JPH03285601A - Apparatus for sensing and removing missing and defective seedling - Google Patents
Apparatus for sensing and removing missing and defective seedlingInfo
- Publication number
- JPH03285601A JPH03285601A JP8663490A JP8663490A JPH03285601A JP H03285601 A JPH03285601 A JP H03285601A JP 8663490 A JP8663490 A JP 8663490A JP 8663490 A JP8663490 A JP 8663490A JP H03285601 A JPH03285601 A JP H03285601A
- Authority
- JP
- Japan
- Prior art keywords
- seedlings
- defective
- missing
- sensing
- seedling
- 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.)
- Granted
Links
- 230000002950 deficient Effects 0.000 title claims abstract description 44
- 230000035784 germination Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 20
- 239000013307 optical fiber Substances 0.000 abstract description 13
- 238000009331 sowing Methods 0.000 abstract description 6
- 239000001963 growth medium Substances 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 17
- 239000002609 medium Substances 0.000 description 6
- 239000000047 product Substances 0.000 description 4
- 238000002054 transplantation Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000011299 Brassica oleracea var botrytis Nutrition 0.000 description 1
- 235000017647 Brassica oleracea var italica Nutrition 0.000 description 1
- 240000003259 Brassica oleracea var. botrytis Species 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Landscapes
- Pretreatment Of Seeds And Plants (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、育苗施設内において、育苗箱に播種された後
、出芽の有無、生育過程における苗の長短を自動的に検
知して、欠株、不良苗を培地ブロックごと吸引除去する
ことにより、良均質苗を得ることができる欠株、不良苗
検知・除去装置に関する。[Detailed Description of the Invention] [Field of Industrial Application] The present invention automatically detects the presence or absence of germination and the length and shortness of the seedlings during the growth process after they have been sown in seedling boxes in a seedling raising facility. The present invention relates to a device for detecting and removing missing plants and defective seedlings, which can obtain seedlings of good quality by suctioning and removing plants and defective seedlings from each medium block.
一般に、育苗箱に播種後、良質苗のみを残して他の欠株
、不良苗を除去し、その除去した箇所に別の育苗箱より
良質苗を補植すれば、良均質苗か得られ、移植適期苗と
して出荷したり、機械移植する場合に極めて好都合であ
る。In general, after sowing seeds in a seedling nursery box, leave only good quality seedlings and remove other missing and defective seedlings, and then supplement the removed areas with good quality seedlings from another seedling nursery box to obtain seedlings of good quality. This is extremely convenient for shipping as seedlings at the appropriate time for transplantation or for mechanical transplantation.
そこで従来は、良均質苗を得るために、出芽しなかった
種子や育成の遅れた短い苗は、人手作業によって抜き取
り、別の育苗箱から良質苗を移植する等の手段が採られ
ていた。Conventionally, in order to obtain high-quality seedlings, methods such as manually pulling out seeds that did not germinate and short seedlings that were slow to grow were used, and transplanting high-quality seedlings from another seedling nursery box.
しかしながら、従来の人手作業では、作業能率が極めて
悪く、育苗作業の自動化、無人化が強く望まれているが
、実用化には至っていない。However, conventional manual labor is extremely inefficient, and although there is a strong desire for automation and unmanned seedling raising operations, this has not yet been put to practical use.
本発明は、」二連した問題点を課題としてなされたもの
で、施設内台ｉ’Ｉ′ｉ作業において、Ｗ ｉＹｉ箱へ
播種した後、出芽の有無、苗の長短を自動的に判定して
欠株、不良苗を自動的に検知し、除去することにより、
良均質苗のみを取得可能にした欠株。The present invention has been developed to address two consecutive problems, and after sowing seeds in a WiYi box during in-facility stand i'I'i work, it automatically determines whether or not germination has occurred and the length or shortness of the seedlings. By automatically detecting and removing missing and defective seedlings,
A defective plant that makes it possible to obtain only good quality seedlings.
不良苗検知・除去装置を提供することをＬ１的とする。The L1 objective is to provide a device for detecting and removing defective seedlings.
