JPH0147968B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a seedling detection sensor in a rice transplanter that controls planting by following the rows of already planted seedlings in order to plant seedlings in a constant width and in a straight line.

Conventionally, as a seedling detection sensor in a riding rice transplanter, there are those using an optical sensor that emits light downward and those using a contact arm. However, those using optical sensors detect seedlings from above, so depending on the shape and morphology of the seedlings, such as spreading or lodging,
It is impossible to accurately detect the planting position (base) of seedlings, and in the case of using a contact arm, the seedlings may be pushed down by the contact arm because the seedlings have not yet taken root immediately after planting. Something happened.

Therefore, in the present invention, a large number of sensor covers are disposed in a comb-like shape on a sensor mounting arm, and light emitting elements and/or light emitting elements are installed in these sensor covers so as to be blocked by planted seedlings passing between the sensor covers. Alternatively, light receiving elements are respectively disposed, and the sensor cover is configured with a guide surface having a downward slope toward the front and a tapered shape toward the front so as to guide the planted seedlings, A seedling detection sensor for a rice transplanter, in which the light-emitting element and/or the light-receiving element are each fixed to the inner wall of the cover farther from the other element, and a predetermined hole is formed in the cover surface closer to the other element, thereby eliminating the above-mentioned drawbacks. The purpose is to provide the following.

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

As shown in FIG. 1, the riding rice transplanter 1 has wheels 2.
At the rear of the machine body 3, a planting device 6 is connected and supported via a parallel link 5 so as to be swingable in the left-right direction, and the link 5 and the machine body 3 A hydraulic cylinder 7 is disposed between the planting device 6 and the fixed side, and the lateral position of the planting device 6 can be adjusted. The planting device 6 has a seedling stand 9, a plurality of planting rods 10, and a float 11. A sensor mounting arm 12 is fixedly installed so as to protrude.

At the tip of the sensor mounting arm 12, as shown in FIG.
It is fixed by 5. Sensor cover 13
is formed by bending a steel plate so that the tip direction forms an acute angle, as shown in detail in FIGS. 3 and 4,
Moreover, it is attached to be inclined at a predetermined angle a with respect to the horizontal plane X so that the lower part thereof protrudes forward. Furthermore,
A thin divider 15 made of piano wire or the like is fixed to the tip of the sensor cover 13 so as to protrude forward and downward, and a light emitting diode L constituting the seedling detection sensor S is located at a predetermined height H from the water surface A.
A light emitting element such as P and a light receiving element such as a phototransistor P are attached. That is, as shown in FIG. 2, a light emitting element L1 that emits light in the right direction is arranged on the left end, that is, an inner end side cover 13a, and a light receiving element P1 and a light receiving element P1 that receive light from the element L1 are arranged on the second cover 13b. A light emitting element L2 that emits light in the right direction is disposed, a light receiving element P2 and a light emitting element L3 are similarly disposed on the third cover 13c, and the fourth or rightmost cover 13d receives light from the light emitting element L3. An element P3 is arranged. At this time, as shown in detail in FIG. 3, the light-emitting element L and the light-receiving element P are each fixed to the inner wall of the cover 13 that is farther from the other element, and a hole 16 with a predetermined diameter d is formed in the surface of the cover 13 that is closer to the other element. A predetermined distance W is formed from the hole 16 to the lens surface of the element L or P.

As shown in FIG. 6, each light receiving element P1
... are respectively connected to the comparator 17, and output from the comparator 17 to the control section 19. Further, the control section 19 outputs an output to the expansion side solenoid 20a or contraction side solenoid 20b of the electromagnetic valve 20, and these solenoids 20a, 20b control the expansion and contraction of the hydraulic cylinder 7.

