JPH0541914A - Apparatus for controlling planting depth of rice transplanter - Google Patents

Abstract

PURPOSE:To smoothly control the planting depth while preventing hunting motion by decreasing the lift-controlling sensitivity in a stop mode below a level determined based on the detection result of a hardness sensor. CONSTITUTION:Detection data transmitted from a float sensor 47, a hardness sensor 60 and a start-stop detection means are processed by a controlling apparatus. The neutral position N of a center float 40 is shifted upward by the machine-stop signal transmitted from the start-stop detection means to set the sensitivity of the planting depth control to the low sensitivity side. When the machine is started and the center float gets out of the region dug with the wheels, the neutral position N is returned to the original state to perform the normal control of the planting depth.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting depth control device for a rice transplanter that raises and lowers a planting section as appropriate to keep the planting depth of seedlings constant.

[0002]

2. Description of the Related Art A passenger rice transplanter, which is a vehicle for propelling rice within a paddy field, has a planting section that can be moved up and down at the rear of the machine. Based on the detection result, the planting section is appropriately moved up and down by hydraulic pressure or the like so that the planting depth of the seedlings is always kept constant. Also,
Since the followability of the float to the height of the field scene changes depending on the degree of hardness of the soil in the field scene, a hard-soft sensor for detecting the hardness of the surface soil is attached to the float, and the planting depth control is performed according to the detection result of the sensor. Some are designed to adjust the sensitivity of. Specifically, when the topsoil is hard, the control is insensitive, and when the topsoil is soft, the control is sensitive.

[0003]

When performing reciprocal planting in a field with the above-mentioned riding rice transplanter, the planting part is raised at the end of the field to make a turn, and when the turn is completed, the machine is temporarily stopped and then The planting section is lowered and the planting work is restarted. At this time, since the planting part is lowered in the area dug up by the propelling wheels during turning, the hard-soft sensor detects that the topsoil is very soft when the work is restarted. However, since the topsoil of the field where the planting is about to be carried out is harder than this, if the sensitivity of the planting depth control is adjusted according to the detection result of the hard / soft sensor, the control becomes too sensitive and hunting is likely to occur. There was a problem.

[0004]

In order to solve the above problems, the present invention has the following constitution. That is, the planting depth control device for a rice transplanter according to the present invention is configured such that a float sliding on a field scene is attached to the planting unit so that the float can be moved up and down, and the planting unit is attached to the machine based on the vertical movement of the float. A rice transplanter that performs planting depth control for raising and lowering the plant, and attaches a hard and soft sensor that detects the hardness of the soil in the field scene to the float, and adjusts the sensitivity of the planting depth control from the detection result of the hard and soft sensor. In the planting depth control device, the means for detecting the start and stop of the machine are provided, and when the machine is stopped, the sensitivity of the planting depth control is made slower than the sensitivity determined from the detection result of the hard and soft sensor, The feature is that the sensitivity of planting depth control is returned to the sensitivity determined from the detection result of the hard and soft sensor when the machine starts.

[0005]

[Operation] A means for detecting the start and stop of the machine is provided,
When the machine is stopped, the sensitivity is made lower than the sensitivity of the planting depth control determined based on the detection result of the hard / soft sensor.Therefore, when lowering the planting part to the area dug up by the wheel at the end of turning, it is more than necessary. The sensitivity of control does not become sharp,
Hunting can be prevented in advance. When the machine is started and the float comes out of the area dug up by the wheels, it returns to the sensitivity determined based on the detection result of the hard and soft sensor,
Normal planting depth control will be performed.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments shown in the drawings will be described below. This rice transplanter 1 is equipped with a planting section 6 which can be moved up and down on a main machine 5 having front wheels 2 and 2 and rear wheels 3 and 3 for traveling in paddy fields.