この目的を達成するために本発明は、Ｘ、Ｙ軸方向に多
数のブロックで佳切られた育苗箱に播種された後、出芽
の有無、不良苗を検知する検知部と、」１記検知部を任
意の座標軸へ移動させる部分および制御とを有するコン
Ｉ・ローラと、上記検知部により欠株、不良苗を検知す
る上下調節式のセンサビームと、上記検知部で検出され
た育苗箱の欠株、不良苗を培地ブロックごとに破砕・吸
引する除去部と、」１記除去部を上下動するリニアヘッ
ド部と、」１記各部を駆動制御するためのプログラマブ
ルコントローラと、上記各部装置全体を移動させる走行
部を備えた育苗ロボットと、により構成したことを特徴
とするものである。In order to achieve this object, the present invention includes a detection unit that detects the presence or absence of germination and detects defective seedlings after the seeds are sown in a seedling nursery box that is divided into a large number of blocks in the X and Y axis directions; a control roller having a part and control for moving the part to an arbitrary coordinate axis; a vertically adjustable sensor beam for detecting missing plants and defective seedlings by the detecting part; A removing unit that crushes and sucks missing plants and defective seedlings into medium blocks, a linear head unit that moves the removing unit up and down, a programmable controller for driving and controlling each part, and the entire device for each of the above parts. and a seedling-raising robot equipped with a traveling section that moves the seedlings.
このような構成に基づいて、本発明の欠株、不良苗検知
・除去装置では、Ｘ、Ｙ方向の任意の座標軸へ自由に移
動させる部分およびその制御部と、その稼働部に装着し
て苗の長短を区別するための上下調節式センサビームと
、欠株、不良苗を培地ブロックこと破砕・吸引するため
の除去部と、この除去部を上丁動するためのリニアヘッ
ド部と、」１記部分を制御、駆動するためのプログラマ
ブルコントローラと、装置全体を移動させるための走行
部と、フレームと、によりなるものであり、育苗箱に播
種した後、出芽の有無、苗の長短を自動的に検知して、
欠株、不良苗を培地ブロックごと除去して良均質苗を得
ることができる。従って、育苗施設内における育苗作業
の自動化、無人化が達成されると共に、除去した箇所に
良質苗を補植すれば、圃場に機械移植する時に欠株が生
ずることなく、欠株による収量低下を解消して均等な生
産物が得られる等、生産物の規格統一を向上することが
できる。Based on such a configuration, the device for detecting and removing missing plants and defective seedlings of the present invention includes a part that freely moves to any coordinate axis in the X and Y directions, a control part thereof, and a part that is attached to the operating part to detect and remove seedlings. A vertically adjustable sensor beam for distinguishing between long and short plants; a removing section for crushing and suctioning missing and defective seedlings into medium blocks; and a linear head section for moving the removing section. It consists of a programmable controller to control and drive the recording part, a running part to move the entire device, and a frame. After sowing seeds in a seedling box, it automatically checks whether they have sprouted or not, and the length and length of the seedlings. Detected and
Missing plants and defective seedlings can be removed from each medium block to obtain seedlings of good quality. Therefore, it is possible to automate and unattend the seedling-raising work within the seedling-raising facility, and if high-quality seedlings are replanted in the removed areas, there will be no seedlings when mechanically transplanted to the field, and a drop in yield due to seedlings can be reduced. It is possible to improve the standardization of products by eliminating problems and obtaining uniform products.
以下、本発明の実施例を図面に基づいて詳細に説明する
。Embodiments of the present invention will be described in detail below with reference to the drawings.
第１図は本発明による欠株、不良苗検知・除去装置の一
実施例である全体の概略構成を示す斜視図、第２図は第
１図の要部を示す斜視図である。FIG. 1 is a perspective view showing the general structure of an embodiment of the defective and defective seedling detection/removal device according to the present invention, and FIG. 2 is a perspective view showing the main parts of FIG. 1.
