JPH0324003Y2 - - Google Patents
Info
- Publication number
- JPH0324003Y2 JPH0324003Y2 JP1984192178U JP19217884U JPH0324003Y2 JP H0324003 Y2 JPH0324003 Y2 JP H0324003Y2 JP 1984192178 U JP1984192178 U JP 1984192178U JP 19217884 U JP19217884 U JP 19217884U JP H0324003 Y2 JPH0324003 Y2 JP H0324003Y2
- Authority
- JP
- Japan
- Prior art keywords
- light
- seedlings
- light receiving
- seedling
- pulse
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 18
- 230000007547 defect Effects 0.000 claims description 12
- 241000196324 Embryophyta Species 0.000 description 18
- 230000003595 spectral effect Effects 0.000 description 12
- 239000004065 semiconductor Substances 0.000 description 8
- 230000035945 sensitivity Effects 0.000 description 6
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 240000000111 Saccharum officinarum Species 0.000 description 3
- 235000007201 Saccharum officinarum Nutrition 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000002834 transmittance Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical group [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
Landscapes
- Transplanting Machines (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
【考案の詳細な説明】
「産業上の利用分野」
この考案は、稲、さとうきび、その他の農作物
の自動苗植機に備え、苗に植欠を自動的に検出す
るための検出装置に関する。[Detailed Description of the Invention] "Industrial Application Field" This invention relates to a detection device for automatically detecting plant defects in seedlings, for use in automatic seedling transplanters for rice, sugar cane, and other agricultural products.
「従来の技術」
農作物の自動苗植機には各種のものがあるが、
一般には多条植え構造となつている。``Conventional technology'' There are various types of automatic seedling planting machines for agricultural products.
Generally, it has a multi-row planting structure.
このような苗植機は一方向走行によつて複数列
の植え付けが可能で作業能率が高く便利である
が、植欠することがあり、その補完作業に多くの
手数がかかる場合がある。 Such a seedling transplanter is capable of planting multiple rows by traveling in one direction, and is highly efficient and convenient. However, it may cause defects in the plants, and it may take a lot of effort to compensate for the defects.
植欠は供給苗がホツパーやスロワなどで詰るこ
とにより発生する場合が多く、ある条のみが植え
付けられないまま走行し、後に何百株もの植欠が
あることに気付くことがあつた。 Plant defects often occur when the supplied seedlings become clogged with hoppers or throwers, and there have been cases where only one row has been left unplanted and it was later discovered that hundreds of plants were missing.
また、大型の乗用苗植機では、1人の運転者の
他に苗の植欠を監視する2人の監視者が同乗する
ようになつており、例えば、6条植えの場合に
は、左側3条を1人の監視者が、右側3条を今一
人の監視者が各々監視し植欠を発見していた。 In addition, in large-sized riding seedling transplanters, in addition to the driver, there are two people on board who monitor the seedlings for defects.For example, when planting 6 rows, the left side One observer was monitoring the 3rd row, and another person was monitoring the 3rd row on the right side, and discovered any plant defects.
「考案が解決しようとする問題点」
上記したように、従来の自動苗植機では植欠が
発生することがあつて、この補完作業に手数がか
かり、また、監視者が同乗するものは植付が防げ
る反面、作業人数が多くなる。``Problems that the invention aims to solve'' As mentioned above, conventional automatic seedling transplanters can sometimes cause plant defects, which takes a lot of time to compensate for, and the ones with a supervisor riding along are not suitable for planting plants. Although this prevents damage, the number of workers increases.
本考案は上記したところの欠点を解決すること
を目的とする。 The present invention aims to solve the above-mentioned drawbacks.
「問題点を解決するための手段」
この考案は、圃場に一定間隔で植え付けられた
苗からの反射光を受光するこにのより苗の緑色の
波長光を識別して感応する受光部が苗の植え付け
間隔に対応してパルス状として出力する出力信号
と、この受光部の出力信号に対応してパルス欠如
を検出て植え付けの欠如として応動する検出作動
部とを含む自動苗植機の植欠検出装置を提案する
ものである。``Means for solving the problem'' This idea is based on a light-receiving section that detects and responds to green wavelength light from seedlings by receiving reflected light from seedlings planted at regular intervals in the field. An automatic seedling transplanter that includes an output signal that outputs a pulse-like signal corresponding to the planting interval of the light receiving section, and a detection operation section that detects the lack of pulses in response to the output signal of the light receiving section and responds as a lack of planting. This paper proposes a detection device.