The link device 10 in which the planting portion 6 is mounted includes a link frame 11 provided at the rear end of the machine 5 and a pair of left and right upper links 1 rotatably supported by the link frame.
2, 12 and lower links 13, 13 and a connecting frame 15 attached to the rear ends of the upper and lower links, and the planting portion 6 is attached to a rolling shaft 16 protruding rearward from the connecting frame. A hydraulic cylinder 17, which is a driving means of the link device 10, has a base portion pivotally attached to the main body side, and a tip end portion of a piston rod thereof is connected to a horizontal rod 18 spanning the upper links 12, 12. When the hydraulic cylinder 17 is expanded and contracted, the connecting frame 15 is moved up and down while being held in a substantially constant posture, and the planting section 6 attached to this is moved to the main unit 5.
Be raised and lowered with respect to.

A swinging body 21 is provided on the rear surface of the connecting frame 15 so as to be swingable right and left around the central shaft 20, and a pair of left and right springs 22 are provided between the upper end of the swinging body and the planting portion 6. , 22 are stretched. A rolling motor 23 installed near the lower end of the rocking body 21 can rock the rocking body. A gear is used as a drive connection method for both. The planting unit 6 is provided with a rolling sensor 25 for detecting a left-right inclination, and the rolling motor 23 is appropriately operated based on the detection result of the rolling sensor to control the planting unit 6 so that it is always horizontal. ing. This rolling control is performed by the controller 27 shown in FIG.

The planting section 6 is provided at a transmission case 30 which also serves as a frame, a seedling table 31 which is inclined above the transmission case so that its front part is in a higher position, and a rear end portion of the transmission case 30. And a number of planting devices 32, ... The seedling placing table 31 reciprocates left and right to sequentially supply the lowermost seedlings to a predetermined seedling taking-out port, and when all the lowermost seedlings are supplied to the seedling taking-out port, the seedling feeding belts 34, ... The seedlings on the table are transferred downward by one stage. The planting device 32 is
A pair of implantable rods 35 and 3 that move up and down along a predetermined trajectory.
5, the planting rod holds the seedlings supplied to the seedling take-out port at the upper part of the locus and is planted in the field scene at the lower part of the locus.

A center float 40 and a pair of side floats 41, 41 on the left and right sides of the center float 40 are provided at the center of the lower part of the planting section body. Each float has a float support rod 4 attached to a float support rod mounting shaft 42.
At the lower end of 3, ...
The front portions of the side floats 41, 41 are suspended from the transmission case 30 by guide links 44, ... On the other hand, a vertical movement detection rod 46 is attached upward to the front part of the center float 40, and the upper end of the rod is connected to the arm 47 a of the float sensor 47. When the center float 40 moves up and down, the arm 47a rotates accordingly, and this is detected by the float sensor 47. Based on the detection result of the float sensor, the hydraulic cylinder 17 is expanded / contracted to raise / lower the planting section 6 as appropriate to keep the planting depth of seedlings constant. The elevation output is output so that the elevation angle of the center float reaches a preset float angle target value. The range of the position of the arm 47a from the neutral N to ± α is a dead zone, and the planting part 6 cannot be moved up and down by moving the center float 41 slightly up and down from the reference height.

The arm 47a is provided with a rotation limit (± β), and when the center float 40 moves up and down by rotating the arm 47a beyond the rotation limit, the float sensor 47 itself moves up and down. And center float 4
It is designed to adjust the height of 0. by this,
It is possible to prevent the float sensor 47 from being damaged. Reference numeral 50 is a bracket fixed to the transmission case 30, 51 is a shaft rotatably provided on the bracket, 52 is a float sensor support rod integrally attached to one end of the shaft 51, and 53 is a shaft 5.
1 is an arm integrally attached to the other end, 54 is an arm integrally attached to the float support rod mounting shaft 42, 55
Is a rod connecting the arms 53 and 54.

Further, the center float 40 is provided with a hardness / softness sensor 60 for detecting the hardness / hardness of the field soil. The hard / soft sensor 60 is provided with a detection rod 61 whose lower end is projected into the mud, and is configured such that the detection rod is tilted backward when the planting section 6 advances, and the hardness of the mud is determined by the degree of inclination. To detect. The sensitivity of the planting depth control is corrected according to the detection result of the hard / soft sensor 60. That is, when the topsoil is hard, the sensitivity is low, and when the topsoil is soft, the sensitivity is sharp. This is because the harder the topsoil is, the better the responsiveness of the center float 40 to the unevenness of the field scene is. Therefore, when the topsoil is hard, the control is not sensitive and hunting is prevented, and when the topsoil is soft, the control followability is high. Is to improve.