図において、符号１は装置全体の移動および制御を行な
う育苗ロボット、１ａはプログラマブルコントローラ、
２は２輔位置決め部８の制御を行なうコントローラ、３
はティーチングボックス、４は欠株、不良苗を培地ブロ
ックごとに吸引・除去するための吸引掃除機、５は検知
・除去部、６は可撓性ホースをそれぞれ示している。In the figure, numeral 1 is a seedling-raising robot that moves and controls the entire device, 1a is a programmable controller,
2 is a controller for controlling the positioning section 8;
4 represents a teaching box, 4 represents a suction cleaner for suctioning and removing defective seedlings from each medium block, 5 represents a detection/removal unit, and 6 represents a flexible hose.
そして、」−記コントローラ２は、ティーチングボック
ス３より入力されたプログラムにより２軸位置決め部８
の制御を行なう。上記育苗ロボットのプログラブルコン
トローラーａとコントローラ２は、互いに入出力端子に
よりフラットケーブル２＋１を介して連＋ｊＳされてお
り、双方の信号を交換する。」１記吸引掃除機４は、可
撓性ホース６て検知・除去部５と連通されており、検知
・除去部５は、２輔位置決め部８の移動部７てネジ固定
されている。Then, the controller 2 moves the two-axis positioning unit 8 according to the program input from the teaching box 3.
control. The programmable controller a and the controller 2 of the seedling-raising robot are connected to each other via input/output terminals via a flat cable 2+1, and exchange signals between the two. 1. The suction cleaner 4 is connected to the detection/removal section 5 through a flexible hose 6, and the detection/removal section 5 is fixed to the moving section 7 of the positioning section 8 with a screw.
」１記検知・除去部５は、検知部９と除去部１０とによ
り構成されている。そして、この検知部９は、光フアイ
バセンサー１と光フアイバセンサー１を固定するための
フレーム１２とからなり、除去部１０は、吸引ノズル１
３．土ブロックを砕くための回転スクリュ１４．吸引ノ
ズル１３を上下動させるためのり−アヘッド１５とによ
り構成されている。1. The detection/removal section 5 includes a detection section 9 and a removal section 10. The detection section 9 consists of an optical fiber sensor 1 and a frame 12 for fixing the optical fiber sensor 1, and the removal section 10 includes a suction nozzle 1.
3. Rotating screw for crushing earth blocks 14. It is composed of a glue-ahead 15 for moving the suction nozzle 13 up and down.
また、図において、符号１６は光透過センサ、１７は育
苗固定キャスタ、１８は手元操縦器、１９は育苗箱、２
０はスクリュ回転用直流蓄電池、２■はリニアヘッド上
下速度調節器、２２は電磁開閉器、２３は牽引棒、２４
はリニアヘッド上下端検知スイッチ、２５は光フアイバ
センサ用増幅器、２６は育苗箱１９の左右に敷設された
レール上を走行する移動車輪、２７はスクリュ回転用モ
ータをそれぞれ示している。In addition, in the figure, reference numeral 16 is a light transmission sensor, 17 is a seedling-raising fixed caster, 18 is a hand control device, 19 is a seedling-raising box, and 2
0 is a DC storage battery for screw rotation, 2 is a linear head vertical speed regulator, 22 is an electromagnetic switch, 23 is a draw rod, 24
25 is an optical fiber sensor amplifier, 26 is a moving wheel that runs on rails laid on the left and right sides of the seedling box 19, and 27 is a screw rotation motor.
次いで、このように構成された欠株、不良苗検知・除去
装置の作動について説明する。Next, the operation of the device for detecting and removing missing plants and defective seedlings configured as described above will be explained.
まず、手元操縦器１８のスイッチをオンすることにより
、２軸位置決め部８は原点の位置に復帰すると共に、育
苗ロボット１および育苗ロボット１に牽引された欠株、
不良、′Ｉ′ｉ検知・除去装置が前進を開始する。First, by turning on the switch of the hand controller 18, the two-axis positioning unit 8 returns to its original position, and the seedling-raising robot 1 and the missing plants towed by the seedling-raising robot 1,
Defective, 'I'i detection and removal device starts moving forward.
