as a means for detecting the amount of seedling mat feed, but this is not limited to this. Contact-type measurement methods include capacitance gauges, load cells, etc. Capacitive gauges can be installed, for example, over the entire surface area of the mounting surface, to accurately measure the amount of seedling mat feed and the remaining amount on the seedling mounting platform 33. In addition, load cells can be attached, for example, to a support member of the seedling mounting platform 33, to detect the amount of seedling mat feed based on the load of the seedling mat placed on the mounting surface.

Non-contact measurement methods include laser range finders, image processing of images captured by a camera, optical sensors, brightness sensors, etc. The laser range finder is, for example, installed so as to measure the distance from the upper side of the placement surface to the upper end surface of the seedling mat placed thereon, thereby making it possible to detect the amount of feed of the seedling mat. The camera is, for example, installed so as to be able to capture an image of the seedling mat placed on the placement surface, thereby making it possible to detect the amount of feed of the seedling mat by processing the captured image. The optical sensor is, for example, composed of a light-emitting unit and a light-receiving unit that detects when the light from the light-emitting unit is blocked by the seedling mat, thereby making it possible to detect the amount of feed of the seedling mat.

The positions of the downstream rotor 81 and the upstream rotor 85 in the width direction of the machine are explained using Figure 17.

The seedling pressing rods have the role of pressing down the seedling mats on each loading surface from above to ensure smooth transport, and are formed in a rod shape with the feed direction of the seedling mats on the seedling loading platform 33 as the longitudinal direction. In the embodiment shown in Figure 17 (a), seedling pressing rods 88a with a long diameter are provided symmetrically on the left and right sides with respect to the center of the loading surface, and seedling pressing rods 88b with a short diameter are provided in the center of the loading surface.

The upstream rotating body 85 is located in the center of the loading surface. The downstream rotating body 81 is positioned below the short-diameter seedling pressing rod 88b (in the direction pressing down on the seedling mat).

As described above, the downstream rotor 81 is positioned below the short-diameter seedling pressing rod 88b, so that the downstream rotor 81 can be pushed into the seedling mat without creating a gap between the seedling mat and the downstream rotor 81. This prevents the downstream rotor 81 from slipping, and the feed amount of the seedling mat can be accurately calculated from the rotation speed of the downstream rotor 81.

In the embodiment shown in FIG. 17(b), the upstream rotating body 85 is positioned below the long-diameter seedling pressing rod 88a located on the right side (in the direction pressing down the seedling mat). Therefore, slippage of the upstream rotating body 85 can be similarly prevented, and the feed amount of the seedling mat can be accurately calculated from the rotation speed of the upstream rotating body 85.

In the embodiment shown in FIG. 17(c), three long-diameter seedling pressing rods 88a are arranged symmetrically with respect to the center of the mounting surface. The upstream rotor 85 and downstream rotor 81 are arranged below (in the direction of pressing down the seedlings) the long-diameter seedling pressing rod 88a arranged in the center. This provides the same effect.

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

As described above, by arranging the upstream rotor 85 and downstream rotor 81 below the seedling pressing rod (in the direction in which the seedling mat is pressed down), slippage of the upstream rotor 85 and downstream rotor 81 can be prevented, and the feed amount of the seedling mat can be accurately calculated from the number of rotations. In addition, multiple upstream rotors 85 and downstream rotors 81 may be arranged side by side at the same height.

In the above configuration, the seedling quantity calculation unit 70 calculates the actual vertical quantity based on the actual work area and the number of seedling mats used for all rows. The seedling quantity calculation unit 70 calculates the actual number of mats (the number of seedling mats used per given area) from the number of seedling mats used, which is the sum of the number of seedling mats used for each row, and the actual work area. The seedling quantity calculation unit 70 then calculates the actual vertical quantity from the actual number of mats and the number of plants taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate.

The seedling quantity calculation unit 70 calculates the target vertical quantity based on the remaining work area, which is calculated by subtracting the actual work area from the field area, and the number of remaining seedling mats, which is calculated by subtracting the number of seedling mats used from the number of seedling mats. The seedling quantity calculation unit 70 calculates the target number of mats (number of seedling mats per specified area) from the remaining work area and the number of remaining seedling mats. The seedling quantity calculation unit 70 then calculates the target vertical quantity from the number of plants taking into account the target number of mats and the number of lateral feeds of the seedling carrier 33 and the slip rate.