稲やさとうきびの苗が緑色であるように、苗に
は独特の色彩がある。このような苗色は田畑地の
色彩に比べて明確に識別できる場合が多く、苗色
を示す波長の光に感応する受光部を使用すること
により、田または畑に植え付けられた苗の存否を
検出するこたができる。圃場に植え付ける苗は一
定間隔として植え付けるものであつて、特に自動
移植機においては移植機が一定ピツチで植え付け
るので、植え付けられた苗は一定間隔とされてお
り、所定位置に苗が存在しなければ、田面または
畑面の反射光が受光部に入射することから、一定
間隔として苗色を受光していた受光部が感応せ
ず、これより、一定間隔に欠如部を検知し植欠の
発生を検出し得る。 Just like rice and sugarcane seedlings are green, seedlings have unique colors. The color of these seedlings is often more clearly distinguishable than the color of fields, and by using a light-receiving unit that is sensitive to the wavelength of light that indicates the color of the seedlings, it is possible to determine the presence or absence of seedlings planted in a rice field or field. I can detect it. Seedlings to be planted in the field are planted at regular intervals, and especially in automatic transplanters, the transplanters plant at regular intervals, so the planted seedlings are at regular intervals, and if there are no seedlings in a predetermined position. Since the reflected light from the rice field or field surface enters the light receiving unit, the light receiving unit, which had been receiving the seedling color at regular intervals, no longer responds to the light, and from this, it detects the defective areas at regular intervals and detects the occurrence of plant loss. Can be detected.
植欠発生に対する検出応動部としては、例え
ば、上記受光部の出力信号(無出力信号を含む)
にもとずいて動作する、音響発生手段または光学
表示手段を設けるか、また、上記出力信号に応動
さて自動苗植機の走行を停止させる手段などを設
けることにより植欠部を確認し別途苗を植え付け
ればよいものである。 As a detection response unit for the occurrence of plant loss, for example, the output signal (including the no-output signal) of the light receiving unit
By providing a sound generating means or an optical display means that operates based on the above output signal, or by providing a means for stopping the automatic seedling planting machine in response to the above output signal, the defective part can be confirmed and the seedlings can be separated separately. All you have to do is plant it.
「実施例」
次に、本考案の実施例について図面に沿つて説
明する。"Example" Next, an example of the present invention will be described with reference to the drawings.
第1図はトラクタ1に牽引される自動苗植機2
の側面図を示し、自動苗植機2は連結部3で着脱
自在に連結させてある。 Figure 1 shows an automatic seedling planting machine 2 that is towed by a tractor 1.
The automatic seedling planting machine 2 is detachably connected to the connecting part 3.
この自動苗植機2は、さとうきびなどの苗Aを
畑に6条植えするもので、横方向に一列となつた
6個の植付部2a〜2fを備えている。なお、植
付部2a〜2fの各々は、苗のせ台や植付具など
を備えた公知の構成である。 This automatic seedling planting machine 2 is for planting six rows of seedlings A such as sugarcane in a field, and is provided with six planting sections 2a to 2f arranged in a row in the horizontal direction. In addition, each of the planting parts 2a to 2f has a known configuration including a seedling stand, a planting tool, and the like.
また、上記苗付部2a〜2f各々の後方には受
光装置4a〜4fが下向きに設けてある。これら
受光装置4a〜4fは苗植条各々の直上に位置す
るように取り付けてあつて、各々が第3図に示す
ように、筒状のフード5と、この内部に設けたフ
オトダイオード6とを備えている。 Furthermore, light receiving devices 4a to 4f are provided facing downward at the rear of each of the seedling parts 2a to 2f. These light receiving devices 4a to 4f are installed so as to be located directly above each seedling planting row, and each has a cylindrical hood 5 and a photodiode 6 provided inside the hood 5, as shown in FIG. We are prepared.