次に、育苗箱１９と育苗箱１９との隙間を光透過センサ
Ｉ６が感知すると、装置は走行を停止する。このとき光
フアイバセンサ１１は、育苗箱１９の最初の孔の前境界
線の上にある。Next, when the light transmission sensor I6 senses the gap between the seedling growing boxes 19, the device stops running. At this time, the optical fiber sensor 11 is on the front boundary line of the first hole of the seedling box 19.
そして、光ファイバセンサ１１は、装置の前進方向に直
角なＹ軸方向へ１ステツプ（１孔分）進む。Then, the optical fiber sensor 11 advances one step (one hole) in the Y-axis direction perpendicular to the forward direction of the device.
このとき光フアイバセンサ１１のビームは、地表面から
予め設定された所定の高さＨの位置で、地表面と平行で
装置の前進方向のＸ軸方向に走っている。光ファイバセ
ンサ１■が１ステップ進む間にビームか物体に遮られる
場合、すなわち、育苗箱１９の孔に高さＨ以」二の丈の
苗の葉または茎が存在ずれば、コントローラ２に信号が
人力される。コン］・ローラ２ては、そのブロックに良
質苗が存在すると判定して、何もしないで光フィバセン
サ１１を１ステップ進める。これと反対に、ビームが１
スチップ進む間に何も感知しない時、すなわち、孔か欠
株であるか、または孔に一定高さ以下の生育が遅れた苗
が存在ずれは、コントローラ２に信号か人力されず、コ
ントローラ２ては、そのブロックに欠株または不良苗が
あると判断して、リニアヘッド１５により除去部１０を
降下させると共に、ブロックの培土を破砕するための電
動モータ２７の延長シャフトの先端に装着された回転ス
クリュ１４を回転させて、検知・除去部５を作動させ、
不良苗は培地ごと吸引掃除機４で吸引する。不良苗を吸
引・除去した後は、除去部１０を」−Ｈさせて停止し、
光ファイバセンサ１１を１ステップ進ませる。以」二の
動作を繰返すことにより、１列分の苗の長短有無を判定
し、欠株、不良苗を除去する。At this time, the beam of the optical fiber sensor 11 is at a predetermined height H from the ground surface, parallel to the ground surface, and running in the X-axis direction in the forward direction of the device. If the optical fiber sensor 1■ is interrupted by the beam or an object while it advances one step, that is, if there is a leaf or stem of a seedling with a height of H or more in the hole in the seedling nursery box 19, a signal is sent to the controller 2. is done manually. The control roller 2 determines that a good quality seedling exists in that block, and advances the optical fiber sensor 11 by one step without doing anything. On the other hand, if the beam is 1
If nothing is detected while the chip advances, that is, if there is a hole or a missing plant, or if there is a seedling with delayed growth below a certain height in the hole, no signal or manual input is sent to the controller 2, and the controller 2 determines that there are missing plants or defective seedlings in the block, and lowers the removal unit 10 using the linear head 15, and also uses a rotating motor attached to the end of the extended shaft of the electric motor 27 to crush the soil in the block. Rotate the screw 14 to operate the detection/removal section 5,
The defective seedlings are sucked out together with the culture medium using a suction cleaner 4. After suctioning and removing the defective seedlings, turn the removal unit 10 to "-H" and stop.
The optical fiber sensor 11 is advanced by one step. By repeating the above two operations, it is determined whether the seedlings in one row are long or short, and missing or defective seedlings are removed.
次に、１列分の検知・除去作業が終了すると、光ファイ
バセンサ１１はＸ軸方向へ１ステップ進み、Ｙ軸方向へ
１列分戻り、再び」二連した動作を繰返して１箱分の苗
検知・除去作業が終了すると共に、光ファイバセンサ］
１は原点に復帰する。Next, when the detection/removal work for one row is completed, the optical fiber sensor 11 advances one step in the X-axis direction, returns one row in the Y-axis direction, and repeats the double operation again to remove one box. As soon as the seedling detection and removal work is completed, the optical fiber sensor]
1 returns to the origin.