When the seedling harvest volume calculation unit 70 calculates the actual vertical harvest volume and the target vertical harvest volume, it subtracts the actual vertical harvest volume from the target vertical harvest volume, and adds the result as a correction volume to the standard vertical harvest volume to correct the standard vertical harvest volume and drive and control the actuator 56a.

In the above configuration, the actual vertical take-up amount is calculated from the actual working area and the number of seedling mats used for all rows, the target vertical take-up amount is calculated from the remaining working area and the number of remaining seedling mats for all rows, and the correction amount for all rows is calculated from the actual vertical take-up amount and the target vertical take-up amount, but this is not limited to this, and the correction amount may be calculated for each row, and the correction amount for all rows may be calculated based on the correction amount for each row.

The seedling quantity calculation unit 70 calculates the actual number of mats per row from the actual work area per row and the number of seedling mats used per row, and calculates the actual vertical harvest amount per row from the actual number of mats per row and the number of plants taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate. The seedling quantity calculation unit 70 then calculates the target number of mats per row from the remaining work area per row and the remaining number of seedling mats per row, and calculates the target vertical harvest amount per row from the target number of mats per row and the number of plants taking into account the number of lateral feeds of the seedling carrier 33 and the slip rate. The seedling quantity calculation unit 70 may calculate a correction amount for each row by subtracting the target vertical harvest amount from the actual vertical harvest amount calculated for each row, and calculate the correction amount for all rows based on the correction amount calculated for each row.

In the above configuration, the correction control of the standard vertical amount is performed after the number of seedling mats used for all rows in which planting work is performed has been calculated, so there is a time lag between the calculation of the compression rate for one row and the execution of the correction control. Therefore, taking the time lag into consideration, the downstream rotating body 81 is positioned at least a predetermined distance upward from the lower end on the loading surface for each row of the seedling loading platform 33.

As described above, by being able to calculate the actual work area where the actual planting work was performed and the number of seedling mats used in the actual planting work during the planting work, the standard vertical harvest amount can be corrected. Therefore, planting work can be performed with the desired number of seedling mats in the desired field. Therefore, the efficiency of seedling mat consumption can be improved.

The following describes the detection of poor planting in the vertical take-up amount control of the planting claws 32. Here, poor planting includes minor planting defects that occur because the planting work machine 3, such as the seedling carrier 33 and the planting claws 32, is not in good condition, to poor planting caused by a malfunction of the planting work machine 3. In addition, the standard vertical take-up amount (including the corrected standard vertical take-up amount) set in the vertical take-up amount control of the planting claws 32 includes poor planting that occurs because the aspect ratio of the seedlings scraped from the seedling mat is not good.

When the seedling harvesting amount calculation unit 70 calculates the number of seedling mats used for each row, it compares it with a predetermined range set in advance to detect poor planting. Here, poor planting refers to poor planting that occurs because the condition of the planting work machine 3, such as the seedling carrier 33 and planting claws 32, is not good. The predetermined range refers to a range that is set based on the standard vertical harvesting amount.

In the above configuration, the seedling quantity calculation unit 70 detects poor planting when the number of seedling mats used calculated for each row is outside a predetermined range. When the seedling quantity calculation unit 70 detects poor planting, it notifies the operator of the poor planting and displays on the monitor 22 guidance for the operator to correct the poor planting, such as whether the seedling holding rod of the seedling carrier 33 constituting the planting machine 3 is supporting the seedling mat at a predetermined position, and whether the installation setting of the planting claws 32 constituting the planting machine 3 is appropriate.

The seedling quantity calculation unit 70 also detects poor planting by comparing the number of seedling mats used with a predetermined range that is set in advance, but is not limited to this. For example, poor planting may be detected by comparing the number of seedling mats used calculated for each row. In this case, if the difference between the number of seedling mats used is greater than a preset threshold value, poor planting is detected.

The seedling quantity calculation unit 70 calculates the increase in the number of seedling mats used per row relative to the increase in the actual work area, and if the increase relative to the increase in the area becomes smaller than a predetermined threshold value set in advance, it notifies the operator of poor planting. Poor planting here refers to missing plants. The seedling quantity calculation unit 70 also notifies the operator which planting rows are missing plants.