上記フオトダイオード6は、約550(nm)の波
長で最大光色となる緑色の波長光を識別して感応
する色識別半導体素子で、苗Aから反射される緑
色の波長光を入射して光電変換する。 The photodiode 6 is a color discrimination semiconductor element that recognizes and responds to green wavelength light having a maximum light color at a wavelength of about 550 (nm), and receives the green wavelength light reflected from the seedling A and photoelectrically converts it. Convert.
色識別半導体素子は、シリコン・フオトダイオ
ード・アレイ(4個のフオトダイオード)上に干
渉フイルタを一体形成したもので、第4図に示す
ような分光感度特性を有することが公知となつて
いる。 A color discrimination semiconductor element is a silicon photodiode array (four photodiodes) with an interference filter integrally formed thereon, and is known to have spectral sensitivity characteristics as shown in FIG. 4.
そして、この色識別半導体素子はXY色度座標
を簡単な回路処理で求めることができ、数十色以
上の色判別が可能とされている。 This color discrimination semiconductor element can determine the XY chromaticity coordinates through simple circuit processing, and is said to be capable of distinguishing dozens of colors or more.
なお、第4図において実線で示した特性曲線は
上記色識別半導体素子の分光感度特性、破線で示
した特性曲線はCIE3刺激値(3色刺激値)によ
る特性であり、また、符号Zは青色、Yは緑色、
Xは赤色の光分布を各々示す。 In addition, the characteristic curve shown by the solid line in FIG. 4 is the spectral sensitivity characteristic of the above-mentioned color discrimination semiconductor element, the characteristic curve shown by the broken line is the characteristic based on the CIE3 stimulus value (three color stimulus value), and the symbol Z indicates the spectral sensitivity characteristic of the color discrimination semiconductor element. , Y is green,
X indicates the red light distribution.
この実施例の上記フオトダイオード6は、上記
色識別半導体素子が緑色の波長を識別して感応す
るように回路処理し、苗Aからの反射光から緑色
の波長光を識別して出力するように構成してあ
る。したがつて、各々の植付部に設けた受光装置
4a〜4fは植え付け直後の苗上を通過する毎に
感応して出力信号を発生する。 The photodiode 6 of this embodiment is circuit-processed so that the color discrimination semiconductor element identifies and responds to the green wavelength, and the photodiode 6 is configured to identify and output the green wavelength light from the light reflected from the seedling A. It is configured. Therefore, each of the light receiving devices 4a to 4f provided in each planting section generates an output signal in response to each passing over the seedling immediately after planting.
また、上記受光装置4a〜4fには検出応動部
(図示省略)が接続してあり、各々の受光装置の
出力信号がパルス列に欠如を生じた正常でない場
合には直ちに警告ブザー音を発生させる構成とな
つている。 Further, a detection response unit (not shown) is connected to the light receiving devices 4a to 4f, and is configured to immediately generate a warning buzzer sound when the output signal of each light receiving device is abnormal due to a lack of a pulse train. It is becoming.
一般に苗Aは等間隔に植え付けられるから、受
光装置4a〜4fの出力信号はパルス列として発
生する。したがつて、植欠が発生すれば、パルス
が部分的に欠如する。上記検出応動部はこのよう
なパルス部分的欠如を植欠部として検出してブザ
ーを動作させるものである。 Since the seedlings A are generally planted at regular intervals, the output signals of the light receiving devices 4a to 4f are generated as a pulse train. Therefore, if a plant defect occurs, the pulse will be partially absent. The detection/response section detects such a partial pulse omission as a missing portion and operates a buzzer.
上記した自動苗植機2は走行に伴つて苗Aを6
条に植え付け、また、各々の条に植え付けE苗A
は進行方向に一定間隔をおいて植え付けられる。 The automatic seedling planting machine 2 described above plants 6 seedlings A as it travels.
Seedlings E planted in rows, and seedlings A planted in each row
are planted at regular intervals in the direction of travel.
受光装置4a〜4fは、植え付けられた直後に
苗Aを検出するように働く。すなわち、自動苗植
機2の走行によつて植え付けられた各条の苗Aの
直上を受光装置4a〜4fが通過し、この時、苗
Aによる反射光に感応する。 The light receiving devices 4a to 4f work to detect the seedling A immediately after it is planted. That is, the light receiving devices 4a to 4f pass directly above the seedlings A of each row planted by the running of the automatic seedling transplanter 2, and at this time, they are sensitive to the light reflected by the seedlings A.
受光装置4a〜4fは、畑面の反射光を受ける
が、上記したように緑色の波長光について感応す
るものであるから、苗Aによる緑色波長の反射光
に応答して苗Aの存在を検出する。 The light receiving devices 4a to 4f receive the reflected light from the field surface, but as described above, they are sensitive to green wavelength light, so they detect the presence of the seedling A in response to the green wavelength light reflected by the seedling A. do.
各条に植え付けられた苗Aは一定間隔となるか
ら、上記受光装置4a〜4fの出力信号が植え付
けられた苗間隔のパルス状信号となり、この信号
が検出応動部に送られる。上記出力信号が一定間
隔のパルス列として送られているかぎり、検出応
動部はブザーを動作させない。 Since the seedlings A planted on each row are spaced at regular intervals, the output signals of the light receiving devices 4a to 4f become pulse-like signals corresponding to the distance between the planted seedlings, and this signal is sent to the detection response section. As long as the output signal is sent as a pulse train at regular intervals, the detection response section does not operate the buzzer.
一方、いずれかの条に苗植えが行なわれなかつ
た場合、すなわち、植欠が発生したときには、植
欠部からの緑色波長の反射光がないため、受光装
置4a〜4fのいずれかが出力信号を発生しな
い。つまり、一定間隔のパルス状信号の欠如を来
たし、これより、検出応動部が出力しブザーを動
作させる。 On the other hand, when seedlings are not planted in any of the rows, that is, when a plant defect occurs, there is no reflected light of the green wavelength from the plant defect, so any one of the light receiving devices 4a to 4f outputs an output signal. does not occur. In other words, there is a lack of pulse-like signals at regular intervals, which causes the detection and response section to output an output and operate the buzzer.
このように、ブザー音の警告によつて植欠の発
生を直ちに知ることができ、速やかに対処するこ
とができる。 In this way, the occurrence of plant loss can be immediately known by the warning of the buzzer, and prompt measures can be taken.
次に、第5図は本考案の他の実施例の示す簡略
図である。この実施例は受光装置4a〜4fの
各々にフオト・トランジスタ7を使用している。
フオト・トランジスタ7の分光感度特性は700
(nm)の波長、すなわち、赤色領域でピース値を
示すが、その判値幅が広いから、緑色領域の550
(nm)の波長についても感応する。したがつて、
受光路に分光フイルタ8を設けることによつて緑
色の波長光を識別するように構成し得る。分光フ
イルタ8は分光透過率が第6図に示すような干渉
フイルタなどを使用すればよい。受光路に設けた
集光レンズ9は受光感度を高めるのに役立つが、
必要に応じて設けるものである。 Next, FIG. 5 is a simplified diagram showing another embodiment of the present invention. In this embodiment, a phototransistor 7 is used in each of the light receiving devices 4a to 4f.
The spectral sensitivity characteristic of photo transistor 7 is 700
The piece value is shown in the wavelength (nm), that is, in the red region, but because the range of the value is wide, 550 in the green region
It is also sensitive to wavelengths of (nm). Therefore,
By providing a spectral filter 8 in the light receiving path, it can be configured to identify green wavelength light. As the spectral filter 8, an interference filter having a spectral transmittance as shown in FIG. 6 may be used. The condensing lens 9 provided in the light receiving path is useful for increasing the light receiving sensitivity.
It is provided as necessary.
その他、第5図中の符号10はコンパレータ、
11は検出応動部、12はブザーである。 In addition, numeral 10 in FIG. 5 is a comparator;
11 is a detection response section, and 12 is a buzzer.
この実施例の動作は第1図〜第3図に示した上
記実施例と変わりなく同様の効果が得られる。 The operation of this embodiment is no different from that of the embodiment shown in FIGS. 1 to 3, and the same effects can be obtained.
本考案は上記実施例の他の次のように実施する
ことができる。 The present invention can be implemented in the following manner other than the above embodiments.