次いて、装置全体は再び前進を開始して次の育ｉ’ｉ’
ｒ箱１９へ向い、順次１°１°１の検知・除去作業を繰
返すことにより１軌道分の作業は終了すると共に、育苗
ロボット１は列の終りを検出し、て自動的に後退し、始
点に戻って停止する。Then the whole device starts moving forward again to start the next growth i'i'
The robot 1 heads towards the R box 19 and repeats the detection and removal work at 1° 1° 1 in order to complete the work for one orbit, and the seedling raising robot 1 detects the end of the row and automatically retreats to return to the starting point. Go back and stop.
なお、本発明による装置において、装置の走行を停止に
させ、育苗箱をベルトコンベア等で移動させながら、所
定の位置で育苗箱の移動を停止させ、欠株、不良苗の検
知・除去作業を順次行なうことにより、育苗箱を前方へ
順次送ることを繰返す定置式の欠株、不良苗検知・除去
装置としても適用可能である。In addition, in the device according to the present invention, the operation of detecting and removing missing and defective seedlings is carried out by stopping the device from running, moving the seedling box on a belt conveyor, etc., and stopping the movement of the seedling box at a predetermined position. By performing this sequentially, it can also be used as a stationary type device for detecting and removing missing or defective seedlings, which repeatedly sends the seedling boxes forward in sequence.
次に、本発明による欠株、不良苗検知・除去装置を用い
た実験結果を説明する。Next, experimental results using the device for detecting and removing missing plants and defective seedlings according to the present invention will be explained.
まず、実験装置として育苗ロボット本体を除く装置全体
の諸元は、全長１０００ｍｍ、全幅７１．０ｍｍ、全高
９００ｍｍ、総重量４０ ｋｇであり、育苗箱には６孔
×１２列の７２孔を設け、］孔の大きさはＬ４５ｘＷ４
５ｘＨ４２ｍｍとした。First, as an experimental device, the specifications of the entire device excluding the main body of the seedling raising robot are: total length 1000 mm, total width 71.0 mm, total height 900 mm, total weight 40 kg, and the seedling raising box has 72 holes in 6 holes x 12 rows. ]The hole size is L45xW4
It was set to 5xH42mm.
また、播種はブロッコリー苗を対象とし、本葉２枚を検
知対象とした。In addition, broccoli seedlings were sown and two true leaves were detected.
この実験において、育苗箱には約１０％の欠株。In this experiment, approximately 10% of the seedlings were missing in the nursery box.
不良苗が存在したが、１箱当りの欠株、不良苗検知・除
去作業時間は約５分てあった。Although there were some defective seedlings, it took approximately 5 minutes to detect and remove missing and defective seedlings per box.
以上説明したように、本発明の欠株、不良苗検知・除去
装置では、育ｉ￥″ｉ施設内において、育苗箱に播種し
た後、用芽の有無、生育不良等の苗の長短を検知して、
欠株、不良苗を培地ごと育苗箱のブロックより除去する
ことが可能であり、育苗作業の自動化、無人化か可能で
ある。As explained above, the device for detecting and removing missing plants and defective seedlings of the present invention detects the length and shortness of seedlings, such as the presence or absence of buds and poor growth, after sowing seeds in seedling boxes in a growing facility. do,
It is possible to remove missing plants and defective seedlings along with the medium from the block of the seedling raising box, and it is possible to automate or unattend the seedling raising work.
また、欠株、不良苗を除去した後に良質苗を補植するこ
とにより、良均質苗が得られ、移植適期苗として出荷し
たり、機械移植する場合に好都合であり、欠株による収
穫量の低下がなく均等な生産物が得られる等、生産物の
規格統一を向」−することができる。In addition, by supplementary planting with good-quality seedlings after removing defective and defective seedlings, seedlings of good quality can be obtained, which is convenient for shipping as seedlings suitable for transplantation or for mechanical transplantation, and reducing the yield due to defective plants. It is possible to standardize the specifications of products, such as obtaining uniform products without any deterioration.