By notifying the operator of missing stalks as described above, the operator can check for missing stalks without having to frequently stop the rice transplanter 1 to check behind him. In the above configuration, missing stalks are detected by calculating the increase in the number of seedling mats used per row relative to the increase in the actual working area, but this is not limited to this. For example, missing stalks may be detected by calculating the increase in the amount of seedling mats fed per row relative to the increase in the actual working area. In this case, the amount of seedling mats fed is detected in real time, making it possible to find missing stalks earlier.

When the seedling harvesting amount calculation unit 70 calculates the standard vertical harvesting amount (or the corrected standard vertical harvesting amount), it calculates the aspect ratio of the seedlings to be scraped from the seedling mat from the lateral feed amount and vertical harvesting amount of the seedling mat calculated from the number of lateral feeds of the seedling carrier 33. If the aspect ratio of the seedlings falls outside a specified ratio range, it notifies the operator that the planting has been poor. Here, poor planting refers to poor planting that occurs because the aspect ratio of the seedlings to be scraped from the seedling mat is not good. The specified ratio range refers to a range that is set based on a target value of 1:1.

When the seedling quantity calculation unit 70 detects poor planting, it notifies the operator of the poor planting and displays guidance on the monitor 22 to encourage the operator to change the lateral feed amount or the vertical feed amount to bring the aspect ratio closer to the target value. Specifically, when the aspect ratio is 3:1, the seedling quantity calculation unit 70 displays guidance on the monitor 22 to reduce the number of lateral feeds to increase the lateral feed amount, or to change the number of plants or the number of seedling mats to reduce the vertical feed amount, and notifies the operator.

As described above, when the aspect ratio of the seedlings scraped from the seedling mat falls outside a specified ratio range, the operator is notified of poor planting, allowing the worker to recognize that the seedlings being scraped from the seedling mat are prone to falling apart due to being elongated vertically or horizontally. Therefore, by having the operator change the settings, planting work can be avoided when the seedlings are prone to falling apart.

The vertical take-up amount control of the planting claws 32 will be described using Figures 18 and 19. In the following, it is assumed that the planting clutch is connected and the planting work machine 3 is operating. When the vertical take-up amount control is started, the actual work area is calculated at any time from the travel distance and work width of the rear wheels 8 taking into account the slip rate. In addition, the downstream rotor 81 and the upstream rotor 85 are rotated appropriately in conjunction with the vertical feed of the seedling mat, the number of seedling transfers is detected from the rotation state of the downstream rotor 81 and the upstream rotor 85, and the feed amount of the seedling mat is calculated at any time from the rotation speed of the downstream rotor 81.

In step S110, the seedling quantity calculation unit 70 determines whether the field area and number of seedling mats have been input using the select dial 66. If the field area and number of seedling mats have been input, the process proceeds to step S120.

In step S120, the seedling harvesting amount calculation unit 70 controls the actuator 56a to drive the standard vertical harvesting amount calculated based on the field area and the number of seedling mats, and then proceeds to step S130.

In step S130, the seedling harvest volume calculation unit 70 determines whether the aspect ratio of the seedling calculated based on the standard vertical harvest volume is within a predetermined range. If the aspect ratio of the seedling is within the predetermined range, the process proceeds to step S150. If the aspect ratio of the seedling is not within the predetermined range, the process proceeds to step S140.

In step S140, the seedling quantity calculation unit 70 detects poor planting, notifies the operator, and proceeds to step S150.

In step S150, the seedling quantity calculation unit 70 determines whether the upstream rotating body 85 has transitioned from a state in which it rotates in conjunction with the vertical feed of the seedling mat to a state in which it is not rotating. If it detects that the upstream rotating body 85 is not rotating, it transitions to step S160.

In step S160, the seedling quantity calculation unit 70 calculates the number of seedling mats used per row from the compression ratio calculated based on the seedling mat feed amount per row and the number of seedlings passed through the seedling mats, and proceeds to step S170.

In step S170, the seedling harvesting amount calculation unit 70 determines whether the number of seedling mats used per row is within a predetermined range. If the number of seedling mats used is within the predetermined range, the process proceeds to step S190. If the number of seedling mats used is not within the predetermined range, the process proceeds to step S180.

In step S180, the seedling quantity calculation unit 70 detects poor planting, notifies the operator, and proceeds to step S190.