Since the present embodiment has the above-described configuration, the sensor cover 13 and divider 15 which are inclined at a predetermined angle a as the riding rice transplanter 1 travels.
As a result, as shown in FIG. 5, the planted seedlings N in the outermost row of the already planted seedlings N are raised and guided between the covers 13 corresponding to the location where their roots are located. Then, the light from the light-emitting element L is blocked by the planted seedling N, and the light-receiving element P detects the light to detect which of the comb-shaped covers the seedling N is located between. For example, when the seedling N is located between the inner end 13a and the second cover 13b, the light from the light emitting element L1 is blocked and the voltage at the light receiving element P1 drops. Then, the comparator 17 outputs an output, and the expansion side solenoid 20a of the electromagnetic valve 20 is energized via the control unit 19. As a result, the cylinder 7 is extended, and the planting device 6 is swung to the left via the parallel link 5, and is removed from the row of already planted seedlings. Then, when the seedling N passes between the second cover 13b and the third cover 13c, the light receiving element P2 detects this state. In this state, the control unit 19 does not output any output to the electromagnetic valve 20, and this state is maintained to proceed with the planting work. Conversely, when a seedling N passes between the third cover 13c and the outer end cover 13b, the voltage of the light receiving element P3 drops, and the contraction side solenoid 20b of the electromagnetic valve 20 is energized via the control unit 19. ,
Contract cylinder 7. As a result, the planting device 6
is swung and corrected to the right and returned to the appropriate planting width.

Note that in the above embodiment, the sensor cover 13 is
Therefore, three light-emitting and light-receiving elements L and P were provided, but a larger number of them were installed to form the central sensor (sensors L2 and P2 in the above embodiment).
The position of the sensor mounting arm 12 may be set freely, and the protruding length of the sensor mounting arm 12 may be freely adjusted to adjust the width of the seedling. In addition, in the above-mentioned embodiment, the planting device 6 is controlled to the right and left with respect to the body 3 to control the appropriate planting width, but this can be done by automatically operating the rice transplanter or by instructing the driver in the direction of movement. The direction in which the aircraft 3 moves may be controlled.

As explained above, according to the present invention, the light emitting elements L and/or Since the light-receiving elements P are arranged respectively, the seedlings are not affected by the spread or lodging of the seedlings, and the sensor cover 13, which has a downward slope toward the front and a tapered shape toward the front, allows the seedlings to be detected easily. is triggered, the seedling planting position can be accurately detected, the detection accuracy of the seedling detection sensor S can be greatly improved, and the sensor cover 13 only guides the planted seedlings N between the covers L. Therefore, there is no need to overwhelm the already planted seedlings. Furthermore, since the light emitting element L and/or the light receiving element P are each fixed to the inner wall of the cover that is farther from the other element, and a predetermined hole 16 is formed in the cover surface that is closer to the other device, a predetermined distance W from the hole 16 is formed. The lens of the element separated from the cover 13 limits the angle of incidence of disturbance light, reducing the influence of disturbance and reducing the exposure of muddy water to the lens. It does not protrude and allows planted seedlings to be guided smoothly.

[Brief explanation of drawings]

Fig. 1 is a plan view showing a riding rice transplanter to which the present invention is applied, Fig. 2 is a plan view showing its seedling detection sensor portion, Fig. 3 is a partial front view thereof, Fig. 4 is a side view thereof, and Fig. 5 The figure is a front view of the seedling detection sensor portion, and FIG. 6 is a diagram showing an example of control by the seedling detection sensor of the present invention. 1... (riding) rice transplanter, 6... planting device, 12... sensor mounting arm, 13, 13a to 13d... sensor cover, 15... divider, 16... hole,
L, L1 to L3...Light emitting element, P, P1 to P3...Light receiving element, N...Planted seedling, S...Seedling detection sensor.

Claims (1)

[Claims] 1. A sensor mounting arm that protrudes laterally is provided at a predetermined position of the rice transplanter, and a number of sensor covers are arranged in a comb-like shape at the tip of the arm, and further, on these sensor covers, A light emitting element and/or a light receiving element are each arranged so as to be blocked by a planted seedling passing between the sensor covers, and the sensor cover is moved downwardly toward the front so as to guide the planted seedling. Consisting of a guide surface that is sloped and tapered toward the front,
A seedling detection sensor for a rice transplanter, wherein the light emitting element and/or the light receiving element are each fixed to the inner wall of the cover that is farther from the other element, and a predetermined hole is formed in the cover surface that is closer to the other element.