(1) 第3図に示すフオトダイオード6の受光路に
は集光レンズを設けてもよく、また、高精度を
期待しなければ、色識別半導体素子からなる特
殊のこのフオトダイオード6は一般のフオトダ
イオードなどによつて置換えることができる。
ただし、分光フイルタを設ける必要がある。(1) A condensing lens may be provided in the light receiving path of the photodiode 6 shown in Fig. 3, and if high precision is not expected, this special photodiode 6 made of a color discrimination semiconductor element can be replaced with a general photodiode 6. It can be replaced by a photodiode or the like.
However, it is necessary to provide a spectral filter.
(2) 受光装置4a〜4fからパルス状信号を受け
る検出応動部は、パルスの欠如の有無、すなわ
ち、所定以上のパルス間隔を判別して動作する
ものであるが、このように構成した場合、自動
苗植機2の走行の速度変化によつて誤動作する
おそれがある。上記パルス状信号が等間隔パル
スとならないためである。(2) The detection response unit that receives pulsed signals from the light receiving devices 4a to 4f operates by determining the presence or absence of a pulse, that is, a pulse interval longer than a predetermined value. There is a possibility that the automatic seedling planting machine 2 may malfunction due to changes in the running speed. This is because the above-mentioned pulsed signal does not become equally spaced pulses.
したがつて、検出応動部はパルス状信号のパ
ルス幅とパルス間隔との比の値が所定関係にな
いときにブザーを動作させるようになしてもよ
い。 Therefore, the detection response unit may operate the buzzer when the value of the ratio between the pulse width and the pulse interval of the pulsed signal does not have a predetermined relationship.
このように構成するには、パルス状信号を波
形整形する回路、パルス幅とパルス間隔とを比
較し、この比較結果が所定の間隔にないときに
出力する回路とすることで植欠部をパルス列欠
如部として検出できる。 In order to configure this, a circuit that shapes the waveform of a pulsed signal, a circuit that compares the pulse width and the pulse interval, and outputs the result when the comparison result is not within a predetermined interval, is used to convert the cutout part into a pulse train. It can be detected as a missing part.
なお、上記検出応動部は、受光装置4a〜4
fのパルス列とした出力信号よりパルス列の欠
如を検出して、正常でないと判断し警告用の出
力を発生する構成であればよく、公知の回路を
使つて上記以外の手段を構成しても充分使用で
きるものである。 Note that the detection response section includes the light receiving devices 4a to 4.
It is sufficient to have a configuration that detects the absence of a pulse train from the output signal as a pulse train of f, determines that it is not normal, and generates a warning output, and it is sufficient to configure means other than the above using known circuits. It can be used.
(3) 上記実施例では緑色の苗Aについて説明した
が、苗が他の色彩であるときには、その色彩に
合わせてフオトダイオード6の色識別回路処理
を行ない、また、フオト・トランジスタ7の分
光フイルタ8を形成してもよいものである。(3) In the above embodiment, the green seedling A was explained, but when the seedling is of another color, the color identification circuit of the photodiode 6 is processed according to the color, and the spectral filter of the photo transistor 7 is 8 may be formed.
(4) 植欠の警告手段はブザーにかぎらず、ランプ
表示としたり、また、検出応動部出力によつて
自動苗植機を停止させるなどの手段となし得
る。(4) The means for warning of plant shortage is not limited to a buzzer, but may also be a lamp display, or means such as stopping the automatic seedling transplanter based on the output of the detection/response section.
(5) 本考案は上記実施例の他にトラクタの後部で
牽引する形式の自動苗植機、或いは田植機など
各種の自動苗植機に実施して効果がある。(5) In addition to the embodiments described above, the present invention can be effectively applied to various automatic seedling transplanters such as an automatic seedling transplanter towed by the rear of a tractor or a rice transplanter.
「効果」
上記した通り、本考案では一定間隔で植え付け
られた苗の色彩を受光装置が感応し光電変換して
苗植え付け間隔と対応したパルス列の信号を出力
し、これを検出作動部が検出するにでパルス列欠
如部の有無により、植え付け苗の有無を判別でき
これを植欠の発生として警告するように構成した
もので、植欠が直ちに発見でき、補完作業が極め
て簡単となり、また、従来のように植欠の監視人
は不要で、1人の運転者によつて能率よく作業を
進めることができる。"Effect" As mentioned above, in this invention, the light receiving device senses the color of the seedlings planted at regular intervals, photoelectrically converts it, and outputs a pulse train signal corresponding to the seedling planting interval, which is detected by the detection actuator. This system is configured to detect the presence or absence of planted seedlings based on the presence or absence of pulse train missing parts, and to warn of this as the occurrence of plant defects. As such, there is no need for a person to monitor the vegetation, and the work can be carried out efficiently by a single driver.
図面は本考案の実施例を示し、第1図はトラク
タに連結させた自動苗植機の側面図、第2図は上
記トラクタと自動苗植機の平面図、第3図は上記
自動苗植機に設けた受光装置の縦断面図、第4図
は公知の色識別半導体素子の分光感度特性を示す
図、第5図はフオト・トランジスタを使用した本
考案の他の実施例を示す簡略図、第6図は分光フ
イルタの分光透過率を示す図である。
2……自動苗植機、2a〜2f……植付部、4
a〜4f……受光装置、6……フオトダイオー
ド、7……フオト・トランジスタ、11……検出
応動部、12……ブザー。
The drawings show an embodiment of the present invention; FIG. 1 is a side view of the automatic seedling transplanter connected to a tractor, FIG. 2 is a plan view of the tractor and automatic seedling transplanter, and FIG. 3 is the automatic seedling transplanter connected to the tractor. 4 is a diagram showing the spectral sensitivity characteristics of a known color discrimination semiconductor element, and FIG. 5 is a simplified diagram showing another embodiment of the present invention using a photo transistor. , FIG. 6 is a diagram showing the spectral transmittance of the spectral filter. 2... Automatic seedling transplanter, 2a to 2f... Planting section, 4
a to 4f... Light receiving device, 6... Photo diode, 7... Photo transistor, 11... Detection response unit, 12... Buzzer.
Claims (1)
光を受光し、主に苗色の波長光を識別して感応す
ると共に植え付け間隔に対応したパルス信号に光
電変換する受光部と、この受光部からの植え付け
間隔に対応するパルス列とした出力信号のパルス
欠如部を検出して応動する検出作動部を設けた自
動苗植機の植欠検出装置。 A light-receiving section that receives reflected light from seedlings planted at regular intervals in the field, mainly identifies and senses the wavelength light of the seedling color, and photoelectrically converts it into a pulse signal corresponding to the planting interval, and from this light-receiving section. A plant defect detection device for an automatic seedling transplanter is provided with a detection actuator that detects and responds to a pulse missing portion of an output signal that is a pulse train corresponding to a planting interval.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1984192178U JPH0324003Y2 (en) | 1984-12-20 | 1984-12-20 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1984192178U JPH0324003Y2 (en) | 1984-12-20 | 1984-12-20 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS61108116U JPS61108116U (en) | 1986-07-09 |
JPH0324003Y2 true JPH0324003Y2 (en) | 1991-05-24 |
Family
ID=30749604
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP1984192178U Expired JPH0324003Y2 (en) | 1984-12-20 | 1984-12-20 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0324003Y2 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2018102175A (en) * | 2016-12-26 | 2018-07-05 | 井関農機株式会社 | Seedling transplanting system |
JP6704184B2 (en) * | 2017-05-31 | 2020-06-03 | 井関農機株式会社 | Transplanter |
JP7276418B2 (en) * | 2020-04-28 | 2023-05-18 | 井関農機株式会社 | transplanter |
JP7010326B2 (en) * | 2020-04-28 | 2022-01-26 | 井関農機株式会社 | Porting machine |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5724082A (en) * | 1980-07-15 | 1982-02-08 | Fujitsu Ltd | Computer system |
-
1984
- 1984-12-20 JP JP1984192178U patent/JPH0324003Y2/ja not_active Expired
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5724082A (en) * | 1980-07-15 | 1982-02-08 | Fujitsu Ltd | Computer system |
Also Published As
Publication number | Publication date |
---|---|
JPS61108116U (en) | 1986-07-09 |
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