In step S190, the seedling quantity calculation unit 70 determines whether the ratio of the increase in the number of seedling mats used per row to the increase in the actual working area is smaller than a predetermined threshold. If the ratio is not smaller than the predetermined threshold, the process proceeds to step S210. If the ratio is smaller than the predetermined threshold, the process proceeds to step S200.

In step S200, the seedling quantity calculation unit 70 detects poor planting, notifies the operator, and transitions to step S210.

In step S210, the seedling harvesting amount calculation unit 70 calculates the actual vertical harvesting amount based on the actual work area and the number of seedling mats used, and proceeds to step S220.

In step S220, the seedling harvesting amount calculation unit 70 calculates the target vertical harvesting amount based on the remaining work area and the number of remaining seedling mats, and proceeds to step S230.

In step S230, the seedling harvest volume calculation unit 70 corrects the standard vertical harvest volume based on the actual vertical harvest volume and the target vertical harvest volume, drives and controls the actuator 59 so that the corrected standard vertical harvest volume is reached, and then proceeds to step S240.

In step S240, the seedling harvest volume calculation unit 70 determines whether the aspect ratio of the seedling calculated based on the corrected standard vertical harvest volume is within a predetermined range. If the aspect ratio of the seedling is within the predetermined range, the process proceeds to step S260. If the aspect ratio of the seedling is not within the predetermined range, the process proceeds to step S250.

In step S250, the seedling quantity calculation unit 70 detects poor planting, notifies the operator, and transitions to step S260.

In step S260, the seedling quantity calculation unit 70 determines whether the actual work area is the field area. If the actual work area is the work area, the process ends. If the actual work area is not the field area, the process proceeds to step S150.

Using Figure 20, we will explain how to grasp and plan planting work using an information terminal 91. The communication unit of the rice transplanter 1 transmits and receives various data via a wide area communication network such as the Internet, and is configured to be able to communicate data with an external information terminal 91 connected via the wide area communication network.

As shown in FIG. 20(a), the information terminal 91 receives and displays data detected during planting work in a certain field, such as the elapsed time, number of stalks, number of lateral feeds, amount of sinking of the rear wheels, slip rate, number of stalks per stalk, number of stalks per given area, remaining work area, and number of remaining seedling mats. The various data may be displayed in real time during planting work, or may be displayed at the end of planting work.

As described above, by enabling the information terminal 91 to receive various detailed data, a manager who manages multiple fields can use the information terminal 91 to grasp the work status of each field, etc.

As shown in FIG. 20(b), the relationship between the number of stalks per given area and the yield, or the relationship between the number of plants and the yield, may be displayed. In this case, the breakdown of the yield, showing the ratio of whole grains to broken rice, can be used to plan for the next period.

In addition, when setting the number of plants and number of seedling mats per given area in advance, anticipating the yield per given area of the field, various information can be input into the information terminal 91 to perform a simulation of the required number of mats and number of plants, etc. This allows the manager to make plans from the seedling transplantation stage or the seedling mat growth stage, and to appropriately set the required number of mats and number of plants, etc.

1: rice transplanter, 2: traveling body, 3: planting work machine, 8: rear wheel, 20: lifting link mechanism, 32: planting claw, 33: seedling carrier, 56: seedling carrier rail support shaft, 59: actuator, 60: interlocking wire, 63: row stop switch, 66: select dial, 70: seedling quantity calculation unit, 71: planting work machine position detection sensor, 81: downstream rotating body, 84: proximity sensor, 85: upstream rotating body, 88a, 88b: seedling holding rod

Claims (2)

A seedling transplanter that is configured to scrape seedlings from a seedling mat placed on a seedling carrier with a planting claw and plant them in a field, and to change the amount of seedling mat taken by the planting claw,
A seedling transplanter comprising a seedling quantity calculation unit that determines whether the aspect ratio of the seedlings calculated from the standard vertical quantity that can be calculated based on at least the number of seedling mats input by an operator and the horizontal feed quantity of the seedling mats is outside a set range. The seedling transplanter according to claim 1, wherein during planting work, a standard vertical take-up amount is corrected from an actual vertical take-up amount calculated based on the actual work area where planting work was carried out and the number of seedling mats used for the actual work area, and a target vertical take-up amount calculated based on the remaining work area and the number of remaining seedling mats.