Further, the machine 5 is provided with means 63 for detecting start and stop. A vehicle speed sensor or the like may be used as the start / stop detecting means. When the stop of the machine is detected, the position of the neutral N moves upward by a predetermined angle A, and when the start is detected, the position of the neutral N returns to the original position. Moving the neutral position upward means that the elevation output is not output unless the center float 40 is largely moved upward, and the sensitivity of the planting depth control can be set to the insensitive side. A flow chart of this control is shown in FIG.

As shown in FIG. 4, the planting depth control device of the rice transplanter processes the detection results of the float sensor 47, the hard / soft sensor 60, and the start / stop detecting means 63 with the controller 27 to drive the hydraulic cylinder 17. An output command is issued to the solenoid 65. During the continuous planting work, the planting unit 6 is moved up and down according to the unevenness of the field scene detected by the float sensor 47, and the control sensitivity is increased according to the hardness of the field scene topsoil detected by the hardness / softness sensor 60. Adjust. Since the hardness / softness sensor 60 moves up and down together with the center float 40, the hardness / softness sensor 60 cannot accurately detect the hardness / hardness of the topsoil when the planting part 6 moves up and down. Therefore, as shown in FIG. 6, during the ascending / descending output, the correction is performed with the hard / soft sensor value immediately before the output.

When turning the machine body at the end of the field, etc., the planting section 6 is raised and turned, and after the turning is completed, the machine 5 is temporarily stopped at the planting start position and then the planting section 6 is turned on. Take it down to the field scene.
The place where the planting part is lowered is dug up by the wheels of the machine to be softened, and the apparent field scene height is high due to the scattered clods. Start stop detection means 6
Since the neutral stop position of the center float 40 is corrected to be moved upward by the unit stop signal of 3,
Hunting does not occur when the planting part 6 is lowered. When the machine 5 is started and the center float 40 comes out of the area dug up by the wheels, the neutral N position returns to its original position, and normal planting depth control is performed.

Regarding the rolling control, on the other hand, the grounding or non-grounding of the center float 40 is detected from the detection value of the float sensor 47, the rolling control is performed only when the grounding is performed, and the non-grounding is stopped. ing. FIG. 7 is a flowchart of this control, and B in the figure is a float sensor value indicating the boundary between grounded and non-grounded. In this way, when the center float 40 is not grounded and the rolling control is stopped, it is possible to prevent hunting due to shaking of the planting part when the planting part is raised, and to avoid unnecessary operation of each part for rolling control and to endure it. It is possible to improve the sex.

As shown by the chain line in FIG. 4, manual switching means (manual switching device) 67 for switching the setting of the control sensitivity to manual may be provided. In the headland, etc., the soil blocks excavated by the wheels are scattered, so the automatic sensitivity setting by the hard / soft sensor 60 may not be sufficient, and in such a case, if the control sensitivity setting is switched to the manual setting, it becomes more practical. Appropriate control can be performed. Note that there is a risk of forgetting to return to the automatic sensitivity setting even after passing through the headland, so as shown in the flowchart of FIG. 8, the automatic sensitivity setting is automatically restored after a certain time has elapsed after switching to the manual sensitivity setting. It is good to configure.

In the planting depth control device, even when the center float 40 is accidentally moved up and down and the float sensor value exceeds the dead zone when the work is stopped, the planting depth raising / lowering output is output. The timing of this lifting output is the hydraulic cylinder 17
Hunting occurs when the spring constant of the spring attached matches the spring constant. To prevent this,
As shown in the flowchart in FIG. 9, when the machine 5 is stopped, the automatic planting depth control may be stopped. SF in the figure is a float sensor value, and VSD is a float angle target value. In this control example, only the rising output is stopped, but the falling output may also be stopped.

Next, FIG. 10 shows a different planting depth control device. This planting depth control device is provided with a pitching sensor 70 for detecting the longitudinal inclination of the planting section body, and the float angle target value is corrected by the pitching sensor value. By the way, during acceleration (or during deceleration), a force in the front-back direction acts on the pitching sensor 70,
For example, as shown in FIG. 11, the pitching sensor value S fluctuates and does not show an accurate value. Therefore, a vehicle speed sensor 71 for detecting the vehicle speed is provided, and the pitching sensor value during acceleration (or deceleration) is corrected based on the vehicle speed sensor value. FIG. 12 is a flowchart of the pitching sensor value correction, in which the correction value is determined according to the acceleration from a data table based on an experiment conducted on a flat ground such as asphalt.

Instead of sequentially correcting the pitching sensor value during acceleration as described above, the float angle target value may be corrected with the pitching sensor value immediately before acceleration during acceleration, as shown in FIG. Good.

Further, FIG. 14 shows a different method of correcting the pitching sensor value, and the present pitching sensor value P
And the pitching sensor value P ₀ at the time of horizontal are compared with each other, it is possible to discriminate whether the machine body is in the forward ascending state or the forward descending state, and change the response of the elevation output. .. That is, in the front falling state, P is given an average P ₁ of detection values in a short time (6 times average in the illustrated example) to speed up the response and prevent the float rear end from rising. .. Further, in the forward ascending state, the average of the detection values for a long time P ₂ (average of 100 times in the illustrated example) is given to P to slow down the response, thereby detecting the hunting behavior of the pitching sensor 70. To prevent this.

[0022]

As described above, the planting depth control device for the rice transplanter according to the present invention has a sensitivity lower than that of the elevation control determined based on the detection result of the hard / soft sensor when stopped. As a result, when the planting portion is lowered into the field excavated by the wheels at the end of turning, the control sensitivity becomes unnecessarily sharp and hunting can be prevented. In addition, when the machine is started, the sensitivity automatically returns to the value determined based on the detection results of the hard and soft sensors, so when the planting part comes out of the area dug up by the wheels, a smooth planting depth control is immediately performed. Is done.

[Brief description of drawings]

FIG. 1 is a side view of a riding rice transplanter that is an embodiment of the present invention.

FIG. 2 is a side view of a main part of the riding rice transplanter shown in FIG.

FIG. 3 is a plan view of FIG.

FIG. 4 is a block diagram of a planting depth control device.

FIG. 5 is a flowchart of control for correcting the sensitivity of planting depth control.

FIG. 6 is a flowchart of control for correcting a float angle target value when the planting part is moved up and down.

FIG. 7 is a flowchart of control for turning rolling control ON and OFF.

FIG. 8 is a flowchart of control for automatically returning the planting depth control.

FIG. 9 is a flowchart of a control in which the elevation output is not performed while the machine is stopped.

FIG. 10 is a block diagram of a planting depth control device different from that shown in FIG.

FIG. 11 is a diagram showing a change in a pitching sensor value.

FIG. 12 is a flowchart of control for correcting a pitching sensor value during acceleration of the present machine.

FIG. 13 is a flowchart of control in which a target float angle value immediately before acceleration is used as a reference for planting depth control during acceleration of the present machine.

FIG. 14 is a flowchart of control for adjusting the detection time of the float sensor value based on the longitudinal inclination of the machine body.

[Explanation of symbols]

 1 Passenger rice transplanter 2 Front wheel 3 Rear wheel 5 Main unit 6 Planting part 17 Hydraulic cylinder 27 Controller 40 Center float 47 Float sensor 60 Hard / soft sensor 63 Start / stop detection means

Claims (1)

[Claims] 1. A planting part is provided with a float which slides on a field scene so as to be vertically movable, and based on the vertical movement of the float, a planting depth control for raising and lowering the planting part with respect to this machine is performed. In a planting depth control device of a rice transplanter that attaches a hard and soft sensor that detects the hardness of the field soil to the float, and adjusts the sensitivity of the planting depth control from the detection result of the hard and soft sensor, A means for detecting start and stop is provided, and when the machine is stopped, the sensitivity of the planting depth control is made slower than the sensitivity determined from the detection result of the hard / soft sensor, and when the machine is started, the sensitivity of the planting depth control is improved. A planting depth control device for a rice transplanter, wherein the sensitivity is returned to the sensitivity determined from the detection result of the hard / soft sensor.