第１図は本発明による欠株２不良苗検知・除去装置の一
実施例である全体の概略構成を示す斜視図、第２図は第
１図の要部を伯ず斜視図である。
０
１・・・育苗ロボッＩ・、１ａ・・・プログラマブルコ
ントローラ、２・・コントローラ、３・・・ティーチン
グボックス、４・吸引掃除機、５・・・検知・除去部、
８・・・２輔位置決め部、９・・・検知部、ＩＯ・・除
去部、１１・・・光ファイバセンザ、１３・・・吸引ノ
ズル、１４・・・回転スクリュ、１８・・手元操縦器、
１９・・・育苗箱。
特
許
出
願
人
東北農業試験場長FIG. 1 is a perspective view showing the general structure of an embodiment of the defective seedling detection/removal device with two defective plants according to the present invention, and FIG. 2 is a perspective view showing the essential parts of FIG. 1. 0 1... Seedling robot I, 1a... Programmable controller, 2... Controller, 3... Teaching box, 4... Suction vacuum cleaner, 5... Detection/removal unit,
8...2 positioning section, 9...detection section, IO...removal section, 11...optical fiber sensor, 13...suction nozzle, 14...rotating screw, 18...hand control vessel,
19... Seedling raising box. Patent applicant Director of Tohoku Agricultural Experiment Station
Claims (1)
種された後、出芽の有無、不良苗を検知する検知部と、
上記検知部を任意の座標軸へ移動させる部分および制御
とを有するコントローラと、上記検知部により欠株、不
良苗を検知する上下調節式のセンサビームと、上記検知
部で検出された育苗箱の欠株、不良苗を培地ブロックご
とに破砕・吸引する除去部と、上記除去部を上下動する
リニアヘッド部と、上記各部を駆動制御するためのプロ
グラマブルコントローラと、上記各部装置全体を移動さ
せる走行部を備えた育苗ロボットと、により構成したこ
とを特徴とする欠株・不良苗検知・除去装置。A detection unit that detects the presence or absence of germination and defective seedlings after the seeds are sown in a seedling box partitioned by a large number of blocks in the X and Y axis directions;
A controller having a part and control for moving the detection section to an arbitrary coordinate axis, a vertically adjustable sensor beam for detecting missing plants and defective seedlings by the detection section, and a defective seedling box detected by the detection section. A removal section that crushes and sucks out stocks and defective seedlings in each medium block, a linear head section that moves the removal section up and down, a programmable controller that drives and controls each of the above sections, and a traveling section that moves the entire device. A device for detecting and removing missing and defective seedlings, comprising: a seedling-raising robot equipped with the following;
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2086634A JPH0716327B2 (en) | 1990-03-31 | 1990-03-31 | Missing stock / bad seedling detection / removal device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2086634A JPH0716327B2 (en) | 1990-03-31 | 1990-03-31 | Missing stock / bad seedling detection / removal device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH03285601A true JPH03285601A (en) | 1991-12-16 |
| JPH0716327B2 JPH0716327B2 (en) | 1995-03-01 |
Family
ID=13892458
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2086634A Expired - Lifetime JPH0716327B2 (en) | 1990-03-31 | 1990-03-31 | Missing stock / bad seedling detection / removal device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0716327B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5477791A (en) * | 1993-03-04 | 1995-12-26 | Yanmar Agricultural Equipment Co., Ltd. | Seedling planting apparatus |
| KR101376234B1 (en) * | 2012-06-07 | 2014-04-01 | 대한민국 | Apparatus for transplant of cultivation-port including removal unit at miss transplanting port |
-
1990
- 1990-03-31 JP JP2086634A patent/JPH0716327B2/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5477791A (en) * | 1993-03-04 | 1995-12-26 | Yanmar Agricultural Equipment Co., Ltd. | Seedling planting apparatus |
| KR101376234B1 (en) * | 2012-06-07 | 2014-04-01 | 대한민국 | Apparatus for transplant of cultivation-port including removal unit at miss transplanting port |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0716327B2 (en) | 1995-03-01 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |